JP2018066088A - Thread guard robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a thread guard robot which can carry out stably a thread guard work.SOLUTION: A thread guard robot 3 carrying out a thread guard work while sucking and holding a yarn Y by a suction holding member 42 in a spinning takeoff device 2 in which the spun yarn Y is wound around a bobbin B while traversing to form a package P, wherein a control unit for controlling a suction force of the suction holding member 42 is provided.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a yarn hooking robot that performs a yarn hooking operation on a spinning take-up device.

  For example, Patent Document 1 discloses an automatic yarn threading device for performing a threading operation on a spinning take-up device that winds a spun yarn to form a package. This automatic yarn threading device is configured to be able to thread each member constituting the spinning take-up device by operating while sucking and holding the yarn with a suction gun.

JP 53-106815 A

  By the way, when performing threading while sucking and holding the yarn with the suction gun, if the suction force of the suction gun is too small, the yarn may sway and the like, and it may not be possible to properly thread the members. There is. Further, if the suction force of the suction gun is too large, the tension of the yarn becomes excessive, which may cause yarn breakage or excessive propagation of the vibration of the yarn due to suction. That is, if the suction force of the suction gun is not properly maintained, there is a high possibility that the threading operation will fail. However, in Patent Document 1, there is no mention of adjusting the suction force of the suction gun in order to stably perform the threading operation.

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

  The present invention relates to a yarn threading robot that performs a threading operation while sucking and holding a yarn by a suction holding member with respect to a spinning take-up device that forms a package by winding the spun yarn on a bobbin while traversing. A control unit that controls the suction force of the suction holding member is provided.

  In the yarn threading robot according to the present invention, the controller is configured to control the suction force of the suction holding member, so that the threading operation can be stably performed by increasing or decreasing the suction force as necessary. Can do.

  In the present invention, the suction holding member is configured to generate a suction force according to the pressure of the compressed fluid when the compressed fluid is supplied, and the control unit supplies the suction holding member to the suction holding member. The suction force of the suction holding member may be controlled by controlling the pressure of the compressed fluid.

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

  In the present invention, it further includes a pressure adjusting unit for adjusting a pressure of the compressed fluid provided in a path for supplying the compressed fluid to the suction holding member, and the control unit includes the pressure adjusting unit. The suction force of the suction holding member may be controlled by controlling the operation of the part.

  By providing the yarn adjusting robot with the pressure adjusting unit that adjusts the pressure of the compressed fluid, the distance between the pressure adjusting unit and the suction holding member can be shortened, and the response speed of the suction force control can be increased.

  In the present invention, the pressure adjusting unit may be an electropneumatic regulator.

  If an electropneumatic regulator is used as the pressure adjusting unit, the pressure of the compressed fluid can be adjusted steplessly, and the suction force of the suction holding member can be controlled more finely.

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

  Even during a single threading operation, the appropriate suction force can vary depending on the process. With the above-described configuration, even when an appropriate suction force fluctuates during one yarn threading operation, it is possible to cope with this, and the yarn threading operation can be performed more stably.

  In the present invention, the control unit may maximize the suction force of the suction holding member during threading on the bobbin during the one threading operation.

  Generally, when threading a bobbin, it is necessary to hook the thread on a slit formed in the bobbin. For this reason, if the suction force when threading the bobbin is insufficient, the tension of the thread becomes weak, and it may not be possible to hook the thread well in the slit. Therefore, as described above, it is possible to easily hook the thread into the slit and reliably thread the bobbin by increasing the suction force at the time of threading to the bobbin during one threading operation. it can.

  In the present invention, the control unit may change the suction force of the suction holding member in accordance with the type and / or production conditions of the yarn wound by the spinning take-up device.

  Depending on the type of yarn and / or production conditions, the appropriate tension at the time of threading may differ. Even in such a case, as described above, by changing the suction force according to the type and / or production conditions of the yarn, the yarn hooking operation can be performed with a tension suitable for each type of yarn.

It is a schematic block diagram of the spinning take-up equipment which concerns on this embodiment. It is a front view of a spinning take-up device and a yarn hooking robot. It is a side view of a spinning take-up device and a yarn hooking robot. It is a block diagram which shows the electrical structure of a spinning take-up installation. It is a top view of a fulcrum guide. It is a perspective view which shows the threading unit of the threading robot. It is sectional drawing of a suction. It is a side view which shows operation | movement of the threading robot at the time of a threading operation | work. It is a top view which shows operation | movement of the threading robot at the time of a threading operation | work. It is a top view which shows operation | movement of the threading robot at the time of a threading operation | work. It is a top view which shows the operation | movement by which a thread | yarn is hung from a thread | yarn separation guide to a fulcrum guide. It is a graph which shows an example of suction power control of suction.

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

(Overall structure of spinning take-up equipment)
FIG. 1 is a schematic configuration diagram of a spinning take-up facility according to the present embodiment. A spinning take-up facility 1 according to the present embodiment includes a plurality of spinning take-up devices 2 arranged in a horizontal direction, a yarn hooking robot 3 that performs a yarn hooking operation on the plurality of spinning take-up devices 2, and each spinning take-up device. 2 and a centralized control device 4 that controls the operation of the threading robot 3, a compressed air supply unit 5 that supplies compressed air (an example of compressed fluid) to the threading robot 3, and the thread from the threading robot 3 are discarded. A waste yarn box 6. In the present embodiment, one yarn threading robot 3, one compressed air supply unit 5 and one waste yarn box 6 are provided for all the spinning take-up devices 2 provided in the spinning take-up facility 1. Shall. In FIG. 1, the illustration of the yarn is omitted in order to prevent the drawing from becoming complicated. In the following description, the direction in which the plurality of spinning take-up devices 2 are arranged is defined as the left-right direction, and the direction that is horizontal and orthogonal to the left-right direction is defined as the front-rear direction.

(Spinning take-up device)
Details of the spinning take-up device 2 will be described. FIG. 2 is a front view of the spinning take-up device 2 and the yarn hooking robot 3, and FIG. 3 is a side view of the spinning take-up device 2 and the yarn hooking robot 3. FIG. 4 is a block diagram showing an electrical configuration of the spinning take-up facility 1.

  The spinning take-up device 2 takes up a plurality of yarns Y spun from a spinning device (not shown) and winds them around a plurality of bobbins B to form a plurality of packages P. More specifically, the spinning take-up device 2 sends a plurality of yarns Y spun from a spinning device (not shown) to the winding unit 13 by the first godet roller 11 and the second godet roller 12, and the winding unit 13 A plurality of packages P are formed by winding them around a plurality of bobbins B, respectively.

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

  The second godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first godet roller 11. The second godet roller 12 is rotationally driven by a second godet motor 112 (see FIG. 4). The second godet roller 12 is 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 2nd godet roller 12 is comprised so that it can be moved along the guide rail 14 with the cylinder 113 (refer FIG. 4). As a result, the second godet roller 12 is disposed near the first godet roller 11 at the winding position when the yarn Y is wound (the position indicated by the solid line in FIG. 3), and when the yarn is threaded. It is possible to move between the hanging positions (the positions of the one-dot chain line in FIG. 3).

  The spinning take-up device 2 further includes an aspirator 15 and a yarn regulating guide 16. The aspirator 15 sucks and holds in advance a plurality of yarns Y spun from the spinning device before the yarn threading operation by the yarn threading robot 3. The aspirator 15 extends in the left-right direction, and a suction port 15a for sucking the yarn Y is formed at the right end thereof. The aspirator 15 is disposed slightly above the first godet roller 11 so that the suction port 15a is positioned in the vicinity of the plurality of yarns Y.

  The yarn regulating guide 16 is disposed between the first godet roller 11 and the aspirator 15 in the vertical direction. The yarn regulating guide 16 is, for example, a known comb-shaped yarn guide having a plurality of guide grooves, and defines a distance between adjacent yarns Y when a plurality of yarns Y are hung. Further, the yarn regulating guide 16 is configured to be moved in the left-right direction (the axial direction of the first godet roller 11) by a cylinder 114 (see FIG. 4). As a result, in the left-right direction, the yarn regulating guide 16 is located on the right side of the retracted position (the position indicated by the solid line in FIG. 2) within the range in which the first godet roller 11 is disposed and the front end of the first godet roller 11. It is movable between the protruding position (the position of the dashed line in FIG. 2).

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

  FIG. 5 is a top view of the fulcrum guide 21. The plurality of fulcrum guides 21 are individually provided for the plurality of yarns Y and arranged in the front-rear direction. Each fulcrum guide 21 has a groove 21a that opens to the rear side, and can be threaded by inserting the yarn Y into the groove 21a from the rear side. The plurality of fulcrum guides 21 are individually attached to the plurality of sliders 27. The plurality of sliders 27 are supported so as to be movable in the front-rear direction along the guide rails 28. 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. As a result, the plurality of fulcrum guides 21 are arranged apart from each other in the front-rear direction, and the winding position when winding the yarn Y (position shown in FIG. 5A) and the front end of the guide rail 28 are mutually connected. It is possible to move between the yarn hooking positions (positions shown in FIG. 5B) that are arranged close to each other when the yarn hooking is performed. The plurality of fulcrum guides 21 at the yarn hooking position are located near the first godet roller 11 and the second godet roller 12 at the yarn hooking position.

  The plurality of traverse guides 22 are individually provided for the plurality of yarns Y and arranged in the front-rear direction. The plurality of traverse guides 22 are driven by a common traverse motor 116 (see FIG. 4) and reciprocate in the front-rear direction. Thereby, the yarn Y hung on the traverse guide 22 is traversed around the fulcrum guide 21.

  The turret 23 is a disk-shaped member whose axial direction is substantially parallel to the front-rear direction. The turret 23 is rotationally driven by a turret motor 117 (see FIG. 4). Each of the two bobbin holders 24 has an axial direction substantially parallel to the front-rear direction, and is rotatably supported by the upper end portion and the lower end portion of the turret 23. A plurality of bobbins B individually provided for the plurality of yarns Y are mounted on each bobbin holder 24 side by side in the front-rear direction. Each of the two bobbin holders 24 is rotationally driven by an individual winding motor 118 (see FIG. 4).

  When the upper bobbin holder 24 is driven to rotate, the yarn Y traversed by the traverse guide 22 is wound around the bobbin B to form a package P. When the package P is fully wound, the upper and lower positions of the two bobbin holders 24 are exchanged by rotating the turret 23. As a result, the bobbin holder 24 that has been positioned on the lower side is moved upward, and the package Y can be formed by winding the yarn Y around the bobbin B attached to the bobbin holder 24. Further, the bobbin holder 24 that has been positioned on the upper side moves to the lower side, and the package P is 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 holder 24. The contact roller 25 makes contact with the surface of the plurality of packages P supported by the upper bobbin holder 24, thereby applying contact pressure to the surface of the package P being wound, thereby adjusting the shape of the package P.

(Threading robot)
Next, the threading robot 3 will be described. The threading robot 3 includes a main body 31, a robot arm 32, and a threading unit 33.

  The main body 31 is configured in a substantially rectangular parallelepiped shape, and a robot control device 102 (see FIG. 4) for controlling the operation of the robot arm 32, the threading unit 33, the electropneumatic regulator 37, and the like is mounted therein. Yes. The main body 31 is suspended by two guide rails 35 and is movable in the left-right direction along the two guide rails 35. The two guide rails 35 are disposed in front of the plurality of spinning take-up devices 2 at intervals in the front-rear direction, and extend in the left-right direction across the plurality of spinning take-up 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 take-up devices 2.

  Four wheels 36 are provided at the upper end of the main body 31. Two of these four wheels 36 are arranged on the upper surface of each guide rail 35. The four wheels 36 are rotationally driven by the moving motor 121 (see FIG. 4), and the four wheels 36 are rotationally driven, so that the main body 31 is moved in the left-right direction along the two guide rails 35. Moving.

  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 joint portions 32b that connect the arms 32a. Each joint portion 32b incorporates an arm motor 122 (see FIG. 4). When the arm motor 122 is driven, the arm 32a swings around the joint portion 32b. Thereby, the robot arm 32 can be operated three-dimensionally.

  FIG. 6 is a perspective view showing the yarn hooking unit 33 of the yarn hooking robot 3. The yarn hooking unit 33 is attached to the tip of the robot arm 32. The yarn hooking unit 33 is configured to be long in one direction (hereinafter, this direction is referred to as a first direction), and at one end in the first direction (hereinafter, referred to as a base end side in the first direction), It is connected to the arm 32a. In the following, the side opposite to the base end side in the first direction is referred to as the front end side.

  Here, in the present embodiment, when the robot arm 32 is driven, the yarn hooking unit 33 attached to the tip of the robot arm 32 operates three-dimensionally. At this time, the direction of the yarn hooking unit 33 can be changed. However, as will be described later, the yarn hooking unit 33 is mainly arranged so that the vertical direction in FIG. 6 is parallel to the vertical direction, the upper side in FIG. 6 is the upper side in the vertical direction, and the lower side in FIG. It is used in an orientation that is at the bottom of the direction. Therefore, in the following, the vertical direction in FIG. 6 of the yarn hooking unit 33 is the second direction, the upper side in FIG. 6 is the upper side in the second direction, and the lower side in FIG. 6 is the lower side in the second direction. . In the following description, the direction orthogonal to both the first direction and the second direction is defined as the third direction, and as shown in FIG. 6, one side and the other side of the third direction are defined and described.

  The yarn hooking unit 33 includes a frame 41, a suction 42, a yarn convergence guide 43, a cutter 44, a slide member 45, a pressing roller 46, a yarn dividing guide 47, and the like. The frame 41 is connected to the arm 32a at the base end in the first direction. The suction 42 is attached to a portion on one side of the frame 41 in the third direction. The suction 42 extends in the first direction, and can suck and hold the yarn Y at the tip portion. The yarn convergence guide 43 is attached to the frame 41 and is located on the lower side in the second direction of the tip portion of the suction 42. A plurality of yarns Y are hung on the yarn convergence guide 43 in a state where they are converged. The cutter 44 is attached to the frame 41 and is located below the yarn convergence guide 43 in the second direction. As will be described later, the cutter 44 is for cutting the yarn Y when the yarn Y is transferred from the aspirator 15 to the suction 42.

  The slide member 45 is disposed so as to be shifted from the suction 42, the yarn convergence guide 43, and the cutter 44 to the other side in the third direction. The slide member 45 is attached to the frame 41 via the cylinder 48, and when the 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 that is rotatably supported by a shaft 46a that is orthogonal to the second direction, and is disposed on the upper side in the second direction of the slide member 45 in the first direction. It is attached so that it can move together. One end of the shaft 46 a is attached to a cylindrical shaft 49. The shaft 49 extends in the second direction and penetrates the slide member 45. A roller swing device 50 is connected to the lower end of the shaft 49 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 shaft 49 by the roller swinging device 50. The pressing roller 46 swings about the axis of the shaft 49 so that the axial direction of the pressing roller 46 is substantially parallel to the first direction, so that the entire pressing roller 46 is composed of the suction 42 and the yarn convergence guide. The retracting posture (the posture shown in FIG. 6) located on the other side in the third direction and the axial direction of the pressing roller 46 are substantially parallel to the third direction from the region where 43 and the cutter 44 are arranged. Between the pressing posture (the posture shown in FIG. 9A) in which the pressing roller 46 is positioned so as to straddle the region where the suction 42, the yarn convergence guide 43 and the cutter 44 are arranged in the third direction. Any posture can be selectively taken.

  The yarn separation guide 47 is attached to the slide member 45 so as to be integrally movable in the first direction in a state of being arranged on the upper side in the second direction of the pressing roller 46. The yarn dividing guide 47 is formed with a plurality of grooves 47a arranged along the longitudinal direction thereof. One end of each of the plurality of grooves 47a is open, and the distance between the grooves 47a increases as the distance from the opening portion increases. However, the interval between the plurality of grooves 47a may be constant regardless of the distance from the opening. Further, the yarn dividing guide 47 is attached to a shaft (not shown) having one end in the longitudinal direction extending in parallel to the second direction. This shaft is inserted into a cylindrical shaft 49, and a guide swing device 51 is connected to a lower end portion in the second direction. The yarn dividing guide 47 is swung around a shaft shaft (not shown) by a guide rocking device 51, so that the longitudinal direction of the yarn dividing guide 47 is substantially parallel to the first direction, and the entire yarn dividing guide 47 is The retracting posture (the posture shown in FIG. 6) located on the other side in the third direction with respect to the region where the suction 42, the yarn converging guide 43 and the cutter 44 are arranged, and the longitudinal direction of the yarn dividing guide 47 are the third. In the yarn hooking position (FIG. 9C), the yarn dividing guide 47 is positioned so as to cross the region where the suction 42, the yarn converging guide 43 and the cutter 44 are arranged in the third direction. Any of the postures can be selectively taken.

  FIG. 7 is a sectional view of the suction 42. The suction 42 has a suction pipe 42a extending in the first direction and a compressed air pipe 42b integrally connected to a midway portion of the suction pipe 42a. The suction pipe 42a has a suction port 42c for sucking the yarn Y, and a waste thread hose 8 (see FIG. 1) drawn from the waste thread box 6 is provided at the proximal end of the suction pipe 42a. It is connected. The distal end portion of the compressed air tube 42b communicates with the suction tube 42a through the communication hole 42d, and the compressed air hose 7 drawn out from the compressed air supply unit 5 ( 1) is connected. The communication hole 42d is formed obliquely with respect to the suction tube 42a so as to be positioned closer to the proximal end side of the suction tube 42a as it approaches the suction tube 42a. Part of the compressed air hose 7 and the waste yarn hose 8 are attached to the main body 31 and the robot arm 32 so as not to disturb the operation of the robot arm 32.

  In the suction 42 configured as described above, as indicated by an arrow in FIG. 7, the compressed air flowing into the suction pipe 42a from the compressed air pipe 42b flows from the distal end side to the proximal end side of the suction pipe 42a. This flow creates a negative pressure at the suction port 42c, and the yarn Y can be sucked from the suction port 42c. 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 pipe 42a. The yarn hooking robot 3 performs the yarn hooking operation while sucking and holding the yarn Y by the suction 42.

  As described above, the suction 42 of the present embodiment generates a suction force (negative pressure) at the suction port 42 c by the compressed air supplied from the compressed air supply unit 5, and the pressure of the compressed air supplied to the suction 42. By changing, the suction force of the suction 42 can be changed. In this embodiment, as shown in FIG. 1, an electropneumatic regulator 37 that can adjust the pressure of compressed air in a stepless manner is provided in a portion of the compressed air hose 7 that is disposed in the yarn hooking robot 3. It has been. As a result, the pressure of the compressed air supplied to the suction 42 can be adjusted, and consequently the suction force of the suction 42 can be adjusted.

(Electric configuration of the spinning take-up equipment)
Next, the electrical configuration of the spinning take-up facility 1 will be described. As shown in FIG. 1, the spinning take-up facility 1 has a centralized control device 4 for controlling the entire facility. The centralized control device 4 includes an operation unit 4a for an operator to make various settings, and a display unit 4b for displaying a screen for assisting the setting and a screen showing the state of each unit. As shown in FIG. 4, each spinning take-up device 2 is provided with a winding control device 101, and the winding control device 101 controls the operation of each drive unit provided in the spinning take-up device 2. . Further, the threading robot 3 is provided with a robot control device 102, and the robot control device 102 controls the operation of each drive unit provided in the threading robot 3. The central control device 4 is communicably connected to each winding control device 101 and the robot control device 102 by wireless or wired communication.

(Sequential flow of threading work)
Next, the threading operation by the threading robot 3 will be described. 8 is a side view showing the operation of the yarn hooking robot 3 during the yarn hooking operation, FIGS. 9 and 10 are top views showing the operation of the yarn hooking robot 3 during the yarn hooking operation, and FIG. FIG. 10 is a top view showing an operation in which the yarn Y is hung from the yarn dividing guide 47 to the fulcrum guide 21. More specifically, FIG. 8 shows a step of taking a plurality of yarns Y spun from the spinning device and winding them around the first godet roller 11 and the second godet roller 12 in the yarn hanging operation step, and FIG. FIG. 10 shows a process of threading the thread dividing guide 47 of the threading robot 3. In FIG. 8, for simplification of illustration, the first direction of the yarn hooking unit 33 is substantially parallel to the front-rear direction. However, the posture of the yarn hooking unit 33 is actually changed. While doing this, perform the threading operation.

  As shown in FIG. 8A, before the yarn hooking robot 3 performs the yarn hooking operation, a plurality of yarns Y spun from the spinning device are sucked and held in advance by the aspirator 15. Further, the second godet roller 12 of the spinning take-up device 2 where the yarn hooking operation is performed is positioned at the yarn hooking position. Further, the plurality of fulcrum guides 21 are positioned at the thread hooking position (position shown in FIG. 5B). Further, the pressing roller 46 and the yarn dividing guide 47 provided in the yarn hooking unit 33 are respectively set in the retracted posture (state shown in FIG. 6).

  Then, the yarn hooking robot 3 is moved to a position where it overlaps with the spinning take-up device 2 to be subjected to the yarn hooking operation in the front-rear direction. Subsequently, the yarn hooking robot 3 drives the robot arm 32 to move the yarn hooking unit 33 to a position slightly above the aspirator 15 as shown in FIG. At this time, the yarn is so arranged that the tip of the suction 42 is pressed against the plurality of yarns Y sucked and held by the aspirator 15 and that the cutter 44 is positioned at a position where the plurality of yarns Y can be cut. The hanging unit 33 is moved. Subsequently, when the plurality of yarns Y are cut by the cutter 44, as shown in FIG. 8C, the plurality of yarns Y are sucked and held by the suction 42, and the plurality of yarns Y are transferred from the aspirator 15 to the suction 42. Complete.

  After the delivery of the plurality of yarns Y from the aspirator 15 to the suction 42 is completed, the plurality of yarns Y are moved while moving the yarn hooking unit 33 below the first godet roller 11 as shown in FIG. Thread the thread regulation guide 16. When threading the yarn regulating guide 16, the yarn regulating guide 16 is temporarily moved to the protruding position (the position of the one-dot chain line in FIG. 2) in order to prevent the yarn hooking unit 33 from interfering with the godet rollers 11 and 12. Threading is performed on the yarn regulating guide 16 at the position. When the yarn restriction guide 16 has finished threading, the yarn restriction guide 16 is returned to the retracted position (the position indicated by the solid line in FIG. 2). Subsequently, by appropriately moving the yarn hooking unit 33, as shown in FIG. 8 (e), the plurality of yarns Y held by the suction 42 are wound around the first godet roller 11 from the lower side, and then the upper side To the second godet roller 12.

  Next, threading on the plurality of fulcrum guides 21 will be described with reference to FIGS. 9 and 10. When the threading robot 3 has finished threading the godet rollers 11 and 12, the pushing roller 46 is swung from the retracted position to the pushing position by swinging the pushing roller 46 as shown in FIG. Switch to. Then, the pressing roller 46 is pressed against the plurality of yarns Y and rotated by the frictional force between the plurality of yarns Y. Thereby, the space | interval of the part to which the pressing roller 46 was pressed of the some thread | yarn Y is expanded.

  Next, as shown in FIG. 9B, the slide member 45 is slid to the tip side in the first direction. Then, the pressing roller 46 pressed against the plurality of yarns Y slides together with the slide member 45 to the front end side in the first direction and leaves the suction 42. Thereby, compared with the state of Fig.9 (a), when it sees from a 2nd direction, the inclination angle to the 3rd direction of the thread | yarn Y which goes to the suction 42 from the pressing roller 46 becomes small. Here, if the inclination angle of the yarn Y is large, the position where the yarn Y moves away from the pressing roller 46 toward the suction 42 is likely to vary, which causes the yarn to sway. Therefore, in the present embodiment, as described above, the pressing roller 46 is separated from the suction 42, thereby reducing the inclination angle of the yarn Y and suppressing yarn swing. As a result, the intervals between the plurality of yarns Y are substantially the same as the intervals at the openings of the plurality of grooves 47 a of the yarn dividing guide 47 equal to the intervals between the plurality of guide grooves of the yarn regulating guide 16.

  Next, as shown in FIG. 9C, the yarn separation guide 47 is swung to switch from the retracted posture to the yarn hooking posture. Thereby, the plurality of grooves 47a of the yarn dividing guide 47 respectively oppose the plurality of yarns Y against which the pressing roller 46 is pressed. Subsequently, as shown in FIG. 10, the pressing roller 46 is swung to return the pressing posture to the retracted posture. Then, the pressing roller 46 is separated from the plurality of yarns Y, and the plurality of yarns Y are respectively inserted into the plurality of grooves 47a. At this time, since the interval between the grooves 47a increases as the distance from the openings of the plurality of grooves 47a increases, the interval between the plurality of yarns Y inserted into the plurality of grooves 47a further increases. Further, at this time, as shown in FIG. 11, the straight lines connecting the grooves 47a of the yarn dividing guide 47 and the openings of the grooves 21a of the fulcrum guide 21 corresponding thereto are parallel to each other. The yarn hooking unit 33 is arranged.

  In this state, as shown in FIG. 11, by moving the yarn dividing guide 47, the plurality of yarns Y inserted into the plurality of grooves 47 a are respectively threaded on the corresponding fulcrum guides 21. When the yarn hooking to the plurality of fulcrum guides 21 is completed, the second godet roller 12 and the plurality of fulcrum guides 21 are moved to the winding positions, respectively, and the slide member 45 is slid to the proximal end side in the first direction and the yarn is separated. The guide 47 is returned to the retracted posture.

(Suction suction force control)
During the series of threading operations as described above, the threading robot 3 sucks and holds the thread Y by the suction 42. However, the appropriate suction force varies depending on which member is threaded and the like. If the suction force is constant, threading may not be performed properly. Therefore, in the present embodiment, as described above, the electropneumatic regulator 37 is provided in the middle of the pressure pneumatic hose 7 and the electropneumatic regulator 37 is controlled by the robot controller 102 so that the suction force of the suction 42 can be adjusted. It is configured. Hereinafter, a specific example of suction force control of the suction 42 will be described.

  FIG. 12 is a graph showing an example of suction force control of the suction 42. In the present embodiment, as shown in FIG. 12, the robot control device 102 controls the suction force of the suction 42 based on the yarn threading process. The robot control device 102 stores in advance control data (function of threading operation and suction force function) shown in FIG. 12, and controls the electropneumatic regulator 37 based on this control data.

  First, the robot controller 102 controls the electropneumatic regulator 37 to generate a predetermined suction force in the suction 42, and in this state, the yarn Y is transferred from the aspirator 15 to the suction 42. Thereafter, the yarn regulation guide 16 is threaded. When the yarn regulation guide 16 is threaded, the robot controller 102 applies the suction force of the suction 42 to the predetermined value when the yarn Y is delivered. Make it larger than the suction force. This is because when the yarn Y is hung in the guide groove of the yarn regulating guide 16, the movement of the yarn Y becomes unstable due to contact with the yarn regulating guide 16 unless the tension of the yarn Y is increased to some extent. This is because it is easy and may not be threaded well.

  Next, threading on the godet rollers 11 and 12 is performed. At this time, the robot controller 102 adjusts the suction force of the suction 42 by increasing or decreasing it if necessary according to the operation of the threading unit 33. Therefore, the electropneumatic regulator 37 is controlled. However, it is not essential to increase or decrease the suction force as described above, and the threading may be performed on the godet rollers 11 and 12 while maintaining the suction force when the yarn regulating guide 16 is threaded.

  When the threading on the godet rollers 11 and 12 is finished, the threading is performed in the order of the pressing roller 46 and the thread dividing guide 47. The robot controller 102 controls the electropneumatic regulator 37 so as to reduce the suction force of the suction 42 before threading onto the pressing roller 46. This is because if the suction force of the suction 42 is high, the vibration that the suction 42 gives to the yarn Y to be sucked increases, and as a result, propagation of vibration cannot be suppressed by the pressing roller 46. This is because there is a possibility that the yarn threading guide 47 cannot be threaded well due to the large yarn swing.

  Next, threading to the plurality of fulcrum guides 21 at the threading position is performed. At this time, the robot controller 102 controls the electropneumatic regulator 37 in order to adjust the suction force of the suction 42. As is apparent from FIG. 11, when threading the fulcrum guide 21, the thread Y is inserted into the groove 21a while being in contact with the fulcrum guide 21. Therefore, in order to increase the success rate of threading, suction of the suction 42 is performed. It is necessary to increase the force and suppress the yarn swing. However, if the suction force of the suction 42 is increased too much in order to suppress the yarn swaying, the resistance between the yarn Y and the yarn dividing guide 47 increases, and there is a possibility that the yarn breakage may occur. Therefore, as described above, the suction force when threading the fulcrum guide 21 is adjusted in consideration of the resistance between the yarn Y and the yarn dividing guide 47 so as to suppress yarn breakage and yarn swing. This adjustment facilitates successful threading on the fulcrum guide 21. In FIG. 12, as an example, a case where the suction force of the suction 42 is slightly increased when threading the fulcrum guide 21 is shown.

  After threading the plurality of fulcrum guides 21, the plurality of fulcrum guides 21 move from the threading position to the winding position. Further, regardless of whether or not the plurality of fulcrum guides 21 are moved from the yarn hooking position to the winding position, when the yarn hooking to the plurality of fulcrum guides 21 is finished, the yarn hooking unit 33 is mounted on the bobbin holder 24. The plurality of bobbins B are moved to the threading positions, and the plurality of bobbins B are threaded. When threading onto a plurality of bobbins B, the robot controller 102 controls the electropneumatic regulator 37 so that the suction force of the suction 42 is maximized during one threading operation. By increasing the suction force, the tension of the yarn Y can be increased, and the yarn hooking on the bobbin B due to slackness of the yarn Y can be suppressed.

  Incidentally, the appropriate suction force of the suction 42 can vary depending on the production conditions such as the material and thickness of the yarn Y, the spinning speed of the yarn Y, and the like. Therefore, in the present embodiment, a plurality of the control data described above are prepared according to the type of yarn Y and production conditions (an example thereof is indicated by a broken line in FIG. 12). For example, when the operator inputs the type of yarn Y and production conditions via the operation unit 4 a of the centralized control device 4, information on the yarn type and production conditions is sent from the centralized control device 4 to the robot control device 102. The robot controller 102 selects control data corresponding to the type of yarn Y and production conditions, and controls the suction force of the suction 42 based on the control data. However, it is not essential to vary the suction force control of the suction 42 according to the type of yarn Y and production conditions.

(effect)
As described above, the yarn threading robot 3 according to the present embodiment is configured to control the suction force of the suction 42 (suction holding member) by the robot control device 102 (control unit). By increasing or decreasing the suction force, the threading operation can be stably performed.

  Further, in the present embodiment, the suction 42 is configured to generate a suction force according to the pressure of the compressed air when the compressed air (compressed fluid) is supplied. The suction force of the suction 42 is controlled by controlling the pressure of the supplied compressed air. With such a configuration, the suction force of the suction 42 can be increased or decreased simply by adjusting the pressure of the compressed air.

  Further, in the present embodiment, an electropneumatic regulator 37 (pressure adjusting unit) for adjusting the pressure of the compressed air, provided in the compressed air hose 7 (path) for supplying the compressed air to the suction 42, In addition, the robot controller 102 is configured to control the suction force of the suction 42 by controlling the operation of the electropneumatic regulator 37. Thus, by providing the threading robot 3 with the electropneumatic regulator 37 that adjusts the pressure of the compressed air, the distance between the electropneumatic regulator 37 and the suction 42 can be shortened, and the response speed of suction force control. Can speed up.

  Further, in the present embodiment, as described above, since the pressure adjusting unit is the electropneumatic regulator 37, the pressure of the compressed air can be adjusted substantially steplessly, and the suction force of the suction 42 can be controlled more finely. can do.

  In the present embodiment, the robot controller 102 is configured to vary the suction force of the suction 42 during one yarn threading operation. Here, even during a single threading operation, an appropriate suction force may vary depending on the process (for example, depending on which member is threaded). Therefore, with the above-described configuration, even when an appropriate suction force fluctuates during one yarn threading operation, it is possible to cope with this, and the yarn threading operation can be performed more stably.

  In the present embodiment, the robot controller 102 is configured to maximize the suction force of the suction 42 when threading the bobbin B during one threading operation. In general, when threading the bobbin B, it is necessary to hook the thread Y into a slit formed in the bobbin B. For this reason, if the suction force when threading the bobbin B is insufficient, the tension of the thread Y becomes weak, and there is a possibility that the thread Y cannot be successfully hooked into the slit. Therefore, as described above, it is easy to hook the thread into the slit and reliably thread the bobbin B by increasing the suction force to the bobbin B during one threading operation as described above. be able to.

  In the present embodiment, the robot control device 102 changes the suction force of the suction 42 according to the type and / or production conditions of the yarn Y wound by the spinning take-up device 2. Depending on the type of yarn Y and production conditions, the appropriate tension at the time of threading may differ. Even in such a case, by changing the suction force according to the type and / or production conditions of the yarn Y, the yarn hooking operation can be performed with a tension suitable for the various yarns Y.

(Other embodiments)
The embodiment of the present invention has been described above. However, the form to which the present invention can be applied is not limited to the above-described embodiment, and may be changed as appropriate without departing from the spirit of the present invention, as exemplified below. Can be added.

  For example, in the above-described embodiment, the electropneumatic regulator 37 as the pressure adjusting unit is provided in a portion of the compressed air hose 7 disposed in the yarn hooking robot 3. However, the position where the electropneumatic regulator 37 is provided is not limited to this. For example, the electropneumatic regulator 37 may be provided in a portion of the compressed air hose 7 outside the yarn hooking robot 3. In addition to the electropneumatic regulator 37, for example, an electric flow rate adjusting valve may be provided as the pressure adjusting unit.

  In the above embodiment, the robot controller 102 controls the suction force of the suction 42 based on the yarn threading process. However, in addition to this, for example, various sensors for detecting the position and posture of the robot arm 32 may be provided, and the suction force of the suction 42 may be controlled based on output values from these various sensors.

  In the above embodiment, the robot control apparatus 102 has control data that prescribes the suction force of the suction 42, and performs suction force control based on this control data. However, it is not essential to have such control data. For example, a sensor for detecting the tension of the yarn Y is provided, and the suction force of the suction 42 is appropriately controlled according to the output value from the sensor. You may do it.

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

  Further, the configuration of the yarn hooking unit 33 is not limited to that of the above embodiment. For example, if the winding unit 13 is provided with a pressing roller 46, a yarn dividing guide 47, and a drive source for hooking the yarn Y hung on the yarn dividing guide 47 on the fulcrum guide 21, the yarn The hanging unit 33 may only include the suction 42, the yarn convergence guide 43, and the cutter 44.

2: Spinning take-up device 3: Yarn hanging robot 7: Pressure hose (path)
37: Electro-pneumatic regulator (pressure adjustment part)
42: Suction (suction holding member)
102: Robot control device (control unit)
Y: Yarn

Next, as shown in FIG. 9B, the slide member 45 is slid to the tip side in the first direction. Then, the pressing roller 46 pressed against the plurality of yarns Y slides together with the slide member 45 to the front end side in the first direction and leaves the suction 42. Thereby, compared with the state of Fig.9 (a), when it sees from the 2nd direction, the inclination angle with respect to the 1st direction of the thread | yarn Y which goes to the suction 42 from the pressing roller 46 becomes small. Here, if the inclination angle of the yarn Y is large, the position where the yarn Y moves away from the pressing roller 46 toward the suction 42 is likely to vary, which causes the yarn to sway. Therefore, in the present embodiment, as described above, the pressing roller 46 is separated from the suction 42, thereby reducing the inclination angle of the yarn Y and suppressing yarn swing. As a result, the intervals between the plurality of yarns Y are substantially the same as the intervals at the openings of the plurality of grooves 47 a of the yarn dividing guide 47 equal to the intervals between the plurality of guide grooves of the yarn regulating guide 16.

FIG. 12 is a graph showing an example of suction force control of the suction 42. In the present embodiment, as shown in FIG. 12, the robot control device 102 controls the suction force of the suction 42 based on the yarn threading process. The robot controller 102 stores in advance the control data shown in FIG. 12 (the function of the yarn hooking operation and the function of the suction force). Based on this control data, from the delivery of the yarn Y to the suction described later, The electropneumatic regulator 37 is controlled during a series of threading operations (single threading operation) up to thread bobbin B to be described later .

Claims (7)

A yarn hooking robot that performs a yarn hooking operation while sucking and holding a yarn with a suction holding member with respect to a spinning take-up device that forms a package by winding the spun yarn around a bobbin while traversing,
A yarn hooking robot comprising a controller that controls a suction force of the suction holding member. The suction holding member is configured to generate a suction force according to the pressure of the compressed fluid when the compressed fluid is supplied,
The yarn hooking robot according to claim 1, wherein the control unit controls a suction force of the suction holding member by controlling a pressure of the compressed fluid supplied to the suction holding member. A pressure adjusting unit for adjusting the pressure of the compressed fluid, provided in a path for supplying the compressed fluid to the suction holding member;
The yarn hooking robot according to claim 2, wherein the control unit controls the suction force of the suction holding member by controlling the operation of the pressure adjusting unit.   The threading robot according to claim 3, wherein the pressure adjusting unit is an electropneumatic regulator.   5. The yarn hooking robot according to claim 1, wherein the control unit varies the suction force of the suction holding member during one yarn hooking operation.   The yarn threading robot according to claim 5, wherein the control unit maximizes the suction force of the suction holding member during threading on the bobbin during the one threading operation.   The said control part changes the attraction | suction force of the said attraction | suction holding member according to the kind and / or production conditions of the thread | yarn wound up by the said spinning take-up apparatus, The any one of Claim 1 thru | or 6 characterized by the above-mentioned. The threading robot described in 1.

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