TWI677604B - Spun yarn winding system - Google Patents

Abstract

The spinning reeling device provided by the present invention is intended to make it difficult for a yarn-hanging robot to interfere with an operator, a device, and the like that collects a spindle.

In the spinning and winding device of the present invention, the plurality of traction units (3) are arranged in a row in the left-right direction. Each drawing unit (3) draws a plurality of yarns (Y) spun from a spinning device, and winds the plurality of yarns (Y) and winds the plurality of bobbins (B) to form a spindle. The yarn-hanging robot (4) is arranged above the winding section (14) of the traction unit (3), and is suspended on a guide rail (35) extending in the left-right direction across a plurality of traction units (3), and Move along the guide rail (35) in the left-right direction. The yarn hanging robot (4) is positioned above the upper end of the rolled spindle (P) in a rolled state mounted on the bobbin holder (24) at least when moving along the guide rail (35).

Description

Spinning equipment

The present invention relates to a spinning reeling device, which winds a plurality of yarns spun from a spinning device.

In the spinning winding device described in Patent Document 1, a plurality of yarns spun from a spinning machine are wound around first and second guide rollers. The plurality of yarns are respectively hung on a plurality of traverse fulcrum guides. Each yarn is traversed with a traverse fulcrum guide as a fulcrum, and wound around a bobbin mounted on a bobbin holder. In addition, in Patent Document 1, in order to hang a plurality of yarns spun from a spinning machine to a spinning take-up device, first, a second guide roller is moved toward a yoke position, thereby making The first yarn guide roller approaches the second yarn guide roller, and the plurality of traverse fulcrum guides are moved toward each other by moving the plurality of traverse fulcrum guides toward the yarn hanging position. Then, the plurality of yarns spun from the spinning machine are held by the suction member, and are wound in the order of the first guide roller and the second guide roller. Then, the plurality of yarns are hung to a plurality of traverse fulcrum guides, respectively.

In Patent Document 2, a plurality of spinning machines are connected side by side in a row, and a winding machine (corresponding to the “traction unit” of the present invention) corresponding to the spinning machine is arranged below each spinning machine. That is, in Patent Document 2, a plurality of coilers are arranged in a line. Further, in Patent Document 2, a vertical column capable of moving along the coiler line is arranged on the front side of the coiler line, and a lifting table is arranged on the vertical column so as to be able to move up and down. A winding shaft (corresponding to the "shaft" of the present invention) for inserting the spindle is provided on the lifting table. Further, in Patent Document 2, the lifting table is moved to a winding machine that requires the spindle to be taken out, and the spindle is inserted into the spindle, so that the spindle is taken out from the winding machine.

[Prior technical literature]

Patent Document 1: Japanese Patent Application Laid-Open No. 2015-78455

Patent Document 2: Japanese Patent Application Laid-Open No. 11-106144

Here, in Patent Document 1, the operator hangs the yarn on the yarn guide roller and each traverse fulcrum guide. On the other hand, in order to realize automation, for example, it is conceivable to provide a common yarn-hanging robot for a plurality of coilers, and the yarn-hanging robot is configured to be able to move across a plurality of coilers and automatically perform yarn guiding. Yarn hanging on rollers and traverse fulcrum guides.

On the other hand, in the spinning winding device described in Patent Document 1, it is necessary to recover the spindle from the bobbin holder. The collection of the spindle may be performed manually by an operator, or may be performed using an apparatus described in Patent Document 2.

In the case where the above-mentioned spinning robot is provided in the spinning and winding device described in Patent Document 1, when the spindle is recovered in a certain winding machine, the spinning robot may be moved to For other winding machines, the yarn guide rollers and traverse fulcrum guides are used to hang the yarn. At this time, there may be a case where the yarn spindle is recovered between the position where the yarn-hanging robot is currently located and the coiler to be yarn-hanged. In this case, in order to prevent the yarn-hanging robot from interfering with the operator and the device that are recovering the spindle, the yarn-hanging robot must be moved to the target winder after the recovery of the spindle is completed. Worries about yarn operation being delayed.

An object of the present invention is to provide a spinning and winding device which is provided with a yarn-hanging robot that does not easily interfere with an operator, a device, or the like that collects spindles.

The spinning and winding device of the first invention includes a plurality of traction units each including: a traction section that pulls a plurality of yarns spun from a spinning device; and a winding section that is disposed on the above. A plurality of yarns are formed below the traction section by winding a plurality of yarns pulled by the traction section around a plurality of bobbins arranged in a horizontal first direction, and the plurality of traction units. It is arranged in a second direction that is horizontal and orthogonal to the first direction. The yarn-hanging robot is provided in common to the plurality of traction units and is arranged in the winding section in the first direction. On one side, the yarn drawing of the traction unit of each traction unit is performed; and the control device controls the movement of the yarn drawing robot, and the yarn drawing robot is provided to be able to hang along the above in a state of being suspended from above. Move in the second direction.

According to the present invention, since the yarn-hanging robot can be moved in the second direction in a state of being suspended from above, the yarn-hanging robot that is in motion cannot easily contact the operator, other devices, and the like.

The spinning and winding device according to the second invention is the spinning and winding device according to the first invention, wherein the yarn-hanging robot is configured to be capable of being positioned on the one side of the winding section in the first direction. The spindle discharge space, in which a plurality of spindles are discharged from the winding section, is further above and moves in the second direction.

According to the present invention, since the yarn-hanging robot moves higher than the spindle discharge space, the movement of the yarn-hanging robot and the collection of the spindles in the spindle discharge space can be performed simultaneously.

The spinning take-up device of the third invention is the spinning take-up device of the second invention, wherein the above-mentioned spindle discharge space is: the upper end of the spindle in the full state of the winding section and the installation of the plurality of traction units Space between faces.

According to the present invention, since the yarn-hanging robot moves above the spindle in a full state of the winding section, the movement of the yarn-hanging robot and the collection of the spindle in the spindle discharge space can be performed simultaneously.

A spinning take-up device according to a fourth aspect of the invention is a spinning take-up device according to the second or third aspect, wherein the take-up section includes a spindle discharge device that discharges a plurality of spindles into the spindle discharge space, and further includes: The spindle recovery device collects a plurality of spindles discharged from the winding unit in the spindle discharge space.

According to the present invention, the movement of the yarn-hanging robot and the collection of the spindle by the spindle recovery device can be performed simultaneously.

The spinning reeling device according to the fifth invention is the spinning reeling device according to the fourth invention, wherein the spindle recovery device is configured to be capable of increasing the number of the spinning robots in the first direction. The opposite side of each traction unit moves in the second direction.

According to the present invention, even when the yarn-hanging robot performs yarn-hanging, the spindle recovery device can be moved in the second direction.

A spinning reeling device according to a sixth invention is the spinning reeling device according to any one of the first to fifth inventions, wherein the traction section includes a winding device for winding the plurality of yarns spun from a spinning device. The yarn guiding roller is arranged on one side of the plurality of traction units in the first direction, and the yarn guiding roller is used to hang yarn. The yarn guiding roller is configured as: When the yarn is hung, it is arranged at the end of the traction unit on one of the sides in the first direction.

According to the present invention, the yarn-hanging robot suspended from above is disposed on one side of the first direction of the plurality of traction sections, while the yarn-guiding roller is disposed on the traction unit when the yarn-hanging robot performs yarn-hanging. One of the ends in the first direction. With this, the yarn-hanging robot can compare Easy to hang the yarn towards the yarn guide roller.

A spinning winding device according to a seventh invention is a spinning winding device according to the sixth invention, wherein the winding unit includes a plurality of coils arranged along the first direction and sent from the guide roller. The yarn is distributed to the plurality of distribution guides of the plurality of bobbins. The yarn hanging robot is configured to hang yarn to the plurality of distribution guides. The plurality of distribution guides are configured to: At the time of yarn, it is close to the end of the one side of the traction unit in the first direction.

According to the present invention, the yarn-hanging robot suspended from above is disposed on one side of the first direction of the plurality of traction sections, while the plurality of distribution guides are close to the traction unit when the yarn-hanging robot performs yarn-hanging. The first direction of the one end of the one side. Thereby, the yarn hanging robot can relatively easily carry out yarn hanging to a plurality of distribution guides.

The spinning reeling device according to the eighth invention is the spinning reeling device according to any one of the first to seventh inventions. The yarn-hanging robot includes a main body portion which is provided so as to be able to hang along from above. The second direction moves; the arm portion is attached to the main body portion; and the yarn holding portion is attached to a front end portion of the arm portion to hold a plurality of yarns and move in the second direction In the moving posture at this time, the arm is located at a position higher than the yarn hanging posture when the yarn is being hung.

According to the present invention, the yarn hanging robot can lower the arm to perform yarn hanging during yarn hanging. On the other hand, when moving in the second direction, the arm portion can be positioned higher than when the yarn is hung, whereby the arm portion and the yarn holding portion can be made less likely to interfere with the operator, other devices, and the like.

A spinning winding device according to a ninth aspect of the invention is a spinning winding device according to the eighth aspect, wherein the moving posture is a posture in which a projected area of the yarn hanging robot when projected in the second direction is minimized.

According to the present invention, if the projected area of the yarn-hanging robot when projecting in the second direction is minimized while the yarn-hanging robot is in a moving posture, the yarn-hanging robot that moves in the second direction can be made least likely to interact with the operator and others. Device, etc.

A spinning and winding device according to a tenth aspect of the invention is a spinning and winding device according to the eighth or ninth aspect, wherein the main body portion is supported and suspended at two places separated from each other in the first direction.

According to the present invention, since the main body portion is supported and suspended at two places separated from each other in the first direction, it is possible to suppress the main body portion from swinging in the first direction when the arm portion is driven.

The spinning reeling device according to the eleventh invention is the spinning reeling device according to any one of the first to tenth inventions, wherein the yarn hanging robot is driven by a plurality of motors, and the control device determines whether an obstacle is present. When the yarn-hanging robot is contacted, when it is determined that an obstacle is in contact with the yarn-hanging robot, torque limitation is performed on the plurality of motors.

According to the present invention, when the yarn-hanging robot comes into contact with an operator or the like, torque limitation is performed on the yarn-hanging robot, so that a major accident can be prevented when the yarn-hanging robot comes into contact with the worker or the like.

A spinning reeling device according to the twelfth invention is the spinning reeling device according to any one of the first to eleventh inventions, further comprising: an obstacle detector for detecting the presence of Heavy in 2nd direction When the obstacle in the overlapped space is detected by the obstacle detector, the control device stops the movement of the yarn hanging robot.

According to the present invention, it is possible to prevent the yarn-hanging robot from coming into contact with a worker or the like while moving.

A spinning reeling device according to the thirteenth invention is the spinning reeling device according to any one of the first to twelfth inventions, wherein the lower end of the yarn hanging robot when moving in the second direction is from the plurality of The height from the installation surface of the traction unit is 1700mm or more.

According to the present invention, if the space between the traction unit and the yarn-hanging robot during movement has a height of 1700 mm or more, even during the movement of the yarn-hanging robot, the operator can relatively easily perform the winding section in the space. Maintenance work, installation of multiple bobbins to the bobbin holder, etc.

A spinning reeling device according to the fourteenth invention is the spinning reeling device according to any one of the first to thirteenth inventions, wherein the traction section has a first suction holding section that sucks and holds the yarn; The yarn-hanging robot includes a second suction holding unit that sucks and holds the yarn, and a cutter that cuts the yarn.

According to the present invention, the yarn sucked and held by the first suction holding portion of the traction portion is cut by a cutter, and the cut yarn is sucked and held by the second suction holding portion. The yarn can be transferred to the second suction and holding unit (yarn hooking robot).

A spinning reeling device according to the fifteenth invention is the spinning reeling device according to the fourteenth invention, wherein the control device is the cutter. The yarn held by the first suction holding section is cut, and the cut yarn is sucked and held by the second suction holding section, whereby the first suction holding section is moved toward the second suction holding section. Perform yarn transfer.

According to the present invention, the cutter can cut the yarn sucked and held by the first suction holding section of the traction section, and can suck and hold the cut yarn by the second suction holding section, thereby making it possible to The yarn hooking robot (second suction holding section) transfers the yarn.

A spinning and winding device according to a sixteenth aspect of the invention is a spinning and winding device according to the fifteenth aspect, wherein the traction section further includes a yarn guide roller arranged below the first suction holding section for winding. The control device is configured to hang the plurality of yarns spun from the spinning device, so that the yam-hanging robot hangs the yarn attracted and held by the second suction holding section to the yarn guide roller.

According to the present invention, the yarn sucked and held by the second suction holding portion can be hung to the yarn guide roller.

A spinning take-up device according to a seventeenth aspect of the invention is a spinning take-up device according to the sixteenth aspect, further comprising: a yarn restriction guide disposed between the yarn guide roller and the first suction holding section, It is used to set the interval between adjacent yarns to a predetermined value; the yarn restriction guide is configured to be able to move in the axial direction of the yarn guide roller by the control of the control device; the control device When the yarn-hanging robot hangs the yarn attracted and held by the second suction-holding section to the yarn guide roller, the yarn restricting guide is moved to the front end portion of the yarn guide roller. More prominent position, and then, by making the second suction holding part Moving below the yarn guide roller to hang the yarn to the yarn restriction guide, and then moving the second suction holding portion and the yarn restriction guide toward the yarn guide roller in the axial direction. The base end side moves to move the yarn to a position overlapping the yarn guide roller.

When the yarn is transferred from the first suction holding portion to the second suction holding portion, the second suction holding portion is positioned above the yarn guide roller. In order to hang the yarn on the yarn guide roller, it is necessary to move the second suction holding section to a position lower than the yarn guide roller. In addition, it is necessary to hang the yarn to the yarn restriction guide. In the present invention, when the transfer of the yarn is completed, the second suction holding portion is moved to a position where the yarn restricting guide is moved to a position protruding more than the front end of the yarn guide roller. The roller is further lowered, and the yarn is hung to the yarn restriction guide. Thereby, when the second suction holding section is moved, it is possible to prevent the yarn hanging robot from interfering with the yarn guide roller. In addition, after the second suction holding portion is moved below the yarn guide roller, the second suction holding portion and the yarn restriction guide are moved toward the base end side in the axial direction of the yarn guide roller to thereby make the yarn The thread moves to a position overlapping the yarn guide roller. Therefore, the yarn can be hung on the yarn roll.

According to the present invention, since the yarn-hanging robot can be moved in the second direction in a state of being suspended from above, the yarn-hanging robot that is in motion cannot easily contact the operator, other devices, and the like.

1‧‧‧ spinning reeling equipment

3‧‧‧traction unit

4‧‧‧ Yarn Hanging Robot

5‧‧‧ Spindle recovery device

11‧‧‧Yarn sucker

12‧‧‧The first yarn guide roller

13‧‧‧Second yarn guide roller

14‧‧‧ Take-up Department

15‧‧‧rail

19‧‧‧ Yarn limit guide

21‧‧‧ Fulcrum Guide

21a‧‧‧slot

22‧‧‧Traverse yarn guide

23‧‧‧ turntable

24‧‧‧ bobbin holder

25‧‧‧contact roller

26‧‧‧Put

27‧‧‧ slider

28‧‧‧rail

29‧‧‧rail

31‧‧‧Main body

32‧‧‧ robot arm

32a‧‧‧arm

32b‧‧‧Joint

33‧‧‧ Yarn Hanging Unit

35‧‧‧rail

36‧‧‧ Wheel

37‧‧‧ area sensor

38‧‧‧Cutter

39‧‧‧Yarn sucker

41‧‧‧ Lifting Department

42‧‧‧ pillar

43‧‧‧ shaft

44‧‧‧Guide

45‧‧‧rail

100‧‧‧control device

101‧‧‧ Traction unit control device

102‧‧‧ Yarn hanging control device

103‧‧‧Recycling control device

111‧‧‧The first yarn guide motor

112‧‧‧Second yarn guide motor

113‧‧‧Pressure cylinder

114‧‧‧Pressure cylinder

115‧‧‧Traverse motor

116‧‧‧Turntable motor

117‧‧‧ Take-up motor

118‧‧‧Pressure Cylinder

119‧‧‧Pressure Cylinder

121‧‧‧ mobile motor

122‧‧‧ Arm Motor

131‧‧‧Pressure cylinder

132‧‧‧Pressure cylinder

133‧‧‧Motor

201‧‧‧ touch sensor

R‧‧‧ Spindle discharge space

B‧‧‧ bobbin

P‧‧‧ Spindle

Y‧‧‧ Yarn

G‧‧‧ Setting surface

FIG. 1 is a schematic configuration diagram of a spinning and winding device according to an embodiment of the present invention, and shows a state in which the automatic yarn-hanging robot is brought into a moving posture, and the lifting section is brought into a retracted posture.

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

FIG. 3 is a view corresponding to FIG. 1 in a state where the automatic yarn-hanging robot is in a yarn-hanging posture and the lifting portion is in a conveying posture.

FIG. 4 is a view corresponding to FIG. 2 in a state where the automatic yarn-hanging robot is in a yarn-hanging posture and the lifting portion is in a conveying posture.

Fig. 5 is a view of the periphery of the fulcrum guide viewed from above. Fig. 5 (a) shows a state where the fulcrum guide is located at the winding position, and Fig. 5 (b) shows a state where the fulcrum guide is located at the yarn hanging position. .

Fig. 6 (a) is an enlarged view of the upper end portion of the automatic yarn-hanging robot of Fig. 2, and Fig. 6 (b) is a view of Fig. 6 (a) viewed from the direction of arrow B.

Fig. 7 is a block diagram showing the electrical configuration of the spinning and winding device.

Fig. 8 (a) is a diagram showing a state in which the yarn sucker of the yarn-hanging unit is brought into contact with the yarn, and Fig. 8 (b) is a diagram showing a state where the transfer of the yarn to the yarn-suction unit of the yarn-hanging unit is completed. Figure (c) is a diagram showing a state where the yarn-receiving unit is moved to a lower side than the first yarn guide roller, and Figure 8 (d) is a view of Figure 8 (c) and Figure 8 when viewed from the direction of arrow D (e) is a view showing a state in which the yarn hooking unit and the restrictor are moved so that the yarn overlaps the first yarn guide roller, and FIG. 8 (f) shows the completion of yarn hanging toward the first and second yarn guide rollers State diagram.

Fig. 9 is a view showing a state in which the yarn spindle discharged from the bobbin holder is held by the elevating unit.

Fig. 10 is a diagram showing a state in which the lifting portion holding the spindle is in a conveying posture.

Fig. 11 is a view corresponding to Fig. 7 in a modification.

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

(Overall structure of spinning and winding equipment)

The spinning take-up device 1 according to the present embodiment draws a plurality of yarns Y spun from a spinning device (not shown), and winds the plurality of yarns Y on a plurality of bobbins B to form a plurality of spindles P. As shown in FIGS. 1 to 4, the spinning and winding device 1 includes a plurality of traction units 3, a yarn-hanging robot 4 and a spindle recovery device 5 which are provided in common with the plurality of traction units 3.

The plurality of traction units 3 are arranged in a single horizontal direction. In the following description, the direction in which the plurality of traction units 3 are arranged is referred to as the left-right direction ("second direction" of the present invention), and the direction that is horizontal and orthogonal to the left-right direction is referred to as the front-rear direction (this The "first direction" of the invention) sets the direction in which gravity acts as the vertical direction. In the following description, the right and left sides in the left-right direction are defined and described as shown in FIG. 1 as shown in FIG. 2. The front side and the rear side in the front-rear direction will be defined and explained.

(Traction unit)

Each of the traction units 3 includes a yarn suction device 11 (the “first suction and holding unit” of the present invention), a first yarn guide roller 12, a yarn restriction guide 19, a second yarn guide roller 13, and a winding unit 14. The yarn sucker 11 extends in the left-right direction. The yarn sucker 11 is used for sucking and holding a plurality of yarns Y spun from the spinning device in advance before the yarn guide rollers 12 and 13 and the winding unit 14 are hung.

The first yarn guide roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed at a portion located below the vertical direction of the yarn sucker 11. Therefore, the first yarn guide roller 12 is located at the front end portion of the traction unit 3. The first yarn guide roller 12 is rotationally driven by a first yarn guide motor 111 (see FIG. 7).

The yarn restriction guide 19 is disposed between the yarn sucker 11 and the first yarn guide roller 12 in the vertical direction. The yarn limit guide 19 is, for example, a well-known comb-shaped yarn guide, and when a plurality of yarns Y are hung, the interval between adjacent yarns Y is set to a predetermined value (for example, 4 mm). ). The yarn restricting guide 19 can be moved in the left-right direction (the axial direction of the first yarn guide roller 12) by a pressure cylinder 119 (see FIG. 7). Thereby, the yarn restriction guide 19 is capable of projecting in a position protruding more than the front end portion of the first yarn guide roller 12 in the left-right direction, and being drawn within a range covered by the first yarn guide roller 12. In place Move between homes.

The second yarn guide roller 13 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed at a position further rearward than the first yarn guide roller 12. The second yarn guide roller 13 is rotationally driven by a second yarn guide motor 112 (see FIG. 7). The second yarn guide roller 13 is movably supported by the guide rail 15. The guide rail 15 extends so as to approach the rear side in the front-back direction and to the upper side in the vertical direction. The second yarn guide roller 13 is connected to a pressure cylinder 113 (see Fig. 7). When the pressure cylinder 113 is driven, the second yarn guide roller 13 moves along the guide rail 15. Thereby, the second yarn guide roller 13 can be moved between the winding position and the yarn hanging position, which is the position when the yarn Y is wound as shown by the solid line in FIG. The yarn position is a position when the yarn is hung close to the first yarn guide roller 12 of the front end of the traction unit 3 as shown by the one-dot chain line in the second figure. Here, the second yarn guide roller 13 is located at the front end portion of the traction unit 3 in a state where the second yarn guide roller 13 is located at the yarn hanging position.

The plurality of yarns Y spun from the spinning device are sequentially wound around the guide rollers 12 and 13 which are rotationally driven. In the present embodiment, the combination of the yarn suction device 11, the first yarn guide roller 12, the yarn restriction guide 19, and the second yarn guide roller 13 corresponds to the "traction portion" of the present invention.

The take-up section 14 includes a plurality of fulcrum guides 21 ("dispensing guides" of the present invention), a plurality of traverse guides 22, a turntable 23, two bobbin holders 24, a contact roller 25, and a push rod 26. As shown in Fig. 2, Fig. 4, Fig. 5 (a), and Fig. 5 (b), a plurality of fulcrum guides The 21 series is provided individually for a plurality of yarns Y, and is arranged in the front-rear direction. In addition, each fulcrum guide 21 has a groove 21a opened to the rear side, and the yarn can be hung by inserting the yarn Y into the groove 21a from the rear side.

In addition, as shown in FIGS. 5 (a) and 5 (b), the plurality of fulcrum guides 21 are attached to the plurality of sliders 27. The plurality of sliders 27 are supported to be movable in the front-rear direction along the guide rail 28. The plurality of sliders 27 are connected to the pressure cylinder 114 (see FIG. 7). When the pressure cylinder 114 is driven, the plurality of sliders 27 move along the guide rail 28 in the front-rear direction. Thereby, a plurality of fulcrum guides 21 can be moved between the winding position and the yarn hanging position, as shown in FIG. 2 and FIG. 5 (a), which are separated from each other in the front-rear direction. The position at which the yarn Y is taken up is arranged as shown in FIG. 5 (b), and is located at the front side of the guide rail 28 when the yarn is hung. Thereby, the plurality of fulcrum guides 21 are located near the front end portion of the traction unit 3 in a state where the fulcrum guides 21 are located at the yarn hanging position.

The plurality of traverse yarn guides 22 are individually provided for the plurality of yarns Y, and are arranged in a row along the front-rear direction. The plurality of traverse yarn guides 22 are driven by a common traverse motor 115 (refer to FIG. 7) to reciprocate in the front-rear direction. Thereby, the yarn Y system hung on the traverse guide 22 can be traversed with the fulcrum guide 21 as a center.

The turntable 23 is a disc-shaped member whose axial direction is parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor 116 (see FIG. 7). The two bobbin holders 24 are respectively parallel to the axial direction and the front-rear direction, and are rotatably supported by the upper end portion and the lower end portion of the turntable 23. Relative to The plurality of yarns Y are individually provided as a plurality of bobbins B, and are attached to each bobbin holder 24 in an array in the front-rear direction. Each of the two bobbin holders 24 is rotatably driven by an individual winding motor 117 (see FIG. 7).

When the upper bobbin holder 24 is rotationally driven, the yarn Y traversed by the traverse guide 22 is wound around the bobbin B to form a spindle P. After the formation of the spindle P is completed, the upper and lower positions of the two bobbin holders 24 are replaced by rotating the turntable 23. With this, the bobbin holder 24 originally located on the lower side is moved to the upper side, and the yarn Y can be wound around the bobbin B mounted on the bobbin holder 24 to form the spindle P. In addition, before this, the bobbin holder 24 originally located on the upper side is moved to the lower side, and the spindle P can be recovered.

The contact roller 25 is a roller whose axial direction is parallel to the front-rear direction, and is arranged slightly above the bobbin holder 24 on the upper side. The contact roller 25 is in contact with the surface of the spindle P formed by winding the yarn Y around the bobbin B mounted on the upper bobbin holder 24, whereby the contact pressure can be applied to the surface of the spindle P being wound. .

The push rod 26 is provided so as to be movable along the entire length of the bobbin holder 24 along the guide rail 29 extending in the front-rear direction. The push rod 26 is connected to the pressure cylinder 118 (refer to FIG. 7). When the pressure cylinder 118 is driven, the push rod 26 moves forward along the guide rail 29, and pushes the plurality of spindles P in a full state held by the lower bobbin holder 24 toward the spindle discharge space R in front of the winding section 14 . Here, the spindle discharge space R is a space between the upper end of the spindle P in a rolled state held by the bobbin holder 24 on the front and lower sides of the winding unit 14 and the installation surface G of the traction unit 3.

(Yarn Hanging Robot)

Next, the yarn hanging robot 4 will be described. The yarn hanging robot 4 includes a main body portion 31, a robot arm 32, and a yarn hanging unit 33 (the "yarn holding portion" of the present invention). The main body portion 31 is provided in a substantially rectangular parallelepiped shape, and a yarn hanging control device 102 (see FIG. 7) and the like for controlling the operations of the robot arm 32 and the yarn hanging unit 33 are mounted therein. In addition, on the front side of the plurality of traction units 3, two guide rails 35 are arranged at intervals in the front-rear direction and extending across the plurality of traction units 3 in the left-right direction. The main body portion 31 is suspended from two guide rails 35 and can move in the left-right direction along the two guide rails 35.

To explain in more detail, as shown in FIGS. 6 (a) and 6 (b), four wheels 36 are provided on the upper end portion of the main body portion 31. Further, each of the four wheels 36 is arranged on the upper surface of each guide rail 35. Thereby, the main-body part 31 is suspended from the said guide rail 35 in the state supported by the guide rail 35 at two places separated from each other along the front-back direction. The two wheels 36 arranged on the upper surface of each guide rail 35 are arranged at intervals in the left-right direction. The four wheels 36 are rotationally driven by a moving motor 121 (see FIG. 7). By rotating the four wheels 36, the main body portion 31 can move in the left-right direction along the two guide rails 35.

The main body 31 is provided with two area sensors 37 ("obstacle detectors" of the present invention). The area sensors 37 are provided at both left and right ends of the main body portion 31. The area sensor 37 is used to detect Are there any obstacles such as the operator or the device in the area overlapping the yarn hanging robot 4 in the left-right direction?

The robot arm 32 is attached to the lower surface of the main body portion 31. The robot arm 32 includes a plurality of arm portions 32 a and a plurality of joint portions 32 b that connect the arm portions 32 a to each other. An arm motor 122 (see FIG. 7) is built in each joint portion 32b. When the arm motor 122 (see FIG. 7) is driven, the arm portion 32a swings about the joint portion 32b. Thereby, the robot arm 32 is driven. Here, the maximum output of all the arm motors 122 is 80 W or less. The yarn attaching unit 33 is attached to a front end portion of the robot arm 32. A yarn sucker 39 (the "second suction holding portion" of the present invention) for sucking and holding the yarn Y is provided at a front end portion of the yarn hanging unit 33, and a cutter 38 for cutting the yarn Y is provided. . In addition to the yarn sucker 39 and the cutter 38, the yarn hanging unit 33 includes, for example, a comb-like yarn hanging auxiliary tool such as disclosed in Japanese Patent Application Laid-Open No. 2015-164875, and is used as described below. Although various apparatuses are provided for distributing a plurality of yarns Y to a plurality of fulcrum guides 21 to hang the yarn, the description of the configuration of these apparatuses is omitted here.

(Spindle recovery device)

The spindle recovery device 5 includes a lifting portion 41 and a support portion 42. The lifting portion 41 has a substantially rectangular parallelepiped shape extending horizontally. A shaft 43 extending along the longitudinal direction of the elevating portion 41 is provided inside the elevating portion 41 across a substantially same length range as the bobbin holder 24. When the spindle P is recovered as described later, the shaft 43 is inserted into the yarn Ingot P. The pillar portion 42 is disposed more forward than the yarn hanging robot 4 and extends in the vertical direction. The elevating portion 41 is supported by the pillar portion 42 so as to be able to elevate. A pressure cylinder 131 (see FIG. 7) is connected to the lifting portion 41. When the pressure cylinder 131 is driven, the lifting portion 41 moves up and down along the pillar portion 42. In addition, the pillar portion 42 is provided so that both ends in the vertical direction are supported by the guide rails 44 and 45 extending in the left-right direction, respectively, and are movable along the guide rails 44 and 45 in the left-right direction. A pressure cylinder 132 (see FIG. 7) is connected to the pillar portion 42. When the pressure cylinder 132 is driven, the pillar portion 42 moves in the left-right direction. When the pillar portion 42 moves in the left-right direction, the lifting portion 41 mounted on the pillar portion 42 also moves in the left-right direction. The pillar portion 42 is connected to a motor 133 (see FIG. 7). When the motor 133 is driven, the pillar portion 42 is rotated in a state where the upper and lower ends are fixed. When the pillar portion 42 rotates, the lifting portion 41 attached to the pillar portion 42 also rotates. Thereby, in the spindle recovery device 5, the lifting portion 41 can acquire a recovery posture where the shaft 43 shown in Figs. 1 and 2 becomes approximately parallel to the front-rear direction; and as shown in Figs. 3 and 4 Such a shaft 43 is shown in a substantially parallel conveyance posture in the horizontal direction. In a state where the lifting portion 41 is in the retracted posture, a part of the lifting portion 41 is located within a range where the yarn hanging robot 4 is disposed in the front-rear direction. In addition, in a state in which the lifting portion 41 is in a conveying posture, the entire portion is positioned further forward than the yarn-hanging robot 4.

(Electrical structure of spinning and winding equipment)

Next, the electrical configuration of the spinning and winding device 1 will be described. Spinning In the yarn winding device 1, as shown in FIG. 7, each traction unit 3 is provided with a traction unit control device 101, and the traction unit control device 101 is configured to control the first yarn guide motor 111, the second yarn guide motor 112, and the pressure. The operations of the cylinders 113, 114, 118, 119, the traverse motor 115, the turntable motor 116, and the winding motor 117 are controlled. In addition, each traction unit 3 includes two winding motors 117. However, only one of the winding motors 117 is shown in FIG. 7. In addition, in FIG. 7, for only one traction unit control device 101, the control objects, that is, the first yarn guide motor 111, the second yarn guide motor 112, the pressure cylinders 113, 114, the traverse motor 115, The turntable motor 116, the take-up motor 117, and the pressure cylinder 118.

In addition, in the spinning and winding device 1, the yarn hanging robot 4 is provided with a yarn hanging control device 102. The yarn hanging control device 102 controls operations of the moving motor 121, the arm motor 122, and the yarn hanging unit 33. In addition, information on the torque of the motors 121 and 122 of the yarn-hanging robot 4 and the detection result of the area sensor 37 are input to the yarn-hanging control device 102. The robot arm 32 includes a plurality of joint portions 32b and a plurality of arm motors 122 corresponding to the plurality of joint portions 32b. However, only one arm motor 122 is shown in FIG. 7. Although two area sensors 37 are provided in the main body portion 31, only one area sensor 37 is shown in FIG. 7.

Further, in the spinning and winding device 1, a recovery control device 103 is provided in the spindle recovery device 5. The recovery control device 103 controls operations of the pressure cylinders 131 and 132, the motor 133, and the like.

In addition, the spinning and winding equipment 1 is provided with a device for performing Control device 100 for overall control. The control device 100 is connected to a plurality of traction unit control devices 101, a yarn hanging control device 102, and a recovery control device 103 provided in the plurality of traction units 3. The control device 100 is connected to the plurality of traction unit control devices 101, the yarn hanging control device 102, and By controlling the operation of the recovery control device 103, the entire operation of the spinning and winding device 1 can be controlled.

(How to hang yarn)

Next, a method for causing the yarn-hanging robot 4 to hang the yarns to the yarn guide rollers 12 and 13 and the plurality of fulcrum guides 21 will be described.

Before the yarn-hanging robot 4 hangs the yarn, the yarn sucker 11 sucks and holds the plurality of yarns Y spun from the spinning device in advance. In addition, the second yarn guide roller 13 of the traction unit 3 to be yarn-suspended is positioned at the yarn-hanging position, whereby the second yarn guide roller 13 is positioned at the front end of the traction unit 3 in advance. In addition, a plurality of fulcrum guides 21 are positioned at the yarn-hanging position, thereby bringing them closer to the front end of the traction unit 3.

In order to hang the yarn guide rollers 12 and 13 and the plurality of fulcrum guides 21 by the yarn-hanging robot 4, first, the yarn-hanging robot 4 is moved in front of the traction unit 3 to be yarn-hanged. At this time, as shown in FIG. 1 and FIG. 2, the robot arm 32 is brought into an attitude such that the arm portion 32 a closest to the main body portion 31 is approximately parallel to the left-right direction, and the arm on the front end side is more than that. The portion 32a is substantially parallel to the vertical direction. The posture of the yarn-hanging robot 4 in this state corresponds to the "moving posture" of the present invention.

When the yarn-hanging robot 4 is set to the above-mentioned moving posture, most of the robot arm 32 and the yarn-hanging unit 33 overlap the main body portion 31 in the left-right direction, and the projection area when the yarn-hanging robot 4 projects in the left-right direction is the smallest. In addition, the yarn hanging robot 4 in a moving posture is located above the spindle discharge space R. In addition, the height H of the lower end of the yarn hanging robot 4 from the installation surface G of the traction unit 3 is set to about 1700 mm.

However, during the movement of the yarn-hanging robot 4 to the front of the traction unit 3, if the area sensor 37 detects an obstacle, the movement of the yarn-hanging robot 4 (the driving of the moving motor 121) is stopped. After the area sensor 37 cannot detect the obstacle, the movement of the yarn hanging robot 4 is restarted.

Then, after the yarn-hanging robot 4 is moved in front of the traction unit 3 to perform yarn-hanging, the robot arm 32 is lowered to a lower side than the moving posture. As shown in FIG. 8 (a), the yarn-hanging unit 33 is moved. It moves to the position where the front-end | tip part of the yarn sucker 39 was pressed by the multiple yarn Y. In addition, at this time, the cutter 38 is positioned below the yarn sucker 39, and a plurality of yarns Y pass through the cutter 38. Next, the yarn sucker 39 is sucked, and then the yarn is cut by the cutter 38. As a result, the cut yarns Y are attracted and held by the yarn sucker 39, and as shown in FIG. 8 (b), the multiple yarns Y are transferred from the yarn sucker 11 to the yarn sucker. 39.

Then, after the operation of transferring the plurality of yarns Y from the yarn sucker 11 to the yarn sucker 39 is completed, as shown in Figs. 8 (c) and 8 (d), the yarn restricting guide is adjusted. 19 Move to the above protruding position On the basis of this, the yarn-hanging unit 33 is moved to a position lower than the first yarn guide roller 12 at a position where the plurality of yarns Y can be hung on the yarn restriction guide 19 in the left-right direction. In this embodiment, for example, when a signal for driving the cutter 38 is output, it is determined that the transfer of the plurality of yarns Y from the yarn sucker 11 to the yarn sucker 39 is completed, and the above-mentioned operation is performed. .

Next, as shown in FIG. 8 (e), the yarn hooking unit 33 of the robot arm 32 is moved toward the base end side in the axial direction of the first yarn guide roller 12, and the yarn restricting guide 19 is directed toward the yarn guide 119 by the pressure cylinder 119. The base end side in the axial direction of the yarn guide roller 12 is moved, whereby the plurality of yarns Y are moved to a position overlapping the outer peripheral surface of the yarn guide roller 12. Then, by moving the yarn-receiving unit 33 of the robot arm 32, as shown in FIG. 8 (f), a plurality of yarns Y can be wound on the yarn guide rollers 12, 13.

Thereafter, the plurality of yarns Y are hung to the plurality of fulcrum guides 21 one at a time. Thereby, the yarn hanging of the yarn guide rollers 12 and 13 and the plurality of fulcrum guides 21 is completed. Then, after the yarn hanging is completed, the second yarn guide roller 13 and the plurality of fulcrum guides 21 are moved toward the winding position. In addition, in the present embodiment, the attitude of the automatic yarn-hanging robot in a state where the robot arm 32 when the yarn guide rollers 12 and 13 and the plurality of fulcrum guides 21 are being hung is lower than the moving posture described above, is equivalent. The "hanging posture" of the present invention. Here, in FIGS. 3 and 4, although the robot arm 32 is located higher than the spindle discharge space R, when the yarn is hung, when the robot arm 32 is driven, the robot arm 32 may be temporarily Ground penetrates into the spindle discharge space R.

In addition, in this way If the torque of either the moving motor 121 or the arm motor 122 fluctuates more than a predetermined amount while the yarn is being hung, it is determined that the yarn-hanging robot 4 is in contact with the operator, and the moving motor 121 and The torque of the arm motor 122 is limited.

(Spindle recovery method)

Next, a method for recovering the spindle P using the spindle recovery device 5 will be described. In order to use the spindle recovery device 5 to recover the spindle P, the lifting portion 41 is first lowered to the same height as the lower bobbin holder 24, and in the state of the above-mentioned conveyance posture, it is moved to the traction to recover the spindle P Unit 3 front. Next, the raising / lowering part 41 is rotated about 90 degree | times, and it is set as a collection attitude. In this state, as shown in FIG. 9, the plurality of spindles P held by the lower bobbin holder 24 are pushed out by the pusher 26. Accordingly, the shaft 43 is inserted into the plurality of spindles P pushed out from the bobbin holder 24, and the plurality of spindles P are held by the shaft 43.

After the ejection of the spindle P by the pusher 26 is completed, as shown in FIG. 10, the lifting portion 41 is rotated by about 90 degrees to become a conveying posture, and is moved in the left-right direction. Carry. In addition, the push rod 26 is moved backward, thereby returning it to the position before the spindle P is pushed out. Then, a plurality of bobbins B are attached to the bobbin holder 24 after the spindle P has been discharged. In addition, for example, the operator may perform the manual installation to attach the plurality of bobbins B to the bobbin holder 24. Alternatively, after the transfer of the spindle P is completed, the spindle recovery device 5 may mount the plurality of bobbins B toward the bobbin holder 24.

According to the embodiment described above, the yarn-hanging robot 4 arranged in front of the traction unit 3 is suspended from the guide rail 35, whereby a space is formed on the lower side of the yarn-hanging robot 4. Therefore, it is difficult for the yarn hanging robot 4 in movement to interfere with the operator, other devices, and the like.

Here, in the present embodiment, the first yarn guide roller 12 is disposed at the front end portion of the traction unit 3. In addition, as described above, when the second yarn guide roller 13 is positioned at the front end portion of the traction unit 3 when the yarn is hung, a plurality of fulcrum guides 21 may be brought close to the front end portion of the traction unit 3. Thereby, the yarn hanging robot 4 arranged in front of the traction unit 3 can relatively easily carry out yarn hanging on the yarn guide rollers 12 and 13 and the plurality of fulcrum guides 21. In addition, for the yarn hanging of the fulcrum guide 21, for example, if a yarn hanging method (a yarn hanging using a comb-like yarn hanging auxiliary tool) disclosed in Japanese Patent Application Laid-Open No. 2015-164875 is used, the robot's It is easy to operate programs and controls.

In addition, the yarn-hanging robot 4 in a moving posture can move in the left-right direction above the spindle discharge space R. Thereby, when the spindle P is recovered from the bobbin holder 24 of a certain traction unit 3 by the spindle recovery device 5, the yarn-hanging robot 4 is moved above and below the lifting portion 41 in the left-right direction, thereby making it possible to suspend the yarn The robot 4 moves in front of the other traction units 3. Therefore, in order to hang the yarn guide rollers 12 and 13 of the other traction unit 3 and the plurality of fulcrum guides 21 and move the yarn yoke robot 4, there is no need to wait for the collection operation of the spindle P from the bobbin holder 24 End. That is, the yarn hanging operation by the yarn hanging robot 4 and the collection operation of the spindle P by the spindle collection device 5 can be performed simultaneously. With this, can It is enough to prevent the delay of yarn end.

In addition, the lifting portion 41 of the spindle recovery device 5 is in a state in which it is in a conveying posture, and the entire lifting portion 41 is positioned more forward than the yarn-hanging robot 4. Accordingly, even when the yarn-hanging robot 4 is used for yarn-hanging, even if the lifting portion 41 is moved in the left-right direction, the yarn-hanging robot 4 and the lifting portion 41 do not interfere. That is, the lifting section 41 can be moved in the left-right direction while the yarn-hanging robot 4 is performing yarn-hanging.

In addition, the projected area when the yarn-hanging robot 4 projects in the left-right direction in the state of moving is the smallest. Thereby, when the yarn-hanging robot 4 is moved in the left-right direction, the yarn-hanging robot 4 is least likely to interfere with the operator, other devices, and the like.

In addition, the main body portion 31 of the yarn-hanging robot 4 is supported and suspended from two guide rails 35 arranged at intervals from each other in the front-rear direction. This can suppress the swing of the yarn-hanging robot 4 in the forward-backward direction when the arm portion 32a is swung by driving the robot arm 32 during yarn-hanging.

In addition, in the present embodiment, an area sensor 37 is provided on the main body portion 31 of the yarn hanging robot 4. When an obstacle is detected by the area sensor 37, the movement of the yarn hanging robot 4 is stopped. Thereby, the yarn-hanging robot 4 which is moving can be prevented from contacting the worker or the like.

In addition, in this embodiment, the maximum output of the arm motor 122 of the yarn-hanging robot 4 all conforms to 80W or less of the international standard ISO10218. Therefore, it is possible to prevent the yarn-hanging robot 4 from being in contact with the operator when the yarn is hanging. accident.

In this embodiment, the moving motor 121 is used. And the change in torque of the arm motor 122 determines whether the yarn hooking robot 4 is in contact with the operator or the like. When the yarn hooking robot 4 is in contact with the operator, the torque limitation of the moving motor 121 and the arm motor 122 is performed. This can prevent a major accident from occurring when the yarn-hanging robot 4 contacts the operator.

In addition, the height H of the lower end of the yarn-hanging robot 4 in the moving attitude from the installation surface G of the traction unit 3 is set to about 1700 mm. Thereby, a space having a height of about 1700 mm is formed under the yarn-hanging robot 4 which is moving, and the operator can perform work relatively easily in this space.

In addition, in a state where the plurality of yarns Y are attracted and held by the yarn sucker 11, the yarn sucker 39 is pressed against the plurality of yarns Y, and the yarn sucker 39 is sucked to cut the yarn. The feeder 38 cuts the plurality of yarns Y, whereby the plurality of yarns Y can be transferred from the yarn sucker 11 to the yarn sucker 39. Then, after the plurality of yarns Y are transferred from the yarn sucker 11 to the yarn sucker 39, the yarn restricting guide 19 is moved to the above-mentioned protruding position, and then the yarn hanging unit 33 is moved more than the first yarn guide. The roller 12 is further below. Thereby, the yarn-receiving unit 33 moves downward at a position further to the right than the yarn-guiding roller 12, and it is possible to prevent the yarn-receiving unit 33 from interfering with the first yarn-guiding roller 12.

Next, a modification in which various changes are made to the present embodiment will be described.

In the above-mentioned embodiment, the height H of the lower end of the yarn-hanging robot 4 in the moving attitude from the installation surface G of the traction unit 3 is set to about 1700 mm, but it is not limited to this. The height H can also be compared 1700mm higher. In this case, the worker can perform work relatively easily in the space below the yarn-hanging robot 4. In addition, the height H may be lower than 1700 mm.

Furthermore, in the above-mentioned embodiment, the projected area when the yarn-hanging robot 4 projects in the left-right direction is the smallest in the state where the yarn-hanging robot 4 is in a moving posture, but it is not limited to this. The projected area when the yarn-hanging robot 4 projects in the left-right direction while in the state of moving may be larger than the smallest area of the embodiment described above.

In addition, in the above-mentioned embodiment, the arm 32a and the yarn-hanging unit 33 are positioned above the yarn-hanging robot 4 when the yarn-hanging robot 4 is in a moving posture compared to when the yarn-hanging robot 4 is in a yarn-hanging posture, but the invention is not limited to this. . For example, when the lower end of the yarn-hanging robot 4 is always positioned higher than the above-mentioned spindle discharge space R at the time of yarn-hanging, the yarn-hanging robot 4 may have an arm when it is in a moving posture and when it is in a yarn-taking posture The height of the portion 32a and the yarn hanging unit 33 are substantially the same.

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

In addition, in the above-mentioned embodiment, when it is determined that the When the robot 4 comes into contact with an operator or the like, the torque limitation of the moving motor 121 and the plurality of arm motors 122 is performed. However, the torque limitation may not be performed. As long as the maximum outputs of the plurality of arm motors 122 are all 80 W or less, even if the above-mentioned torque limitation is not performed, a major accident can be prevented when the yarn-hanging robot 4 comes into contact with the operator during yarn-hanging.

In addition, in the above-mentioned embodiment, the maximum outputs of the plurality of arm motors 122 of the yarn-hanging robot 4 are all 80 W or less, but it is not limited to this. The maximum output of at least a part of the plurality of arm motors 122 may be greater than 80W. In this case, for example, if it is determined that the yarn-hanging robot 4 is in contact with the operator and the like, and the torque limit of the arm motor 122 is performed as in the above embodiment, the yarn-hanging robot 4 and the operator can be prevented. A major accident occurred during contact.

Furthermore, in the above-mentioned embodiment, when the area sensor 37 detects an obstacle, the movement of the yarn-hanging robot 4 is stopped, but it is not limited to this. For example, when an obstacle is detected by the area sensor 37, the moving speed of the yarn-hanging robot 4 may be reduced to a safer speed as the first stage, and then, as the second stage, the yarn-hanging Before the robot 4 comes into contact with the obstacle, the movement of the yarn-hanging robot 4 is stopped.

In the above-mentioned embodiment, the area sensor 37 is provided as the obstacle detector, but the present invention is not limited to this. In a modification, as shown in FIG. 11, a contact sensor 201 is provided instead of the area sensor 37. The touch sensor 201 detects a situation in which the yarn hanging robot 4 is in contact with an obstacle such as a worker. In addition, the touch sensor 201 It may be provided on the main body portion 31 (refer to FIG. 1) of the same portion as the area sensor 37, but it is more preferably provided on the front end of the robot arm 32, etc., and it is assumed that it will interfere with the operator or other obstacles The parts of the yarn-hanging robot 4 in contact. In this case, the contact sensor 201 can detect an obstacle in an area overlapping with the yarn-hanging robot 4 in the left-right direction by detecting that the yarn-hanging robot 4 is in contact with the obstacle. Furthermore, in this case, when the yarn-hanging robot 4 moves in the left-right direction and comes into contact with an operator or the like, the movement of the yarn-hanging robot 4 can be stopped.

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

Moreover, in the said embodiment, although the main-body part 31 of the yarn-hanging robot 4 was supported and suspended by the two guide rails 35 arrange | positioned at intervals in the front-back direction, it is not limited to this. The main body portion 31 may be supported and suspended from a single rail 35.

Moreover, in the said embodiment, although the raising-lowering part 41 of the spindle recovery device 5 is in the conveyance attitude | position, although it is located ahead of the yarn-hanging robot 4, it is not limited to this. The elevating unit 41 may be in a position in the conveying posture, and a part of the elevating unit 41 may be in the front-rear direction. The system overlaps the yarn hanging robot 4. In this case, when the elevating unit 41 is moved in the left-right direction while the yarn-hanging robot 4 is performing the yarn-hanging process, the elevating unit 41 may interfere with the yarn-hanging robot 4. Therefore, in some cases, it is necessary to stop the movement of the elevating unit 41 in the left-right direction until the yarn-hanging by the yarn-hanging robot 4 ends. However, even in this case, since the raising / lowering part 41 can be positioned lower than the yarn-hanging robot 4 in a moving attitude, the movement of the raising / lowering part 41 and the yarn-hanging robot 4 can be performed simultaneously.

In the above-mentioned embodiment, the spindle recovery device 5 controlled by the recovery control device 103 is used to recover the spindle P from the bobbin holder 24, but the invention is not limited to this. For example, the operator may move the trolley with the shaft to the front of the traction unit 3 to recover the spindle P, and in this state, move the push rod 26 forward to insert the shaft into the spindle P. Alternatively, the operator may recover the spindle P from the bobbin holder 24 by manual operation.

In the above-mentioned embodiment, the yarn-feeding robot 4 is used to hang the yarn-guiding rollers 12 and 13 and the plurality of fulcrum guides 21, but the invention is not limited thereto. For example, the yarn-hanging robot 4 may hang the yarn guide rollers 12 and 13, and then the operator may manually hang the yarn by manual operation or using a plurality of fulcrum guides provided in the winding unit 14. The yarn device performs yarn hanging on a plurality of fulcrum guides 21 and the like. Alternatively, the yarn-hanging robot 4 may cause the yarn-feeding rollers 12, 13 and yarn guides, nozzles, etc. other than the plurality of fulcrum guides 21 to hang the yarn.

In addition, in the above-mentioned embodiment, the cutter 38 is used. The yarn Y sucked by the yarn sucker 11 is cut, and the cut yarn Y is sucked by the yarn sucker 39 to transfer the yarn Y to the yarn sucker 39, but the invention is not limited to this. . For example, the yarn sucker 11 may be provided without the yarn sucker 11 and the yarn Y spun from the spinning device may be directly sucked by the yarn sucker 39. In addition, the cutter 38 may not be provided at the front end portion of the yarn suspending unit 33, and a cutter capable of cutting the yarn Y attracted by the yarn sucker 11 may be provided at the upper portion of the yarn sucker 11.

Further, in the above-mentioned embodiment, the yarn restricting guide 19 is movable in the left-right direction, and the yarn restricting guide 19 is moved to a protruding position protruding more than the front end portion of the first yarn guide roller 12 in the left-right direction. Based on the above, the yarn-hanging unit 33 that sucks and holds the yarn Y by the yarn sucker 39 is moved below the first yarn guide roller 12, and the yarn is hung to the yarn restriction guide 19, but it is not limited herein. For example, the yarn restriction guide 19 may be movable in the front-rear direction. In this case, for example, the yarn restricting guide 19 is moved further forward than the first yarn guide roller, and the yarn-receiving unit 33 that sucks and holds the plurality of yarns Y by the yarn sucker 39 is moved to The position between the yarn restriction guide 19 and the first yarn guide roller 12 is used to hang the yarn to the yarn restriction guide 19. Then, after the yarn-receiving unit 33 is moved below the first yarn-guiding roller 12, the yarn-restricting guide 19 is moved rearward to hang the yarn to the first yarn-guiding roller 12. In this case, when the yarn-receiving unit 33 is moved below the first yarn-guiding roller 12, the yarn-receiving unit 33 can be moved further forward than the first yarn-guiding roller 12, thereby preventing the yarn-receiving unit 33 and The first yarn guide roller 12 interferes.

Moreover, the yarn restriction guide 19 is not limited to being movable. For example, the yarn restriction guide 19 may be fixed to the above-mentioned drawing-in position. The yarn hanging unit 33 can move freely not only in the vertical direction but also in the left-right direction and the front-rear direction by the robot arm 32. Therefore, in this case, for example, by moving the yarn hooking unit 33 between the yarn restriction guide 19 and the first yarn guide roller 12, it is possible to carry out a plurality of yarns Y toward the yarn restriction guide 19 Hanging yarn. After that, the yarn attaching unit 33 is moved further to the right than the first yarn guide roller 12, and is moved to a position lower than the first yarn guide roller 12. Thereby, it is possible to prevent the yarn hooking unit 33 from interfering with the first yarn guide roller 12. However, in this case, the control of the robot arm 32 is more complicated than in the case of the embodiment described above.

Moreover, in the said embodiment, although the 2nd yarn guide roller 13 was movable between the winding position and the yarn hanging position, it is not limited to this. The second yarn guide roller 13 may be fixed to the front end portion of the traction unit 3.

Moreover, in the said embodiment, although each traction unit 3 has two yarn guide rollers 12 and 13, it is not limited to this. Each traction unit 3 may be provided with three or more yarn guide rollers.

In the above-mentioned embodiment, the yarn sucker 11 is previously sucked and held by the plurality of yarns Y spun from the spinning device, but the present invention is not limited to this. For example, a plurality of yarns Y spun from the spinning device may be lowered to a position facing the yarn suction device 11 by using a yarn reduction device (not shown), and the yarn suction device 11 may attract multiple yarns from the yarn reduction device. Yarn Y.

Further, in the above-mentioned embodiment, the yarn-hanging robot 4 is provided so as to be movable in the left-right direction in a state of being suspended from above. Not limited to this. For example, the yarn-hanging robot 4 may be movable not only in the left-right direction but also in the vertical direction. In this case, when the yarn-hanging robot 4 is moved in the left-right direction, the yarn-hanging robot 4 can be moved upward, so that the lower end of the yarn-hanging robot 4 in a moving posture can be separated from the installation surface G of the traction unit 3 The height H is higher. For example, if the height H is set to 2,000 mm or more higher than the 1700 mm of the above-mentioned embodiment, the operability of the operator during work can be further improved, and safety can also be improved. In addition, since the yarn hanging robot 4 can move in the vertical direction, if the yarn hanging robot 4 is moved downward during yarn hanging, the length of the robot arm 32 can be shortened. The shorter the robot arm 32 is, the more sensitive the movement is. Therefore, the positioning adjustment of the robot arm 32 becomes easier, and the positioning accuracy can be improved.

Moreover, in the said embodiment, although the traction part has two yarn guide rollers 12 and 13, it is not limited to this. The traction section may include, for example, a plurality of yarn guide rollers (heating rollers) including a heater as described in Japanese Patent Application Laid-Open No. 2014-5555. In this case, it is also possible to hang the yarn to the plurality of guide rollers by using a yarn-feeding robot.

Claims (34)

A spinning and rewinding device, comprising: a plurality of traction units each including: a traction section for traction of a plurality of yarns spun from a spinning device; and a coiling section arranged in the above Below the traction section, a plurality of yarns pulled by the traction section are wound around a plurality of bobbins arranged in a horizontal first direction to form a plurality of spindles, and the plurality of traction units are horizontal and connected to the first Arranged in the second direction orthogonal to the direction; the yarn-hanging robot is provided in common to the plurality of traction units, and is arranged on one side of the winding unit in the first direction, and The traction unit performs yarn hanging; and a control device that controls the movement of the yarn hanging robot, and the yarn hanging robot is configured to be capable of being positioned on one of the sides of the winding unit in the first direction. The spindle discharge space that discharges a plurality of spindles from the winding unit is further upward and moves in the second direction in a state of being suspended from above. The winding unit includes a mechanism for discharging a plurality of spindles into the spindle discharge space. The spindle ejection device further includes a spindle recovery device for recovering a plurality of spindles discharged from the winding section in the spindle ejection space, and the spindle recovery device is configured to be able to recover the plurality of spindles in the first direction. In the yarn hanging robot, the opposite sides of the plurality of traction units move toward the second direction. The spinning winding device according to claim 1, wherein the spindle discharge space is a space between an upper end of the spindle in a rolled state of the winding section and a setting surface of the plurality of traction units. The spinning take-up device according to claim 1, wherein the traction unit includes a guide roller for winding the plurality of yarns spun from a spinning device, and the yarn-hanging robot is disposed on the plurality of tractions. On one side of the unit in the first direction, the yarn guide roller is hung, and the yarn guide roller is configured to be arranged in the traction unit in the One of the ends in the first direction. The spinning take-up device according to claim 3, wherein the take-up section is arranged along the first direction and distributes a plurality of yarns sent from the guide roller to the plurality of bobbins. The plurality of distribution guides of the tube, the yarn hanging robot is used to hang yarn to the plurality of distribution guides, and the plurality of distribution guides are configured to be close to the traction unit when the yarn hanging robot is performing yarn hanging. An end portion on one of the sides in the first direction. The spinning and winding device according to claim 1, wherein the yarn-hanging robot includes: a main body portion configured to be movable in the second direction in a state of being suspended from above; and an arm portion to be mounted The main body portion; and a yarn holding portion attached to a front end portion of the arm portion for holding a plurality of yarns, and the arm portion is located at a relatively small position in a movement posture when moving in the second direction. When the yarn is hung, the yarn hung posture is higher. The spinning take-up device according to claim 5, wherein the moving posture is a posture in which a projection area of the yarn hanging robot when projected in the second direction is the smallest. The spinning take-up device according to claim 5, wherein the main body portion is supported and suspended at two places separated from each other in the first direction. The spinning winding device according to claim 1, wherein the yarn-hanging robot is driven by a plurality of motors, and the control device determines whether an obstacle is in contact with the yarn-hanging robot, and when it is determined that the obstacle is in contact with the yarn-hanging robot. When a yarn-hanging robot is used, torque is limited to the above-mentioned multiple motors. The spinning reeling device according to claim 1, further comprising: an obstacle detector for detecting an obstacle in a space overlapping with the yarn-hanging robot in the second direction. When the obstacle detector detects an obstacle, the control device stops the movement of the yarn-hanging robot. The spinning take-up device according to claim 1, wherein the height of the lower end of the yarn-hanging robot when moving in the second direction from the installation surface of the plurality of traction units is 1700 mm or more. A spinning and rewinding device, comprising: a plurality of traction units each including: a traction section for traction of a plurality of yarns spun from a spinning device; and a coiling section arranged in the above Below the traction section, a plurality of yarns pulled by the traction section are wound around a plurality of bobbins arranged in a horizontal first direction to form a plurality of spindles, and the plurality of traction units are horizontal and connected to the first Arranged in the second direction orthogonal to the direction; the yarn-hanging robot is provided in common to the plurality of traction units, and is arranged on one side of the winding unit in the first direction, and The traction unit performs yarn hanging; and a control device that controls the movement of the yarn hanging robot, the yarn hanging robot is configured to be movable in the second direction in a state of being suspended from above, and the traction unit A yarn guide roller for winding the plurality of yarns spun from a spinning device is provided, and the winding section includes a plurality of yarns arranged along the first direction and sent from the yarn guide rollers. Assigned to the above The plurality of distribution guides of the tube, the yarn hanging robot is used to hang yarn to the plurality of distribution guides, and the plurality of distribution guides are configured to be close to the traction unit when the yarn hanging robot is performing yarn hanging. An end portion on one of the sides in the first direction. The spinning and winding device according to claim 11, wherein the yarn hanging robot is disposed on one side of the plurality of traction units in the first direction, and performs yarn hanging on the yarn guide roller, and the guide The yarn roller is configured to be arranged at an end portion of the one side of the traction unit in the first direction when the yarn hanging robot performs yarn hanging. The spinning take-up device according to claim 11, wherein the yarn-hanging robot includes: a main body portion that is configured to be movable in the second direction in a suspended state from above; and an arm portion that is mounted The main body portion; and a yarn holding portion attached to a front end portion of the arm portion for holding a plurality of yarns, and the arm portion is located at a relatively small position in a movement posture when moving in the second direction. When the yarn is hung, the yarn hung posture is higher. The spinning take-up device according to claim 13, wherein the moving posture is a posture in which a projected area of the yarn hanging robot when projecting in the second direction is the smallest. The spinning take-up device according to claim 13, wherein the main body is supported and suspended at two places separated from each other in the first direction. The spinning and winding device according to claim 11, wherein the yarn hanging robot is driven by a plurality of motors, and the control device determines whether an obstacle is in contact with the yarn hanging robot, and when it is determined that the obstacle is in contact with the yarn When a yarn-hanging robot is used, torque is limited to the above-mentioned multiple motors. The spinning reeling device according to claim 11, further comprising: an obstacle detector for detecting an obstacle in a space overlapping with the yarn-hanging robot in the second direction. When the obstacle detector detects an obstacle, the control device stops the movement of the yarn-hanging robot. The spinning take-up device according to claim 11, wherein the height of the lower end of the yarn-hanging robot when moving in the second direction from the installation surface of the plurality of traction units is 1700 mm or more. A spinning and rewinding device, comprising: a plurality of traction units each including: a traction section for traction of a plurality of yarns spun from a spinning device; and a coiling section arranged in the above Below the traction section, a plurality of yarns pulled by the traction section are wound around a plurality of bobbins arranged in a horizontal first direction to form a plurality of spindles, and the plurality of traction units are horizontal and connected to the first Arranged in the second direction orthogonal to the direction; the yarn-hanging robot is provided in common to the plurality of traction units, and is arranged on one side of the winding unit in the first direction, and The traction unit performs yarn hanging; and a control device that controls the movement of the yarn hanging robot, the yarn hanging robot is configured to be movable in the second direction in a state of being suspended from above, and the traction unit A yarn guide roller and a yarn guide are provided for winding the plurality of yarns spun from a spinning device, and the winding section includes a yarn guide roller arranged in the first direction and sent from the yarn guide roller. Multiple yarn distribution The plurality of distribution guides of the plurality of bobbins, and an automatic yarn-hanging device that suspends the yarns of the plurality of distribution guides. The yarn-hanging robot is disposed in the first direction of the plurality of traction units. One side, and hanging yarn to the yarn guide roller or the yarn guide, the yarn guide roller or the yarn guide is arranged: when the yarn hanging robot performs yarn hanging, it is arranged in the traction unit at the first One of the end portions in one direction. The spinning take-up device according to claim 19, wherein the yarn-hanging robot is configured to be able to discharge a plurality of pieces from the take-up portion on one of the one sides of the take-up portion in the first direction. The spindle discharge space of the spindle is further above and moves in the second direction. The spinning take-up device according to claim 20, wherein the spindle discharge space is a space between an upper end of the spindle in a rolled state of the take-up section and the installation surfaces of the plurality of traction units. The spinning take-up device according to claim 20, wherein the take-up section includes a spindle ejection device that ejects a plurality of spindles into the spindle ejection space, and further includes a spindle recovery device that is disposed in the spindle ejection space. The plurality of spindles discharged from the winding unit are collected. The spinning take-up device according to claim 22, wherein the spindle recovery device is configured to be able to face the plurality of traction units opposite to the plurality of traction units for the yarn-hanging robot in the first direction. Move in the second direction. The spinning winding device according to claim 19, wherein the plurality of distribution guides are configured to: when the yarn-hanging robot performs yarn-hanging, approach one of the traction units in the first direction in the first direction. End of the side. The spinning take-up device according to claim 19, wherein the yarn-hanging robot includes: a main body portion configured to be movable in the second direction in a state of being suspended from above; and an arm portion to be mounted The main body portion; and a yarn holding portion attached to a front end portion of the arm portion for holding a plurality of yarns, and the arm portion is located at a relatively small position in a movement posture when moving in the second direction. When the yarn is hung, the yarn hung posture is higher. The spinning take-up device according to claim 25, wherein the moving posture is a posture in which a projection area of the yarn hanging robot when projected in the second direction is the smallest. The spinning take-up device according to claim 25, wherein the main body is supported and suspended at two places separated from each other in the first direction. The spinning and winding device according to claim 19, wherein the yarn hanging robot is driven by a plurality of motors, and the control device determines whether an obstacle is in contact with the yarn hanging robot, and when it is determined that the obstacle is in contact with the yarn When a yarn-hanging robot is used, torque is limited to the above-mentioned multiple motors. The spinning reeling device according to claim 19, further comprising: an obstacle detector for detecting an obstacle in a space overlapping with the yarn hanging robot in the second direction, when the When the obstacle detector detects an obstacle, the control device stops the movement of the yarn-hanging robot. The spinning take-up device according to claim 19, wherein a height of a lower end of the yarn hanging robot when moving in the second direction from the installation surface of the plurality of traction units is 1700 mm or more. The spinning take-up device according to any one of claims 1 to 30, wherein the traction unit has a first suction holding unit that sucks and holds the yarn, and the yarn hanging robot includes: a second The suction holding unit is configured to suck and hold the yarn, and the cutter is used to cut the yarn. The spinning take-up device according to claim 31, wherein the control device is configured to cause the cutter to cut the yarn held by the first suction-holding section, and cause the second suction-holding section to suck and By holding the cut yarn, the yarn is transferred from the first suction holding portion to the second suction holding portion. The spinning take-up device according to claim 32, wherein the traction section further includes a yarn guide roller disposed below the first suction holding section to wind the spinning-out device from the spinning device. The plurality of yarns, and the control device causes the yarn-hanging robot to hang the yarn attracted and held by the second suction holding section to the yarn guide roller. The spinning take-up device according to claim 33, further comprising: a yarn restricting guide which is arranged between the yarn guide roller and the first suction and holding unit, and is configured to carry adjacent yarns The interval between each other is set to a predetermined value. The yarn limit guide is configured to be moved in the axial direction of the yarn guide roller by the control of the control device. When the yarn attracted and held by the second suction holding section is hanged on the yarn guide roller, the yarn restriction guide is moved to a position protruding more than the front end of the yarn guide roller. The second suction holding portion is moved to a position lower than the yarn guide roller, and the yarn is hung to the yarn limit guide. Then, the second suction holding portion and the yarn limit guide are moved toward the yarn limit guide. The base end side in the axial direction of the yarn guide roller is moved to move the yarn to a position overlapping the yarn guide roller.