CN113753680B

CN113753680B - Yarn hanging manipulator

Info

Publication number: CN113753680B
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: 2023-08-01
Anticipated expiration: 2037-09-05
Also published as: EP3838824A1; EP3659953A1; CN113753681B; CN107964691A; EP3659953B1; TWI694964B; CN113753680A; CN113862804A; EP3663246A1; CN113753681A; TW201815651A; CN107964691B; EP3838824B1; JP2018066088A; CN113862804B; EP3312121A1; JP6829044B2

Abstract

The invention provides a yarn hanging manipulator capable of stably carrying out yarn hanging operation. The yarn hanging manipulator (3) is a yarn hanging operation performed while sucking and holding the yarn (Y) by a suction holding member (42) for a spinning traction device (2) which winds the spun yarn (Y) around a bobbin (B) while traversing to form a package (P), and the yarn hanging manipulator (3) is provided with a control part for controlling the suction force of the suction holding member (42).

Description

Yarn hanging manipulator

The present application is a divisional application of application number 201710790470.6, application date 2017, 9, 5, and entitled "hanging robot".

Technical Field

The present invention relates to a yarn hanging manipulator for hanging yarn from a spinning traction device.

Background

For example, patent document 1 discloses an automatic yarn hanging device for carrying out a yarn hanging operation on a spinning drawing device for winding up spun yarn to form a package. The automatic yarn hanging device is configured to be operated while holding the yarn by suction by the suction gun, thereby hanging the yarn from each component constituting the spinning drawing device.

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

However, when yarn is hung while the yarn is sucked and held by the suction gun, if the suction force of the suction gun is too small, yarn swing or the like may occur, and thus the yarn may not be properly hung on each member. Further, when the suction force of the suction gun is too large, there is a possibility that the tension of the yarn becomes too large to cause yarn breakage, or the propagation of yarn vibration due to the suction becomes too large. That is, if the suction force of the suction gun is not maintained to be appropriate, the possibility of failure of the yarn hanging operation becomes high. However, patent document 1 does not mention anything about the case of adjusting the suction force of the suction gun in order to stably perform the yarn hanging operation.

Disclosure of Invention

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

The present invention provides a yarn hanging manipulator for a spinning drawing device for winding spun yarn around a bobbin to form a package while traversing the yarn, wherein the yarn hanging manipulator is configured to carry out yarn hanging operation while holding the yarn by suction by a suction holding member, and the yarn hanging manipulator is provided with a control unit for controlling suction force of the suction holding member.

In the yarn hanging manipulator according to the present invention, since the suction force of the suction holding member is controlled by the control unit, the suction force can be increased or decreased as needed, and thus the yarn hanging operation can be stably performed.

In the present invention, the suction holding member may be configured to generate a suction force corresponding to a pressure of the compressed fluid when the compressed fluid is supplied thereto, 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 merely adjusting the pressure of the compressed fluid.

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

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

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

If an electro-pneumatic pressure regulating valve is used as the pressure adjusting portion, 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 suction force varies appropriately during one yarn hanging operation, the yarn hanging 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 hung on the bobbin during one yarn hanging operation.

In general, when yarn is hung on a bobbin, the yarn needs to be hooked in a slit formed in the bobbin. Therefore, if the attractive force is insufficient when the yarn is hung on the bobbin, the tension of the yarn becomes weak, and the yarn may not be properly hung on the slit. Therefore, as described above, by maximizing the suction force when yarn is hung on the bobbin during one yarn hanging operation, the yarn can be easily caught in the slit, and yarn hanging on the bobbin can be reliably performed.

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

Depending on the type of yarn and/or production conditions, the appropriate tension may be different when the yarn is hung. Even in such a case, as described above, by changing the attractive force according to the type of yarn and/or the production condition, the yarn hanging operation can be performed at a tension suitable for various yarns.

Drawings

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

Fig. 2 is a front view of the spinning drawing device and the yarn hanging manipulator.

Fig. 3 is a side view of the spinning draft device and the yarn hanging manipulator.

Fig. 4 is a block diagram showing an electrical configuration of the spinning drawing device.

Fig. 5 is a top view of the fulcrum bar carrier.

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

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

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

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

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

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

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

Description of symbols

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

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described.

(integral construction of spinning traction device)

Fig. 1 is a schematic configuration diagram of a spinning drawing device according to the present embodiment. The spinning drawing device 1 according to the present embodiment includes: a plurality of spinning drawing devices 2 arranged in one horizontal direction; a yarn hanging manipulator 3 for hanging yarn to the plurality of spinning traction devices 2; a centralized control device 4 for controlling the actions of the spinning traction device 2 and the yarn hanging manipulator 3; a compressed air supply unit 5 for supplying compressed air (an example of a compressed fluid) to the yarn hanging robot 3; and a waste yarn tank 6 for discarding the yarn from the yarn hanging robot 3. In the present embodiment, one yarn hooking manipulator 3, one compressed air supply unit 5, and one waste yarn tank 6 are provided for all the spinning traction devices 2 provided in the spinning traction device 1. In fig. 1, the yarn is omitted to avoid complicating the drawing. In the following description, the direction in which the plurality of spinning drawing devices 2 are arranged is defined as the right-left direction, and the direction which is horizontal and orthogonal to the right-left direction is defined as the front-rear direction.

(spinning traction device)

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

The spinning drawing device 2 draws a plurality of yarns Y spun by 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 drawing device 2 conveys a plurality of yarns Y spun by a spinning device, not shown, to the winding unit 13 by the first yarn guide roller 11 and the second yarn guide roller 12, and winds the yarns Y around a plurality of bobbins B in the winding unit 13 to form a plurality of packages P.

The first yarn guide 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 yarn guide roller 11 is rotationally driven by a first yarn guide motor 111 (see fig. 4).

The second yarn guide roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first yarn guide roller 11. The second yarn guide roller 12 is rotationally driven by a second yarn guide motor 112 (see fig. 4). The second yarn guide roller 12 is supported by the guide rail 14 so as to be movable. The guide rail 14 extends obliquely so as to be positioned upward as it goes rearward. The second yarn guide roller 12 is configured to be movable along the guide rail 14 by an air cylinder 113 (see fig. 4). Thereby, the second yarn guide roller 12 can move between a winding position (the position indicated by the solid line in fig. 3) at the time of winding the yarn Y and a yarn hanging position (the position indicated by the chain line in fig. 3) at the time of yarn hanging, which is arranged near the first yarn guide roller 11.

The spinning drawing device 2 also has a yarn suction device 15 and a yarn limiting yarn guide 16. The yarn suction device 15 sucks and holds the plurality of yarns Y spun from the spinning device in advance before the yarn hanging operation by the yarn hanging manipulator 3. The yarn suction device 15 extends in the left-right direction, and has a suction port 15a formed at the right end thereof for sucking the yarn Y. The suction port 15a of the yarn absorber 15 is disposed slightly above the first yarn guide roller 11 so as to be positioned near the plurality of yarns Y.

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

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

Fig. 5 is a plan view of the fulcrum bar 21. The plurality of fulcrum guides 21 are provided individually with respect to the plurality of yarns Y, and are arranged in the front-rear direction. Further, each fulcrum guide 21 has a groove 21a opened to the rear side, and yarn Y can be inserted into the groove 21a from the rear side, thereby enabling yarn hanging. The plurality of fulcrum guides 21 are individually mounted to the plurality of sliders 27. The plurality of sliders 27 are supported so as to be movable in the front-rear direction along the guide rail 28. Further, the plurality of sliders 27 are connected to a cylinder 115 (see fig. 4). When the cylinder 115 is driven, the plurality of sliders 27 move in the front-rear direction along the guide rail 28. Thereby, 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 and a yarn hanging position (a position shown in fig. 5 b) at which the yarn Y is wound and spaced apart from each other in the front-rear direction, the yarn hanging position being a position at which the yarn hanging is performed and arranged near each other at the front end portion of the guide rail 28. The plurality of fulcrum guides 21 in the yarn hanging position are located in the vicinity of the first yarn guide roller 11 and the right below the second yarn guide roller 12 in the yarn hanging position.

The plurality of traverse guides 22 are provided individually with respect to the plurality of yarns Y and are 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 supported rotatably at the upper end and the lower end of the turntable 23, respectively, with the axial direction thereof being substantially parallel to the front-rear direction. A plurality of bobbins B provided individually for the plurality of yarns Y are mounted in a line 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 the package P. When the package P is full, the turntable 23 is rotated to exchange the vertical positions of the two bobbin holders 24. Thus, the bobbin holder 24 positioned at 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 located at the upper side up to this point is moved downward, and the package P can be recovered by a package recovery device, not shown.

The contact 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 in 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 thereby adjusting the shape of the packages.

(hanging yarn mechanical arm)

Next, the yarn hanging manipulator 3 will be described. The yarn hanging manipulator 3 includes a main body 31, a manipulator 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 operations of the robot arm 32, the yarn hanging unit 33, the electric-air pressure regulating valve 37, and the like is mounted therein. The body 31 is suspended from the two rails 35, and is movable in the left-right direction along the two rails 35. The two guide rails 35 are arranged at intervals in the front-rear direction of the plurality of spinning drawing devices 2, and extend in the left-right direction across the plurality of spinning drawing 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 drawing devices 2.

Four wheels 36 are provided at the upper end of the main body 31. Two of the four wheels 36 are disposed on the upper surface of each rail 35. Further, the four wheels 36 are rotationally driven by the movement motor 121 (see fig. 4), and the body portion 31 is moved 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. An arm motor 122 (see fig. 4) is incorporated in each joint portion 32b, and when the arm motor 122 is driven, the arm 32a swings about the joint portion 32b. This allows the robot arm 32 to operate three-dimensionally.

Fig. 6 is a perspective view showing the yarn hanging unit 33 of the yarn hanging manipulator 3. The yarn hanging unit 33 is attached to the front end portion of the robot arm 32. The yarn hanging unit 33 is formed in a long shape in one direction (hereinafter, this direction is referred to as a first direction), and an arm 32a is connected to an end portion of one side in the first direction (hereinafter, this direction is referred to as 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 the distal end side.

In the present embodiment, when the robot arm 32 is driven, the yarn hanging unit 33 attached to the distal end portion of the robot arm 32 operates three-dimensionally. At this time, the orientation of the yarn hanging unit 33 can also be changed. However, as will be described later, when yarn is to be hung, the yarn hanging unit 33 is mainly used in such an orientation that the vertical direction of fig. 6 is parallel to the vertical direction, the upper side of fig. 6 is the upper side in the vertical direction, and the lower side of fig. 6 is the lower side in the vertical direction. Accordingly, in the following, the up-down direction in fig. 6 of the yarn hanging unit 33 is set to be the second direction, the upper side in fig. 6 is set to be the upper side in the second direction, and the lower side in fig. 6 is set to be 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 device 42, a yarn accumulating yarn guide 43, a cutter 44, a slide member 45, a pressing roller 46, a yarn dividing yarn guide 47, and the like. The frame 41 is connected to the arm 32a at a base end portion in the first direction. The aspirator 42 is mounted to a portion of one side of the frame 41 in the third direction. The aspirator 42 extends in the first direction, and is capable of aspirating and holding the yarn Y at its tip end. The yarn accumulating yarn guide 43 is attached to the frame 41 and is located below the front end portion of the aspirator 42 in the second direction. When the yarn is hung, the plurality of yarns Y are hung on the yarn accumulating guide 43 in an accumulated state. The cutter 44 is attached to the frame 41 and is located at the lower side of the yarn accumulating yarn guide 43 in the second direction. As described later, the cutter 44 cuts the yarn Y when the yarn Y is transferred from the yarn suction device 15 to the suction device 42.

The slide member 45 is disposed so as to be offset from the suction device 42, the yarn accumulating guide 43, and the cutter 44 toward the other side in the third direction. The slide member 45 is mounted to the frame 41 via an air cylinder 48, and when the air cylinder 48 is driven, the slide member 45 moves in the first direction with respect to the frame 41.

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

The yarn dividing guide 47 is mounted 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 pressing roller 46 in the second direction. The yarn dividing guide 47 has a plurality of grooves 47a arranged along the longitudinal direction thereof. The ends of the plurality of grooves 47a on one side are opened, and the distance from the opening portion increases the distance between the grooves 47a. However, the intervals of the plurality of grooves 47a may be constant regardless of the distance from the opening portion. The end portion on one side in the longitudinal direction of the split yarn guide 47 is attached to an unillustrated shaft extending parallel to the second direction. The shaft is inserted through a cylindrical shaft 49, and a yarn carrier swinging device 51 is connected to a lower end in the second direction. The yarn dividing guide 47 is pivoted about an axis of a shaft not shown by the guide pivoting device 51, and is selectively set to any one of a retracted posture (posture shown in fig. 6) in which the longitudinal direction of the yarn dividing guide 47 is substantially parallel to the first direction and a yarn hanging posture (posture shown in fig. 9 c) in which the yarn dividing guide 47 is positioned on the other side of the third direction than the entire region where the aspirator 42, the yarn accumulating guide 43, and the cutter 44 are arranged, and in which the longitudinal direction of the yarn dividing guide 47 is substantially parallel to the third direction and the yarn dividing guide 47 is positioned at a position in the third direction across the region where the aspirator 42, the yarn accumulating guide 43, and the cutter 44 are arranged.

Fig. 7 is a sectional view of the aspirator 42. The aspirator 42 has an aspiration tube 42a extending in a first direction and a compressed air tube 42b integrally connected to a midway portion of the aspiration tube 42 a. A suction port 42c for sucking the yarn Y is formed at the distal end portion of the suction tube 42a, and a waste yarn hose 8 (see fig. 1) led out from the waste yarn tank 6 is connected to the proximal end portion of the suction tube 42 a. The tip end portion of the compressed air tube 42b communicates with the suction tube 42a via the communication hole 42b, and a hose 7 for compressed air (see fig. 1) led out from the compressed air supply unit 5 is connected to the base end portion of the compressed air tube 42b. The communication hole 42d is formed obliquely to the suction tube 42a so as to be located closer to the suction tube 42a toward the base end side of the suction tube 42 a. The compressed air hose 7 and a part of the waste yarn hose 8 are 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 aspirator 42 thus configured, as shown by an arrow in fig. 7, the compressed air flowing from the compressed air tube 42b into the aspiration tube 42a flows from the distal end side toward the proximal end side of the aspiration tube 42 a. By this flow, negative pressure is generated in 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 directly discharged to the waste yarn hose 8 by the air flow in the suction tube 42 a. The yarn hooking robot 3 performs a yarn hooking operation while sucking and holding the yarn Y by the suction device 42 a.

As described above, in the aspirator 42 of the present embodiment, the suction force (negative pressure) is generated in the suction port 42c by the compressed air supplied from the compressed air supply unit 5, and the suction force of the aspirator 42 can be changed by changing the pressure of the compressed air supplied to the aspirator 42. In the present embodiment, as shown in fig. 1, an electro-pneumatic pressure regulating valve 37 is provided in a portion of the compressed air hose 7 disposed in the yarn hanging robot 3, and the electro-pneumatic pressure regulating valve 37 can regulate the pressure of the compressed air substantially steplessly. This can adjust the pressure of the compressed air supplied to the aspirator 42, and thus can adjust the suction force of the aspirator 42.

(electric constitution of spinning traction device)

Next, the electrical configuration of the spinning drawing device 1 will be described. As shown in fig. 1, the spinning drawing apparatus 1 has a centralized control device 4 for controlling the entire apparatus. The centralized 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 supporting the settings and a screen for showing the states of the respective parts. As shown in fig. 4, a winding control device 101 is provided to each spinning drawing device 2, and the winding control device 101 controls the operation of each driving unit provided to the spinning drawing device 2. The yarn hanging robot 3 is provided with a robot controller 102, and the robot controller 102 controls the operation of each driving unit provided in the yarn hanging robot 3. The centralized control device 4 is communicably connected to each of the winding control device 101 and the robot control device 102 by wireless or wired.

(series of procedures of yarn hanging operation)

Next, a yarn hanging operation performed by the yarn hanging manipulator 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 hooking the yarn Y from the yarn separating guide 47 to the fulcrum guide 21. More specifically, fig. 8 shows a step of drawing and winding a plurality of yarns Y spun from the spinning device onto the first yarn guide roller 11 and the second yarn guide roller 12 during the yarn winding operation, and fig. 9 and 10 show a step of winding the yarn on the yarn dividing guide 47 of the yarn winding robot 3. In fig. 8, the first direction of the yarn hanging unit 33 is substantially parallel to the front-rear direction for simplicity of illustration, but in reality, the yarn hanging unit 33 performs yarn hanging operation while changing its posture.

As shown in fig. 8 (a), the yarn suction device 15 is previously configured to suction and hold the plurality of yarns Y spun from the spinning device before the yarn hooking operation is performed by the yarn hooking manipulator 3. The second yarn guide roller 12 of the yarn drawing device 2 for carrying out the yarn hanging operation is positioned at the yarn hanging position. The plurality of fulcrum guides 21 are positioned at yarn hanging positions (positions shown in fig. 5 (b)). The pressing roller 46 and the yarn dividing guide 47 provided in the yarn hanging unit 33 are set to the retracted posture (the state shown in fig. 6).

Then, the yarn hooking robot 3 is moved to a position overlapping the yarn drawing device 2, which is the object of the yarn hooking operation, in the front-rear direction. Next, the yarn hanging robot 3 drives the robot arm 32, thereby moving the yarn hanging unit 33 to a position slightly above the yarn absorber 15 as shown in fig. 8 (b). At this time, the yarn hanging unit 33 is moved so that the tip end portion of the aspirator 42 is pressed against the plurality of yarns Y sucked and held by the aspirator 15, and the cutter 44 is located at a position where the plurality of yarns Y can be cut. Next, when the plurality of yarns Y are cut by the cutter 44, the plurality of yarns Y are sucked and held by the suction device 42 as shown in fig. 8 (c), and the transfer of the plurality of yarns Y from the suction device 15 to the suction device 42 is completed.

After the transfer 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 hanging unit 33 is moved to a position below the first yarn guide roller 11, and the plurality of yarns Y are hung on the yarn limiting yarn guide 16. When yarn is to be suspended on the yarn limiting guide 16, the yarn limiting guide 16 is temporarily moved to the projecting position (the position of the chain line in fig. 2) so as to avoid interference between the yarn suspending means 33 and the yarn guiding rollers 11 and 12, and the yarn limiting guide 16 in the projecting position is suspended. Then, if the yarn hanging onto the yarn limiting yarn guide 16 is completed, the yarn limiting yarn guide 16 is returned to the retracted position (the position of the solid line in fig. 2). Next, by appropriately moving the yarn hanging unit 33, as shown in fig. 8 (e), the plurality of yarns Y held by the suction device 42 are wound around the first yarn guiding roller 11 from the lower side and then wound around the second yarn guiding roller 12 from the upper side.

Next, yarn hanging onto the plurality of fulcrum guides 21 will be described with reference to fig. 9 and 10. When the yarn hanging operation on the yarn guide rollers 11 and 12 is completed, the yarn hanging manipulator 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 friction with the plurality of yarns Y. Thereby, the intervals of the portions of the plurality of yarns Y pressed by the pressing roller 46 are enlarged.

Next, as shown in fig. 9 (b), the slide member 45 is slid toward the tip end side in the first direction. Then, the pressing roller 46 pressing the plurality of yarns Y slides toward the tip end in the first direction together with the slide member 45 and is separated from the suction device 42. Thereby, the inclination angle of the yarn Y from the pressing roller 46 toward the aspirator 42 with respect to the first direction becomes smaller when viewed from the second direction, as compared with the state of (a) in fig. 9. When the above-described inclination angle of the yarn Y is large, the yarn Y tends to deviate from a position away from the pressing roller 46 toward the suction device 42, which causes the yarn to swing. Therefore, in the present embodiment, as described above, the yarn swing is suppressed by moving the pressing roller 46 away from the aspirator 42, thereby reducing the above-described inclination angle of the yarn Y. As a result, the intervals of the plurality of yarns Y become substantially the same as the intervals of the openings of the plurality of grooves 47a of the yarn dividing guide 47, and the intervals of the openings of the plurality of grooves 47a of the yarn dividing guide 47 are equal to the intervals of the plurality of guide grooves of the yarn limiting guide 16.

Next, as shown in fig. 9 (c), the yarn separating guide 47 is swung, whereby the retracted posture is switched to the yarn hanging posture. Accordingly, the grooves 47a of the yarn dividing guide 47 are opposed to the yarns Y pressed by the pressing roller 46. Next, as shown in fig. 10, the pressing roller 46 is swung, whereby the state returns from the pressing state to the retracted state. 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 more the grooves 47a are separated from the openings of the plurality of grooves 47a, the larger the interval between the grooves 47a becomes, and therefore the interval between the plurality of yarns Y inserted into the plurality of grooves 47a is further enlarged. At this time, as shown in fig. 11, the yarn hooking unit 33 is arranged such that the straight lines connecting the grooves 47a of the split yarn guide 47 and the opening portions of the front ends of the grooves 21a of the fulcrum guide 21 corresponding thereto are parallel to each other.

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

(suction force control of suction device)

While the yarn Y is sucked and held by the suction device 42 during the series of yarn hanging operations as described above, the suction force of the suction device 42 may be constant and the yarn may not be satisfactorily hung depending on which component is to be hung. Therefore, in the present embodiment, as described above, the suction force of the suction unit 42 can be adjusted by providing the electro-pneumatic pressure regulating valve 37 in the middle of the compressed air hose 7 and controlling the electro-pneumatic pressure regulating valve 37 by the robot control device 102. A specific example of suction force control of the suction unit 42 will be described below.

Fig. 12 is a graph showing an example of 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 hanging operation. The robot controller 102 stores control data (a function of a process and suction force of the yarn hanging operation) shown in fig. 12 in advance, and controls the electric pressure regulating valve 37 during a series of yarn hanging operations (1 yarn hanging operation) from the delivery of the yarn Y to the suction device described later to the yarn hanging operation of 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 to the suction device 42, and in this state, transfers the yarn Y from the yarn suction device 15 to the suction device 42. Thereafter, the yarn is suspended on the yarn limiting yarn guide 16, but when the yarn is suspended on the yarn limiting yarn guide 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 delivering the yarn Y. This is because, when the yarn Y is caught in the guide groove of the yarn limiting guide 16, if the tension of the yarn Y is not increased to a certain level in advance, the yarn Y is likely to be unstable due to contact with the yarn limiting guide 16, and the yarn may not be caught satisfactorily.

Next, yarn is suspended on the yarn guide rollers 11 and 12, but at this time, if it is necessary to match the operation of the yarn suspending means 33, the manipulator control device 102 controls the electro-pneumatic pressure regulating valve 37 so as to adjust the suction force of the suction unit 42 to increase or decrease. However, it is not necessary to increase or decrease the suction force in this way, and yarn may be suspended on the yarn guide rollers 11 and 12 while maintaining the suction force at the time of suspending the yarn on the yarn restricting yarn guide 16.

When the yarn hanging onto the yarn guide rollers 11 and 12 is completed, the yarn hanging is performed in the order of the pressing roller 46 and the yarn dividing guide 47. The robot control device 102 controls the electro-pneumatic pressure regulating valve 37 so that the suction force of the suction device 42 is reduced before yarn is suspended from the pressure roller 46. This is because, when the suction force of the suction device 42 is high, the vibration imparted to the yarn Y sucked by the suction device 42 increases, and as a result, the propagation of the vibration cannot be suppressed by the pressing roller 46, and there is a possibility that the yarn swing increases, and the yarn may not be satisfactorily fed to the yarn dividing guide 47.

Next, yarn is hung on the plurality of fulcrum guides 21 positioned at the yarn hanging position. At this time, the robot control device 102 controls the electric-gas pressure regulating valve 37 so as to adjust the suction force of the suction unit 42. As can be clearly seen from fig. 11, when yarn is hung on the fulcrum bar 21, the yarn Y is inserted into the groove 21a while being in contact with the fulcrum bar 21, and therefore, in order to increase the success rate of yarn hanging, it is necessary to increase the suction force of the suction unit 42 and suppress yarn swing. However, if the suction force of the suction device 42 is excessively large to suppress the yarn swing, the resistance between the yarn Y and the split yarn guide 47 may be increased, and yarn breakage may occur. Accordingly, as described above, the suction force when yarn is hung on the fulcrum bar 21 is adjusted to suppress yarn breakage and yarn swing in consideration of the resistance between the yarn Y and the yarn dividing guide 47. By this adjustment, the yarn hanging onto the fulcrum bar yarn guide 21 is easily succeeded. Fig. 12 shows, as an example, a case where the suction force of the suction device 42 is slightly increased when yarn is hung on the fulcrum guide 21.

After yarn is hung on the plurality of fulcrum guides 21, the plurality of fulcrum guides 21 move from the yarn hanging position to the winding position. When the yarn is suspended from the plurality of fulcrum guides 21, irrespective of whether or not the plurality of fulcrum guides 21 are moved from the yarn suspension position to the winding position, the yarn suspension unit 33 moves to the yarn suspension position of the plurality of bobbins B mounted on the bobbin holder 24 and performs yarn suspension to the plurality of bobbins B. When yarn is to be 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 device 42 becomes maximum during one yarn hanging operation. By increasing the suction force, the tension of the yarn Y can be increased, and the yarn hanging failure to the bobbin B due to the loosening of the yarn Y can be suppressed.

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

(Effect)

As described above, in the yarn hanging robot 3 according to the present embodiment, since the suction force of the suction device 42 (suction holding member) is controlled by the robot control device 102 (control unit), the suction force can be increased or decreased as needed, and thus the yarn hanging operation can be stably performed.

In the present embodiment, the suction device 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 device 42 by controlling the pressure of the compressed air supplied to the suction device 42. With this configuration, the suction force of the suction unit 42 can be easily increased or decreased by merely adjusting the pressure of the compressed air.

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

In the present embodiment, since the pressure adjusting unit is the electro-pneumatic pressure adjusting 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 hanging operation, the suction force may vary appropriately depending on the process (for example, depending on which component is hanging). Therefore, according to the above configuration, even when the appropriate attractive force fluctuates during one yarn hanging operation, the yarn hanging operation can be performed more stably in response to the fluctuation.

In the present embodiment, the manipulator control device 102 is configured to maximize the suction force of the suction unit 42 when yarn is hung on the bobbin B during one yarn hanging operation. In general, when yarn is to be hung on the bobbin B, the yarn Y needs to be hung on 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 becomes weak, and the yarn Y may not be properly hung on the slit. Therefore, as described above, the suction force is maximized when yarn is hung on the bobbin B during one yarn hanging operation, and thus the yarn is easily hung on the slit, and yarn can be reliably hung on the bobbin B.

In the present embodiment, the robot control device 102 changes the suction force of the suction device 42 according to the type and/or production condition of the yarn Y wound up by the spinning drawing device 2. Depending on the type of yarn Y and the production conditions, the appropriate tension at the time of yarn hanging may be different. In this case, the suction force is changed according to the type and/or production condition of the yarn Y, whereby the yarn can be hung at a tension suitable for various types of yarns Y.

(other embodiments)

The embodiments of the present invention have been described above, but the mode to which the present invention can be applied is not limited to the above embodiments, and changes can be appropriately made without 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 adjusting portion is provided in the portion of the compressed air hose 7 disposed in the yarn hooking robot 3. However, the position where the electro-pneumatic pressure regulating valve 37 is provided is not limited to this, and the electro-pneumatic pressure regulating valve 37 may be provided at a portion outside the yarn hooking robot 3 in the hose 7 for compressed air, for example. In addition to the electric-gas pressure regulating valve 37, an electric-type flow rate regulating valve may be provided as the pressure regulating 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. However, in addition to this, 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 the output values from these various sensors.

In the above embodiment, the robot control device 102 has control data that defines the suction force of the suction unit 42 in advance, and performs suction force control based on the control data. However, it is not necessary to have such control data in advance, and for example, a sensor for detecting the tension of the yarn Y may be provided, and the suction force of the suction device 42 may be appropriately controlled based on the output value from the sensor.

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

The structure of the yarn hanging unit 33 is not limited to the above embodiment. For example, the pressing roller 46, the yarn dividing guide 47, and a driving source for hanging the yarn Y hanging on the yarn dividing guide 47 to the fulcrum guide 21 may be provided to the winding unit 13, and the yarn hanging unit 33 may be provided with only the aspirator 42, the yarn accumulating guide 43, and the cutter 44.

Claims

1. A yarn hanging manipulator for a spinning traction device for winding spun yarn around a bobbin while traversing to form a package, wherein the yarn hanging operation is performed while the yarn is sucked and held by a suction holding member,

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

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

the period from when the suction holding member starts suction holding of the yarn to when the yarn is hung on the bobbin is one time.

2. The yarn hanging manipulator as claimed in claim 1, wherein,

the control unit maximizes the suction force of the suction holding member when the yarn is hung on the bobbin during one yarn hanging operation.

3. A yarn hanging manipulator as claimed in claim 1 or 2, characterised in that,

the yarn drawing device is provided with a fulcrum yarn guide serving as a fulcrum when the yarn is traversed,

the control unit makes the attractive force of the attractive holding part when the bobbin is used for hanging yarn larger than the attractive force of the attractive holding part when the fulcrum-guide is used for hanging yarn.

4. A yarn hanging manipulator as claimed in claim 1 or 2, characterised in that,

the yarn drawing device comprises a yarn guide roller for conveying the yarn to the bobbin,

the control unit makes the attractive force of the attractive holding member larger than the attractive force of the attractive holding member when the yarn is hung on the yarn guide roller.

5. A yarn hanging manipulator as claimed in claim 1 or 2, characterised in that,

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

the control unit makes the attractive force of the attractive holding member when the bobbin is hung to be larger than the attractive force of the attractive holding member when the yarn is hung to the yarn limiting guide.

6. A yarn hanging manipulator as claimed in claim 1 or 2, characterised in that,

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.

7. The yarn hanging manipulator as claimed in claim 6, wherein,

and a pressure adjusting unit provided in a path for supplying the compressed fluid to the suction holding member, for adjusting the pressure of the compressed fluid,

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

8. The yarn hanging manipulator as claimed in claim 7, wherein,

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

9. A yarn hanging manipulator as claimed in claim 1 or 2, characterised in that,

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