CN117926437A

CN117926437A - Yarn hanging robot and yarn winding system

Info

Publication number: CN117926437A
Application number: CN202311248753.XA
Authority: CN
Inventors: 井上玲; 杉山研志; 堀哲也
Original assignee: TMT Machinery Inc
Current assignee: TMT Machinery Inc
Priority date: 2022-10-26
Filing date: 2023-09-26
Publication date: 2024-04-26
Also published as: EP4361076A1; JP2024063352A

Abstract

The invention relates to a yarn hanging robot and a spinning winding system, and provides a compact yarn hanging robot capable of reducing noise of a field environment for producing yarn. The yarn hanging robot (2) hooks the yarn (Y) continuously spun from the spinning device (3) to the spinning traction device (4). A wire-hanging robot (2) is provided with a robot body (21), a winding unit (25), and a robot arm (22). The winding unit (25) is disposed in the robot body (21) and winds and stores the yarn (Y) continuously spun from the spinning device (3). The mechanical arm (22) has a hand (23) that engages with the yarn (Y) from the spinning device (3) to the winding section (25). The mechanical arm (22) moves the hand (23) to hook the yarn (Y) from the spinning device (3) to the winding part (25) to the spinning traction device (4). The mechanical arm (22) is mounted on the robot body (21). The robot arm (22) moves the hand (23) relative to the robot body (21).

Description

Yarn hanging robot and yarn winding system

Technical Field

The present invention relates to a yarn winding robot and a yarn winding system including the same.

Background

Conventionally, in a spinning winding system for producing and winding a yarn from a molten raw material, a structure is known in which a yarn is suspended by a yarn suspending robot while the yarn is continuously supplied from an upstream side spinning machine. Patent document 1 discloses such a wire-hanging robot.

The wire-hanging robot of patent document 1 includes a robot arm, and a suction unit is disposed at a tip of the robot arm. The robot performs a yarn hanging operation while sucking and holding the yarn supplied from the upstream side by the suction unit. The yarn sucked by the suction unit is discarded in a discard box connected to the suction unit. This prevents the loosening of the yarn, and the robot can perform the yarn hanging operation well.

Patent document 1: japanese patent application laid-open No. 2021-123814

In the conventional yarn hanging robot disclosed in patent document 1, the arm is required to support the weight of a suction type ejector for holding the yarn set, a compressed air line for supplying compressed air, and the like. Therefore, it is necessary to secure the strength of the robot arm, and miniaturization is difficult. In addition, since the conventional yarn hanging robot is configured to suck the yarn by negative pressure, noise generated by air noise is large, and improvement is desired.

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to provide a compact wire-hanging robot capable of reducing noise in a field environment.

The problems to be solved by the present invention are as described above, and means for solving the problems and effects thereof will be described below.

According to a first aspect of the present invention, there is provided a wire-hanging robot configured as follows. That is, the yarn hooking robot hooks the yarn continuously spun from the spinning device to the yarn processing device. The yarn hanging robot includes a robot body, a winding unit, and a robot arm. The winding unit is disposed in the robot body and winds and stores the yarn continuously spun from the spinning device. The mechanical arm has a yarn engaging portion for engaging with a yarn from the spinning device to the winding portion. The mechanical arm operates the yarn engaging portion to hook the yarn from the spinning device to the winding portion to the yarn processing device. The robot arm is mounted on the robot body. The robot arm moves the wire engagement portion relative to the robot body.

Thus, in the yarn winding robot, the yarn can be stored in the winding section disposed in the robot body. As a result, the yarn is directly discharged to a waste yarn container or the like provided separately without sucking the yarn. Accordingly, a suction device such as a suction gun having a large weight is not required to be mounted on the distal end of the robot arm, and the robot arm can be miniaturized and reduced in output. In addition, noise can be reduced as compared with a configuration in which the holding wire is sucked by suction force by negative pressure.

In the above-described yarn winding robot, the cross-section of the axial center portion of the winding portion is preferably smaller than the cross-section diameters of the axial both end portions.

This prevents the yarn from coming off the winding section, and allows the yarn to be stored in a satisfactory manner.

The yarn winding robot preferably includes a yarn discharge unit that discharges the stored yarn from the winding unit.

This makes it possible to easily discharge the yarn wound around the winding section.

In the above-described yarn winding robot, it is preferable that the diameter of the winding section be variable.

Thus, by reducing the diameter of the winding portion, the wire wound around the winding portion can be easily discharged in a compact state.

The wire-hanging robot is preferably configured as follows. That is, the winding portion is configured to be changeable to a reduced diameter state and an expanded diameter state. In the expanded state, the cross-section of the axial center portion of the winding portion is smaller than the cross-section diameter of the axial both end portions.

The wire-hanging robot is preferably configured as follows. That is, the winding portion is configured to be changeable to a reduced diameter state and an expanded diameter state. The thread discharging portion is formed with a through hole. The winding portion in the reduced diameter state is inserted into the through hole of the yarn discharging portion.

Thus, the wire discharge unit presses the wire wound by the winding unit in a state where the winding unit is inserted into the through hole of the wire discharge unit, whereby the wire can be discharged satisfactorily.

The wire-hanging robot is preferably configured as follows. That is, the winding portion includes a plurality of rod members that can integrally rotate. The plurality of rod members are arranged in a circumferential direction with respect to a rotation center of the winding portion. Each of the rod members is disposed at a twisted position with respect to the rotation center and is movable in a direction approaching and a direction separating from the rotation center.

Thus, the diameter of the winding portion can be easily changed by a simple configuration.

According to a second aspect of the present invention, a spinning winding system configured as follows is provided. That is, the spinning winding system includes a spinning device, a yarn processing device, and a yarn hanging robot. The above-mentioned spinning device continuously spins out the yarn. The yarn processing device pulls or winds the yarn continuously spun from the spinning device. The yarn hanging robot hooks the yarn continuously spun from the spinning device to a yarn processing device. The yarn hanging robot includes a robot body, a winding unit, and a robot arm. The winding unit is disposed in the robot body and winds and stores the yarn continuously spun from the spinning device. The mechanical arm has a yarn engaging portion for engaging with a yarn from the spinning device to the winding portion. The mechanical arm operates the yarn engaging portion to hook the yarn from the spinning device to the winding portion to the yarn processing device. The robot arm is mounted on the robot body. The robot arm moves the wire engagement portion relative to the robot body.

This can simplify the spinning winding system and reduce the output, and can suppress noise of the spinning winding system due to negative pressure.

Drawings

Fig. 1 is a perspective view showing a schematic configuration of a spinning winding system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram showing the structure of the spinning winding unit.

Fig. 3 is a block diagram schematically showing a control configuration of the spinning winding system.

Fig. 4 is a schematic view showing the structure of the yarn reducing device.

Fig. 5 is a perspective view showing a configuration of the wire-hanging robot.

Fig. 6 is a side view showing a configuration of the wire-hanging robot.

Fig. 7 is a perspective view showing a case where the diameter of the winding portion becomes smaller.

Fig. 8 is a perspective view showing a state in which the wire discharge unit discharges the wire wound by the winding unit.

Fig. 9 is a schematic diagram showing a modification of the winding portion.

Description of the reference numerals

2. Wire hanging robot

3. Spinning device

4 Spinning traction device (Silk thread treatment device)

21. Robot main body

22. Mechanical arm

23 Hand (Silk thread clamping part)

25 Coiling part

25E connecting rod (rod component)

26 Waste silk discharge plate (silk discharge part)

100. Spinning winding system

Y silk thread

Detailed Description

Next, embodiments of the present invention will be described with reference to the drawings.

The spinning winding system 100 shown in fig. 1 is a system for winding the yarn Y of the synthetic fiber to form a package P. In the spinning winding system 100, filaments Y of synthetic fibers are produced by extruding molten synthetic fiber raw material. The take-up system 100 is installed in a factory in a building having a plurality of floors.

As shown in fig. 1, the spinning winding system 100 includes a plurality of spinning winding units 1. The spinning winding system 100 includes a centralized control device 101 for controlling the operations of the spinning winding units 1 and the yarn winding robot 2. The central control device 101 is communicably connected to the respective spinning winding units 1 and the robot control unit 20 of the yarn winding robot 2 by wireless or wired connection.

The yarn winding robot (yarn winding device) 2 shown in fig. 2 is provided to be shared by a plurality of yarn winding units 1. The yarn winding robot 2 can travel along a track, not shown, between the plurality of yarn winding units 1 in accordance with a control command from the robot control unit 20.

In the following description, "upstream" and "downstream" refer to upstream and downstream in the traveling direction of the yarn Y at the time of winding the produced yarn Y. The right-left direction is a direction in which the plurality of spinning winding units 1 are arranged. The direction perpendicular to the left-right direction and the up-down direction is referred to as the front-back direction.

The take-up unit 1 includes a spinning device 3, a yarn drawing device (yarn processing device) 4, and a take-up unit control device 102. The spinning winding unit 1 includes a driving device such as a motor for driving each device. The spinning winding unit control device 102 controls the operation of the driving device according to a control command from the central control device 101. The spinning drawing device 4 is disposed downstream of the spinning device 3. The spinning drawing device 4 mainly includes a yarn lowering device 5, a drawing section 6, and a winding device (yarn winding device) 7.

The spinning drawing device 4 performs a process of guiding the yarn Y at the time of winding the yarn Y, and the like. The spinning drawing device 4 includes various yarn processing units in addition to the drawing unit 6 and the winding unit 7. The yarn processing section includes, for example, a yarn guide 11, a yarn holding device 14, and the like. Details of the finish yarn guide 11 and the yarn holding device 14 will be described later.

The building provided with the take-up system 100 is partitioned into an upper floor and a lower floor by a partition floor 9. A spinning device 3 is arranged at the upper floor. A yarn lowering device 5, which is a part of the spinning draft device 4, is provided at the upper floor. A drawing unit 6, which is a part of the spinning drawing device 4, and a winding device 7, etc. are provided on the lower floor.

A wire passing hole 9a is formed in the partition floor 9. One wire passing hole 9a is provided for each take-up unit 1. The plurality of threads Y spun by the spinning device 3 can pass through the thread passing holes 9a. The thread passing holes 9a constitute passages for feeding the plurality of threads Y to the lower floor.

The pipe-shaped floor inner pipe (inter floor bute) 8 is fixed to the partition floor 9 so as to be connected to the wire through the hole 9 a. The floor inner pipe 8 prevents the plurality of wires Y from swinging due to external factors such as wind during traveling from the upper floor to the lower floor.

On the upper floor, a wire holding device 14 is provided near the wire passing hole 9a formed in the partition floor 9. The thread holding device 14 includes a suction device 14a and a cutter, not shown. In the downstream portion of the spinning drawing device 4 (for example, the drawing unit 6 or the winding device 7), when some abnormality occurs in the yarn Y or each device, the yarn holding device 14 cuts the plurality of yarns Y traveling downstream from the spinning device 3 with a cutter. The yarn holding device 14 temporarily holds the plurality of cut yarns Y on the upstream side (the spinning device 3 side) by sucking the yarns Y by the sucking device 14 a. As described above, the plurality of yarns Y spun by the spinning device 3 are sucked into the suction device 14a of the yarn holding device 14, and are held without traveling to the drawing unit 6 and the winding device 7. The holding of the wire by the wire holding device 14 continues until the abnormality is eliminated.

Although not shown, the spinning device 3 includes a plurality of (e.g., 12) spinning ports. The molten polymer in a high temperature state is supplied to the spinning port by a polymer supply device, not shown, constituted by a gear pump or the like. The spinning device 3 extrudes the molten polymer from each spinning port. Thereby, the yarn Y is spun from each spinning port of the spinning device 3. The number of spinning ports (in other words, the number of filaments Y spun in the spinning device 3) is not limited to 12.

A cooling device 10 and an oil yarn guide 11 are provided at a floor above the spinning winding system 100.

The cooling device 10 is arranged on the immediately lower side of the spinning device 3. The cooling device 10 includes a plurality of cooling cylinders, not shown. Cooling air is supplied to each cooling cylinder through cooling air pipes not shown. The yarn Y passing through the cooling cylinder is cooled by cooling air and solidified.

The oiling agent yarn guide 11 is disposed below the cooling device 10. The finish yarn guide 11 is provided with the same number of yarns Y spun by the spinning device 3. The plurality of oiling agent guides 11 apply oiling agent to the passed yarn Y, respectively. The plurality of wires Y to which the oil is applied reach the lower floor through wire passing holes 9a formed in the partition floor 9.

The yarn lowering device 5 is used to lower the plurality of yarns Y from an upper floor to a lower floor provided with a winding device 7 or the like. The yarn winding operation is an operation of setting the yarn Y from the spinning device 3 along a predetermined path in the drawing section 6 and then fixing the yarn to the bobbin B of the winding device 7. The winding device 7 is configured to wind the yarn Y to form the package P.

As shown in fig. 4, the yarn lowering device 5 mainly includes a guide member 51, a lifting portion 52, and a yarn suction portion 53. The yarn feeding device 5 may be configured to include a carriage. Each part of the yarn lowering device 5 is driven by each yarn lowering device driving motor 59 which operates in accordance with a control command of the central control device 101.

The guide member 51 is used to guide the lifting portion 52 in the up-down direction when the lifting portion 52 is lifted. The guide member 51 is constituted by, for example, a chain member in which a plurality of element members are arranged in 1 row and are rotatably coupled to each other.

When the yarn lowering operation is not performed, the guide member 51 is stored in a wound state. In the yarn lowering operation, the guide member 51 is positioned so as to extend in the up-down direction across the upper floor and the lower floor through the yarn passing hole 9a formed in the partition floor 9. The guide member 51 is not limited to the above configuration as long as it has a function of guiding the lifting portion 52 in the up-down direction. For example, the guide member 51 may be constituted by an elongated member extending in the up-down direction.

The lifting portion 52 is attached to be capable of lifting in the up-down direction along the guide member 51. As shown in fig. 4, the lifting portion 52 includes a support portion 54 and a holding portion 55. The support portion 54 is formed in an elongated plate shape and is provided to extend in the up-down direction. A holding portion 55 is attached to a lower end portion of the support portion 54.

The holding portion 55 includes two godet rollers 55a. The two godet rolls 55a are arranged in the right-and-left direction of the spinning winding system 100. The godet rolls 55a are rotatably supported, for example. Each godet 55a is mounted with its shaft extending in the front-rear direction. The two godet rolls 55a are located on both sides of the support portion 54 in the left-right direction with the support portion 54 interposed therebetween.

The outer peripheral surface of the godet 55a is formed with a groove portion having a substantially V-shaped cross section and having a ring shape. The two godet rollers 55a are lowered from above with respect to the portion of the yarn Y that is substantially guided in the horizontal direction, thereby causing the yarn Y to enter the groove portion. The plurality of wires Y hooked on the godet 55a are guided by the V-shaped grooves to move to the deepest portions of the grooves. As a result, the plurality of threads Y are bundled, and thus the robot arm 22 described later is easy to capture.

The yarn suction unit 53 is used to temporarily suck and hold the plurality of yarns Y spun from the spinning device 3 at the time of the yarn-lowering operation. The wire suction unit 53 is constituted by a suction gun, for example. The plurality of wires Y sucked by the wire suction unit 53 are discarded into a waste wire container or the like, not shown, through a suction tube, not shown, connected to the wire suction unit 53.

With this configuration, the lifting portion 52 moves from the standby position on the upper floor to the delivery position on the lower floor in a state where the intermediate portions of the plurality of wires Y are caught by the two godet rollers 55a, whereby the plurality of wires Y can be lowered downward.

As shown in fig. 2, the thread limiter 12 is provided upstream of the drawing unit 6. The thread limiting thread guide 12 is, for example, a comb-shaped member in which 12 guide grooves are formed in accordance with the number of threads Y. The wire limiting guide 12 is located at the lower floor and is in a position near the traction portion 6. The thread restricting thread guide 12 is provided so as to be movable in a direction parallel to a direction in which the plurality of take-up units 1 are arranged. The thread restricting guide 12 is driven by a guide driving section, not shown, constituted by a cylinder, for example.

The drawing unit 6 is used to draw the plurality of threads Y traveling downward from the upper floor. The drawing unit 6 includes a drawing frame 60 and two godet rollers 61 and 62. In the following description, the godet located on the upstream side in the traveling direction of the yarn Y is referred to as an upstream godet 61, and the godet located on the downstream side is referred to as a downstream godet 62.

At the take-up of the yarn Y, the yarn limiting yarn guide 12 is located substantially directly above the upstream godet 61. In the following description, this position will be referred to as "operation position".

During the yarn threading operation, the yarn limiting yarn guide 12 is positioned at a position offset in the left-right direction from the immediately upper direction of the upstream yarn guide roller 61. This makes it possible to easily perform the yarn hanging operation. In the following description, the position of the wire limiting guide 12 during the wire winding operation will be referred to as "ready position".

The upstream godet 61 is disposed on the traction frame 60 so as to be located almost immediately below the operating position of the yarn limiting yarn guide 12. The upstream godet 61 is driven by an upstream godet motor 61 a. On the other hand, as shown by the dot-dash arrow in fig. 2, the downstream godet 62 is movable between a yarn hanging position near the upstream godet 61 and a package forming position located directly above the winding device 7. The downstream godet 62 is driven by a downstream godet motor 62 a. The upstream wire motor 61a and the downstream wire motor 62a operate in accordance with a control command of the spinning winding unit control device 102.

During the yarn hanging operation, the downstream godet 62 is lowered to a yarn hanging position near the upstream godet 61. When the threading operation is completed, the downstream godet 62 is raised to the package forming position.

The winding device 7 winds the plurality of wires Y advancing from the drawing unit 6 to form a package P. The winding device 7 mainly includes a turntable 71, two bobbin holders 72, a traverse device 73, and a contact roller 74.

The turntable 71 is provided rotatably. Two bobbin holders 72 are rotatably supported on the turntable 71, respectively. Each bobbin holder 72 is formed to be relatively slender in the front-rear direction. The bobbin holders 72 are disposed on opposite sides of the rotary shaft of the turntable 71. By the rotation of the turntable 71, the positions of the two bobbin holders 72 are replaced.

Specifically, the two bobbin holders 72 are located at the upper winding position and the lower standby position, respectively. The bobbin holder 72 in the winding position is close to the contact roller 74, and the bobbin holder 72 in the standby position is distant from the contact roller 74. A plurality of bobbins B are mounted on each bobbin holder 72. The plurality of bobbins B are aligned along the longitudinal direction of the bobbin holder 72.

The traverse device 73 includes a plurality of traverse guides 73a corresponding to the plurality of bobbins B. The traverse guides 73a are arranged corresponding to the bobbins B. The traverse guide 73a is driven by a traverse motor 73b that operates in response to a control command from the take-up unit control device 102. Each traverse guide 73a reciprocates in a direction parallel to the longitudinal direction of the bobbin holder 72, and thereby the yarn Y is wound around the bobbin B while being traversed.

The contact roller 74 contacts the outer peripheral surfaces of the plurality of packages P formed on the respective bobbins B, and applies contact pressure to each of the plurality of packages P. The contact roller 74 is driven by the winding motor 70 that operates in response to a control command from the spinning winding unit control device 102.

As shown in fig. 2, the wire-hanging robot 2 is disposed on a lower floor of a building. The yarn winding robot 2 is capable of traveling between the plurality of yarn winding units 1 and automatically performing yarn winding operation on each yarn winding unit 1.

The yarn winding robot 2 includes a robot body 21, a robot control unit 20, a robot arm 22, a hand 23, and a yarn accumulating unit 24. The operations of the respective units of the yarn winding robot 2 are controlled by a robot control unit 20 mounted on a robot body 21. As shown in fig. 3, the robot control unit 20 is a known computer including CPU, ROM, RAM and the like.

A guide rail, not shown, is provided on the lower floor. The guide rail extends along the direction (left-right direction) in which the plurality of spinning winding units 1 are arranged. The robot body 21 includes a movement motor 21a. By driving the movement motor 21a, the robot body 21 can move along the guide rail.

The arm 22 is configured to be articulated and is attached to the robot body 21. The robot arm 22 is driven by an arm drive motor 22a, and can perform three-dimensional operation. A hand (wire engaging portion, wire guide portion) 23 capable of hooking and guiding the wire Y is attached to the distal end portion of the arm 22. A cutter, not shown, may be attached to the hand 23. As shown in fig. 7, the operations of the movement motor 21a and the arm drive motor 22a are controlled by the robot control unit 20. That is, the movement of the robot body 21 and the operation of the robot arm 22 are controlled by the robot control unit 20. The position of the cutter is not limited to the hand 23, and may be attached to the robot body 21.

The hand 23 is an end effector attached to the distal end of the robot arm 22, and is formed in a shape capable of guiding the plurality of wires Y. As an example, the hand 23 includes 1 pair of openable and closable finger portions. In a state where the finger portion is closed, a hole capable of holding the wire Y is formed. In the closed state of the finger, the wire Y is able to travel inside the hole. The yarn Y can be taken out and put into the hole with the finger portion opened. The configuration of the hand 23 is not limited to the above, and may be formed in other shapes as long as it can be engaged with the wire Y for guiding.

The yarn accumulating section 24 is used to accumulate a plurality of yarns Y spun by the spinning device 3 by winding up the yarns when the yarn-hanging robot 2 performs a yarn-hanging operation. As an example, as shown in fig. 2, the wire storage unit 24 is disposed on the back surface of the robot body 21. In other words, the back surface of the robot body 21 faces the spinning winding unit 1. The arrangement of the wire storage unit 24 is not limited to the back surface of the robot body 21, and may be provided on the side surface or the bottom surface.

As shown in fig. 5, the yarn accumulating section 24 mainly includes a winding section 25 and a waste yarn discharging plate (yarn discharging section) 26.

The winding portion 25 is disposed so as to extend in the front-rear direction toward the direction approaching the spinning winding unit 1 from the rear surface of the robot body 21. The winding unit 25 is rotatably mounted with respect to the robot main body 21. The winding portion 25 is constituted by a winder capable of changing to a reduced diameter state and an expanded diameter state, and includes a center shaft body (center rod) 25a and an expanding/contracting portion 25b provided around the center shaft body 25 a.

The central shaft 25a is a rod-shaped member, and protrudes in a substantially horizontal direction. The central shaft 25a is located at the rotation center of the winding portion 25. The expanding and contracting portion 25b is constituted by a plurality of first support rods 25c, a plurality of second support rods 25d, a plurality of connecting rods (rod members) 25e, a fixing boss 25f, and a moving sleeve 25 g. The number of the first support bars 25c, the second support bars 25d, and the connecting bars 25e constituting the winding portion 25 are equal to each other.

The first support rod 25c, the second support rod 25d, and the connecting rod 25e are each linear and elongated rod-shaped members. A fixing boss 25f is fixed to a front end portion of the central shaft body 25 a. A cylindrical moving sleeve 25g is supported at the root of the central shaft 25 a. The moving sleeve 25g is movable along the longitudinal direction of the central shaft 25 a. The fixed boss 25f and the moving sleeve 25g integrally rotate with the central shaft body 25 a.

One end (hereinafter referred to as "moving end") of each first support rod 25c is coupled to the moving sleeve 25g via a hinge. The other end of each first support rod 25c is connected to a connecting rod 25e via a hinge. One end (hereinafter, referred to as "fixed end") of each second support bar 25d is coupled to the fixing boss 25f via a hinge. The other end of each second support rod 25d is connected to a connecting rod 25e via a hinge. The phase of the first support rod 25c mounted on the moving sleeve 25g corresponds to the phase of the second support rod 25d mounted on the fixed boss 25 f.

That is, in the first support bar 25c and the second support bar 25d, the ends on the opposite side to the side attached to the moving sleeve 25g or the fixed boss 25f are connected to each other via the connecting bar 25 e. The plurality of connecting rods 25e arranged circumferentially around the central shaft 25a substantially form an outer circumferential surface around which the yarn Y can be wound.

The robot body 21 includes a motor not shown. The central shaft 25a can be rotated by driving the motor. The first support rod 25c, the second support rod 25d, and the connecting rod 25e rotate integrally with the central shaft body 25 a.

One end of each connecting rod 25e in the longitudinal direction is connected to the first support rod 25c, and the other end is connected to the second support rod 25 d. The connecting rod 25e connects the second support rods 25d, which are shifted in phase at the connecting portion by one or more amounts, without connecting the second support rods 25d, which are corresponding in phase at the connecting portion, to the first support rods 25 c. Thus, the connecting rods 25e are disposed at twisted positions with respect to the axial direction of the central shaft body 25a (in other words, the rotation center of the winding portion 25). Therefore, the outer peripheral surface of the winding portion 25 has a shape substantially similar to a simple hyperboloid centered on the central axis 25 a. The outer peripheral surface is recessed such that a cross section of an axially central portion thereof becomes a minimum diameter in the axial direction as a whole. By the recess (falling-off preventing structure) 25h thus formed, the yarn Y wound by the winding portion 25 can be prevented from falling off in the axial direction.

The movement sleeve 25g coupled to the movement end of the first support rod 25c is moved along the central shaft 25a by driving a driving mechanism or the like, which is not shown, for example.

When the moving sleeve 25g moves toward the distal end side of the central shaft 25a, the plurality of connecting rods 25e move away from the central shaft 25a in the radial direction in conjunction therewith. As a result, the winding portion 25 is in an expanded state in which the diameter is increased.

When the moving sleeve 25g moves toward the root side of the central shaft 25a, the plurality of connecting rods 25e move in the radial direction so as to approach the central shaft 25a in conjunction therewith. As a result, the winding portion 25 is in a reduced diameter state in which the diameter is reduced.

When winding the yarn Y, as shown in fig. 5, the moving sleeve 25g is controlled to a predetermined position. As a result, the winding portion 25 is in an expanded diameter state in which the diameter thereof is a predetermined size. In this expanded state, the cross-section of the axial center portion becomes smaller than the cross-section diameters of the axial both end portions.

The scrap wire discharge plate 26 is formed in an annular shape, and is mounted so as to be movable along a central shaft 25a of the winding portion 25 so as to be away from the robot main body 21. Specifically, the scrap discharge plate 26 is movable between a standby position near the robot body 21 and a scrap discharge position away from the robot body 21 (near the front end of the central shaft 25 a).

As shown in fig. 8, for example, a pressing rod 26a that extends in a direction perpendicular to the waste wire discharge plate 26 and is extendable and retractable is attached to the waste wire discharge plate 26. A through hole is formed in the center of the waste wire discharge plate 26. The winding portion 25 in a reduced diameter state with a reduced diameter can pass through the hole of the waste wire discharge plate 26. By expanding and contracting the pressing bar 26a, the scrap discharge plate 26 can move between the standby position and the scrap discharge position.

Next, a yarn hanging operation of the yarn hanging robot 2 will be described. Fig. 5 and 6 are diagrams showing the case of the yarn accumulating portion 24 when the yarn Y is accumulated in the yarn winding operation by the yarn winding robot 2. Fig. 7 and 8 are diagrams showing the yarn accumulating portion 24 when the yarn Y accumulated after the yarn winding operation is discharged.

In the yarn winding unit 1, for example, in a preparation stage before the start of formation of the package P, or when a yarn breakage occurs for some reason, a yarn hooking operation for hooking the plurality of yarns Y spun from the upper spinning device 3 to the drawing unit 6 or the like is required before winding of the yarns Y by the winding device 7 is started (restarted).

In the present embodiment, the yarn lowering operation for lowering the plurality of yarns Y from the spinning device 3 from the upper floor to the lower floor is performed by operating the yarn lowering device 5 by an operator. The yarn hanging operation of the lower floor is automatically performed by the yarn hanging robot 2.

Before starting the yarn lowering operation, the operator moves the yarn lowering device 5 to the target spinning winding unit 1. Then, the operator removes the wire suction part 53 from the yarn lowering device 5 and activates the wire suction part 53 at the same time or before it. The operator sucks and holds the plurality of filaments Y spun from the spinning device 3 on the upstream side of the finish yarn guide 11 by using the filament suction unit 53.

Then, the operator hooks the plurality of wires Y sucked and held by the wire suction unit 53 to the oiling agent wire guide 11. After the operator has hooked the plurality of yarns Y to the finish yarn guide 11 or moved the yarn lowering device 5 to the target take-up unit 1, the operator brings the guide member 51 of the yarn lowering device 5 into a state of crossing two floors through the yarn passing hole 9a at an appropriate timing.

Then, the operator takes out a hook-shaped yarn hooking tool (not shown) from an appropriate place, for example, and hooks the yarn Y sucked and held by the yarn suction unit 53 between the yarn suction unit 53 and the finish yarn guide 11 to the yarn hooking tool. After the plurality of wires Y are hooked on the yarn hooking tool, the operator moves the yarn hooking tool so that the plurality of wires Y between the wire suction portion 53 and the yarn hooking tool are positioned directly below the two yarn hooking rollers 55a provided in the holding portion 55 of the yarn lowering device 5.

In this state, when the operator removes the yarn hooking tool, the plurality of yarns Y (i.e., the middle portions of the yarns Y) between the yarn guide 11 and the yarn suction portion 53 are hooked on the two yarn hooking rollers 55a. Along with this, the plurality of yarns Y are bundled by the two godet rollers 55a.

After the completion of the yarn lowering preparation work, the operator operates an operation switch or the like, not shown, and starts the yarn lowering operation of the yarn lowering device 5. When the yarn lowering operation starts, the lifting portion 52 of the yarn lowering device 5 moves along the guide member 51 to the delivery position of the lower floor. As a result, the plurality of wires Y hooked to the two godet rollers 55a move to the lower position. In this way, the intermediate portions of the plurality of wires Y sucked and held by the wire suction unit 53 are conveyed by the wire dropping device 5 to the vicinity of the wire limiting guide 12.

The yarn winding robot 2 moves to the target yarn winding unit 1 in response to an operation command from the central control device 101 during or after the yarn lowering operation. The yarn winding robot 2 reaching the target yarn winding unit 1 operates the hand 23 attached to the distal end of the arm 22. The hand 23 moves to a position close to the plurality of wires Y hooked to any of the godet rollers 55a of the yarn reducing device 5, and engages with the wires Y.

The robot arm 22 guides the caught yarn Y to the winding section 25. The winding unit 25 starts rotating before or after the mechanical arm 22 starts the yarn catching operation. The yarn Y guided to the winding portion 25 is guided by the robot arm 22 so as to surround the outer periphery of the winding portion 25, for example, and is wound around the rotating winding portion 25. Thereby, the yarn Y is substantially fixed to the winding portion 25, and winding of the yarn Y is started. With this, the hand 23 engages with the yarn Y from the spinning device 3 to the winding section 25.

After the winding of the yarn Y by the winding unit 25 is started, the yarn winding robot 2 cuts the yarn Y downstream of the winding unit 25 (for example, between the winding unit 25 and the yarn winding roller 55 a) by a cutter (not shown) attached to the hand 23 or the robot body 21. The yarn Y downstream of the cutting position is sucked by the yarn suction unit 53 of the yarn lowering device 5 and discharged to a waste yarn container, not shown. The yarn Y may be cut by a cutter provided separately from the yarn hanging robot 2. The yarn may be cut before the winding section 25 starts winding the yarn Y caught by the hand 23.

Then, the yarn winding robot 2 moves the arm 22 while accumulating the plurality of yarns Y by the winding unit 25, so as to hook the plurality of yarns Y to the yarn limiting yarn guide 12, the drawing unit 6 (the upstream yarn guide roller 61 and the downstream yarn guide roller 62), and the plurality of fulcrum yarn guides 13 in this order.

Then, the yarn threading robot 2 moves the arm 22 to a predetermined position below the upper bobbin holder 72 with the hand 23, and brings the plurality of yarns Y into contact with the bobbins B.

The winding operation of the winding device 7 is started while the arm 22 guides the yarn Y to the bobbin B or slightly before it. By winding the yarn Y around the end of the rotating bobbin B, the end of the yarn Y can be fixed to the bobbin B. When the winding operation starts, the traverse guide 73a reciprocates in a direction parallel to the axial direction of the bobbin B in conjunction with the rotation of the bobbin B. In the reciprocation of the traverse guides 73a, the thread Y is caught by each traverse guide 73 a. Then, the yarn Y can be wound around the bobbin B while traversing by guiding the traverse guide 73 a. As a result, the package P can be formed.

After the yarn Y is fixed to the bobbins B, the yarn winding robot 2 cuts the yarn Y from the yarn suction unit 53 by a cutter, not shown, at a position close to the bobbins B. The plurality of wires Y between the cut wire suction unit 53 and the hand 23 of the yarn winding robot 2 are wound by the winding unit 25.

Then, the yarn winding robot 2 moves to a waste yarn container, not shown. In the present embodiment, the waste thread container is provided near a standby position where the thread forming robot 2 is on standby when the thread forming operation is not performed, for example.

After reaching the scrap container, the wire hanging robot 2 moves the moving sleeve 25g toward the robot body 21 side. As a result, as shown in fig. 7, the diameter of the winding portion 25 is reduced. Immediately after this, as shown in fig. 8, the wire hanging robot 2 moves the waste wire discharge plate 26 by advancing the pressing bar 26a from the robot body 21 toward the axial front end side of the central shaft 25 a. Thereby, the waste yarn discharge plate 26 can discharge the yarn Y wound around the winding portion 25 from the tip end of the winding portion 25.

At the time of the yarn hanging operation, the spinning by the spinning device 3 is not stopped, and therefore the yarn Y is continuously supplied from the upstream side. Since the yarn Y is wound around the winding section 25 and stored in the yarn winding robot 2 according to the present embodiment, the yarn Y in the vicinity of the hand 23 can be prevented from being loosened without providing a suction port by negative pressure in the hand 23. Therefore, since it is not necessary to mount a flexible negative pressure pipe to the robot arm 22, the weight that the robot arm 22 must support is reduced. As a result, the mechanical arm 22 can be simplified in structure and reduced in cost. In addition, since no air noise is generated in the hand 23, noise can be reduced satisfactorily.

As described above, the yarn hooking robot 2 according to the present embodiment hooks the yarn Y continuously spun from the spinning device 3 to the spinning drawing device 4. The filament robot 2 includes a robot body 21, a winding unit 25, and a robot arm 22. The winding unit 25 is disposed in the robot body 21, and winds and stores the yarn Y continuously spun from the spinning device 3. The arm 22 has a hand 23 that engages with the yarn Y from the spinning device 3 to the winding section 25. The arm 22 moves the hand 23 to hook the yarn Y from the spinning device 3 to the winding section 25 to the spinning drawing device 4. The robot arm 22 is attached to the robot body 21. The robot arm 22 moves the hand 23 relative to the robot body 21.

As a result, the yarn Y can be stored in the winding section 25 disposed in the robot body 21 in the yarn winding robot 2. As a result, the yarn Y is directly discharged to a waste yarn container or the like provided separately without being sucked. Accordingly, there is no need to mount a suction device such as a suction gun having a large weight on the distal end of the robot arm 22, and the robot arm 22 can be reduced in size and output. In addition, noise can be reduced as compared with a configuration in which the yarn Y is sucked and held by suction force by negative pressure.

In the filament winding robot 2 of the present embodiment, the cross section of the axial center portion of the winding portion 25 is smaller than the cross section diameters of the axial both end portions.

This prevents the yarn Y from coming off the winding section 25, and the yarn Y can be stored satisfactorily.

The yarn winding robot 2 of the present embodiment includes a waste yarn discharge plate 26 for discharging the stored yarn Y from the winding section 25.

This makes it possible to easily discharge the yarn Y wound around the winding section 25.

In the filament-winding robot 2 of the present embodiment, the diameter of the winding portion 25 can be changed.

By reducing the diameter of the winding portion 25, the yarn Y wound around the winding portion 25 can be easily discharged in a compact state.

In the filament-winding robot 2 of the present embodiment, the winding portion 25 is configured to be changeable to a reduced diameter state and an expanded diameter state. In the expanded state, the cross-section of the axial center portion of the winding portion 25 is smaller than the cross-section diameters of the axial both end portions.

In the filament-winding robot 2 of the present embodiment, the winding portion 25 is configured to be changeable to a reduced diameter state and an expanded diameter state. The waste wire discharge plate 26 is formed with a through hole. The winding portion 25 in a reduced diameter state is inserted through the through hole of the waste wire discharge plate 26.

Accordingly, the wire Y wound around the winding portion 25 is pushed by the waste wire discharge plate 26 in a state where the winding portion 25 is inserted into the through hole of the waste wire discharge plate 26, whereby the wire Y can be discharged satisfactorily.

In the filament robot 2 of the present embodiment, the winding unit 25 includes a plurality of coupling rods 25e that can integrally rotate. The plurality of connecting rods 25e are arranged in a circumferential direction with respect to a central shaft 25a located at the rotation center of the winding portion 25. The connecting rods 25e are disposed at twisted positions with respect to the central shaft body 25a, and are movable in a direction approaching and a direction separating from the central shaft body 25 a.

Thus, the diameter of the winding portion 25 can be easily changed by a simple configuration.

The spinning winding system 100 of the present embodiment includes a spinning device 3, a spinning drawing device 4, and a yarn-hanging robot 2. The spinning device 3 continuously spins the yarn Y. The yarn drawing device 4 draws or winds the yarn Y continuously drawn from the yarn drawing device 3. The yarn hooking robot 2 hooks the yarn Y continuously spun from the spinning device 3to the spinning drawing device 4. The filament robot 2 includes a robot body 21, a winding unit 25, and a robot arm 22. The winding unit 25 is disposed in the robot body 21, and winds and stores the yarn Y continuously spun from the spinning device 3. The arm 22 has a hand 23 that engages with the yarn Y from the spinning device 3to the winding section 25. The arm 22 moves the hand 23 to hook the yarn Y from the spinning device 3to the winding section 25 to the spinning drawing device 4. The robot arm 22 is attached to the robot body 21. The robot arm 22 moves the hand 23 relative to the robot body 21.

This can simplify the spinning winding system 100 and reduce the output, and can suppress noise of the spinning winding system 100 due to negative pressure.

While the preferred embodiments of the present invention have been described above, the above configuration can be modified as follows. The modification may be performed alone or in any combination of a plurality of modifications.

In the yarn lowering operation, the plurality of yarns Y may be sucked and held by the suction device 14a of the yarn holding device 14 instead of the yarn suction unit 53.

The guide member 51 may be formed of an elongated rod-like member, and may be provided in each spinning winding unit 1 through the wire passage hole 9 a.

The hand 23 of the yarn hooking robot 2 may be formed in other shapes such as a hook shape and a roller shape, as long as the yarn Y can be hooked and guided.

The godet 55a may be detachable. In this case, the godet robot 2 grips the godet roller 55a by the hand 23, and guides the yarn Y via the godet roller 55 a.

In the scrap discharge plate 26, a through hole through which the winding portion 25 in a reduced diameter state passes may be formed at a position different from the center portion. The scrap wire discharge plate 26 may also be omitted. In this case, the waste yarn wound around the winding portion 25 can be directly extruded by the pressing rod 26a and discharged.

The winding portion 25 of the present embodiment can be modified as shown in fig. 9, for example. The winding portion 25 of the modification shown in fig. 9 includes a plurality of support bars 25p and a plurality of wire contact plates 25q. The plurality of support bars 25p are arranged in the circumferential direction at the tip and root portions of the central shaft body 25 a. One end of each support rod 25p is connected to the central shaft 25a via a hinge. In the support bar 25p, an end portion on the opposite side of the central shaft 25a is connected to the wire contact plate 25q via a hinge.

The plurality of wire contact plates 25q are arranged in a circumferential direction of the central shaft 25 a. The wire contact plate 25q is formed in an elongated plate shape. The longitudinal direction of the wire contact plate 25q is parallel to the central axis 25 a.

The support rods 25p are each provided so as to be swingable about an end portion connected to the center shaft body 25a. According to the swing of the support bar 25p, the wire contact plate 25q approaches the central shaft 25a as indicated by a chain line in fig. 9. Thereby, the distance between the wire contact plate 25q and the central shaft 25a becomes smaller. That is, the diameter of the winding portion 25 becomes smaller. This structure can easily realize the interlocking of the waste yarn discharging plate 26 and the winding portion 25. The wire contact plate 25q may be formed in a curved shape in which a central portion in the longitudinal direction thereof is curved so as to approach the central shaft 25a, instead of being formed in a straight line. In this case, the outer peripheral surface of the winding portion 25 can be formed in a recessed shape substantially similar to the recessed portion 25 h.

The winding portion 25 may be configured to be changeable in orientation depending on the arrangement of the yarn accumulating portion 24. For example, the orientation of the winding portion 25 is changed such that the tip of the winding portion 25 is directed downward. This allows the yarn Y wound around the winding section 25 to drop by its own weight and be discharged. Further, the arm 22 may be moved from the winding portion 25 to discharge the wound yarn Y, regardless of the arrangement of the yarn accumulating portion 24. In this case, the robot arm 22 doubles as a wire discharge unit.

The filament robot 2 of the present application can be applied to the following cases: when the winding operation of the yarn Y is temporarily stopped and the plurality of yarns Y are sucked and held by the suction device provided near the yarn limiting guide 12, the yarn Y is pulled from the suction device or the yarn limiting guide 12 to perform the yarn hanging operation.

Claims

1. A yarn hooking robot for hooking a yarn continuously spun from a spinning device to a yarn processing device, comprising:

a robot main body;

A winding unit which is disposed in the robot main body and winds up and stores the yarn continuously spun from the spinning device; and

A mechanical arm mounted on the robot body and having a yarn engaging portion for engaging with the yarn from the spinning device to the winding portion, the mechanical arm being configured to operate the yarn engaging portion to hook the yarn from the spinning device to the winding portion to the yarn processing device,

The robot arm moves the wire engagement portion relative to the robot body.

2. The wire-hanging robot of claim 1, wherein the wire-hanging robot comprises a wire-hanging robot body,

The cross section of the axial center portion of the winding portion is smaller than the cross section diameter of the axial both end portions.

3. A wire-hanging robot as claimed in claim 1 or 2, characterized in that,

The yarn winding device is provided with a yarn discharging section for discharging the stored yarn from the winding section.

4. A wire-hanging robot as claimed in claim 1 or 2, characterized in that,

The diameter of the winding portion is variable.

5. The wire-hanging robot of claim 4, wherein,

The winding part is configured to be changeable to a reduced diameter state and an expanded diameter state,

In the expanded state, the cross-section of the axial center portion of the winding portion is smaller than the cross-section diameter of the axial both end portions.

6. The wire-hanging robot of claim 4, wherein,

7. The wire-hanging robot of claim 6, wherein,

A through hole is formed in the thread discharging part,

The winding portion in the reduced diameter state is inserted into the through hole of the yarn discharging portion.

8. The filament hanging robot as claimed in any one of claims 4 to 7, characterized in that,

The winding part is provided with a plurality of rod components capable of integrally rotating,

The plurality of rod members are arranged in a circumferential direction with respect to the rotation center of the winding portion,

Each of the rod members is disposed at a twisted position with respect to the rotation center and is movable in a direction approaching and a direction separating from the rotation center.

9. A spinning winding system is characterized by comprising:

A spinning device for continuously spinning the yarn;

A yarn processing device for drawing or winding the yarn continuously spun from the spinning device; and

A yarn hanging robot for hanging the yarn continuously spun from the spinning device to the yarn processing device,

The yarn hanging robot includes:

a robot main body;

The robot arm moves the wire engagement portion relative to the robot body.

10. The spin-up system of claim 9 wherein,

11. A take-up system according to claim 9 or 10, characterized in that,

The yarn winding robot includes a yarn discharge unit for discharging the stored yarn from the winding unit.

12. A take-up system according to claim 9 or 10, characterized in that,

The diameter of the winding portion is variable.

13. The spin-up system of claim 12 wherein,

14. The spin-up system of claim 12 wherein,

15. The spin-up system of claim 14 wherein,

A through hole is formed in the thread discharging part,

16. Spinning reel-up system according to any one of claims 12 to 15, characterized in that,