TWI694964B - Yarn threading robot - Google Patents

Abstract

There is provided a yarn threading robot capable of stably performing yarn threading. A yarn threading robot 3 is configured to perform yarn threading onto a spun yarn take-up apparatus 2 while sucking and retaining a yarn Y by a sucking retaining unit 42. The spun yarn take-up apparatus 2 is configured to wind the spun-out yarn Y onto a bobbin B while traversing the yarn Y, to form a package. The yarn threading robot 3 includes a controller configured to control the suction force of the sucking retaining unit 42.

Description

Yarn hanging manipulator

[0001] The present invention relates to a yarn hanging manipulator that performs a yarn hanging operation on a spinning traction device.

[0002] For example, Patent Document 1 discloses an automatic yarn hanging device for performing a yarn hanging operation on a spinning traction device that winds a spun yarn to form a package. The automatic yarn hanging device is configured to be operated while sucking and holding the yarn by a suction gun, thereby being able to hang the yarn of each member constituting the spinning traction device.　　[0003] 　　 Patent Document 1: Japanese Patent Laid-Open No. 53-106815

Problems to be solved by the invention [0004] However, in the case of hanging the yarn while sucking and holding the yarn by the suction gun, when the suction of the suction gun is too small, the yarn may swing, etc., and may not be properly Each member hangs the yarn. In addition, when the suction force of the suction gun is too large, the tension of the yarn may become too large to cause yarn breakage, or the propagation of the yarn vibration caused by the attraction may become too large. That is, if the suction force of the suction gun is not maintained properly, the possibility of the yarn hanging operation failing becomes high. However, in Patent Document 1, there is no mention at all of adjusting the suction force of the suction gun in order to perform the yarn hanging operation stably. [0005] The present invention was developed in view of the above problems, and its object is to provide a yarn hanging manipulator capable of stably performing a yarn hanging operation. Technical Means for Solving the Problems [0006] The present invention is a yarn hanging manipulator, which is a spinning traction device that winds a spun yarn while winding it around a bobbin to form a package, while being held by suction The member performs the yarn hanging operation while attracting and holding the yarn, and is characterized by including a control unit that controls the attraction of the attraction and holding member. [0007] The yarn hanging manipulator of the present invention is configured such that the suction force of the suction holding member is controlled by the control unit, and the attraction force is increased or decreased as necessary, thereby enabling stable yarn hanging operation. [0008] Furthermore, in the present invention, the suction holding member may be configured to generate suction force corresponding to the pressure of the compressed fluid by being supplied with the compressed fluid, and the control unit may control the suction by controlling The pressure of the compressed fluid supplied from the holding member controls the suction force of the suction holding member. [0009] With such a configuration, only by adjusting the pressure of the compressed fluid, the attractive force of the suction holding member can be easily increased or decreased. [0010] In addition, in the present invention, it may be further provided with a pressure adjusting portion provided on the path for supplying the compressed fluid to the suction holding member and for adjusting the pressure of the compressed fluid The control unit controls the suction of the suction holding member by controlling the operation of the pressure adjustment unit.　　[0011] By installing a pressure adjustment part that adjusts the pressure of the compressed fluid in the yarn hanging manipulator, the distance between the pressure adjustment part and the suction holding member can be shortened, and the response speed of the suction control can be accelerated. [0012] In addition, in the present invention, the pressure adjusting portion may be an electro-pneumatic proportional valve. [0013] If an electro-pneumatic proportional valve is used as the pressure adjustment section, the pressure of the compressed fluid can be adjusted substantially steplessly, and the attractive force of the suction holding member can be controlled more finely. [0014] In addition, in the present invention, the control unit may vary the suction force of the suction holding member during the yarn hanging operation once.　　 [0015] Even during a yarn hanging operation, its appropriate attractiveness may vary depending on the procedure. According to the above configuration, even when the appropriate attractive force changes during one yarn hanging operation, the situation can be dealt with, and the yarn hanging operation can be performed more stably. [0016] In addition, in the present invention, the control unit may maximize the suction force of the suction holding member when the yarn is hung on the bobbin during the primary yarn hanging operation. [0017] In general, when the yarn is hung on the bobbin, the yarn needs to be hooked to the slit formed in the bobbin. Therefore, when the attraction force when the yarn is hooked to the bobbin is insufficient, the tension of the yarn becomes weak, and there is a possibility that the yarn cannot be hooked to the slit well. Therefore, as described above, by maximizing the attractive force when the yarn is hung on the bobbin during one yarn hanging operation, the yarn can be easily hooked to the slit, and the yarn can be hung on the bobbin reliably. . [0018] In the present invention, the control unit may change the suction force of the suction holding member according to at least one of the type of the yarn wound by the spinning traction device and the production conditions.　　 [0019] Depending on the type of yarn and production conditions, the appropriate tension when hanging the yarn may be different. Even in such a case, as described above, by changing the attractive force according to at least one of the type of yarn and the production conditions, the yarn hanging operation can be performed with a tension suitable for various yarns.

[0021] Hereinafter, preferred embodiments of the present invention will be described.　　 [0022] (Overall Structure of Spinning Traction Device) FIG. 1 is a schematic configuration diagram of a spinning traction device according to this embodiment. The spinning traction apparatus 1 of the present embodiment includes: a plurality of spinning traction devices 2 arranged in one horizontal direction; a yarn hanging manipulator 3 that performs a yarn hanging operation on the plurality of spinning traction devices 2; and each spinning The centralized control device 4 that controls the operation of the traction device 2 and the yarn hanging manipulator 3; the compressed air supply unit 5 that supplies compressed air (an example of compressed fluid) to the yarn hanging manipulator 3; 3. Yarn waste yarn box 6. In the present embodiment, for all the spinning traction devices 2 installed in the spinning traction device 1, a yarn hanging manipulator 3, one compressed air supply unit 5, and one waste yarn box 6 are provided. In addition, 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 traction 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.　　 [0023] (Spinning traction device) 　　 The detailed structure of the spinning traction device 2 will be described. 2 is a front view of the spinning traction device 2 and the yarn hanging manipulator 3, and FIG. 3 is a side view of the spinning traction device 2 and the yarn hanging manipulator 3. In addition, FIG. 4 is a block diagram showing the electrical configuration of the spinning traction apparatus 1. [0024] The spinning drawing device 2 draws a plurality of yarns Y spun from a spinning device (not shown), and is wound around a plurality of bobbins B to form a plurality of packages P, respectively. More specifically, the spinning traction device 2 conveys the plurality of yarns Y spun from the spinning device not shown to the winding unit 13 via the first yarn guide roller 11 and the second yarn guide roller 12. In addition, the winding unit 13 is wound around a plurality of bobbins B to form a plurality of packages P, respectively. [0025] The first yarn guide roller 11 is a roller whose axial direction is substantially parallel to the left-right direction, and is arranged above the front end portion of the winding unit 13. The first yarn guide roller 11 is rotationally driven by the first yarn guide motor 111 (see FIG. 4 ). [0026] The second yarn guide roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first yarn guide roller 11. The second yarn guide roller 12 is rotationally driven by the second yarn guide motor 112 (refer to FIG. 4 ). The second yarn guide roller 12 is movably supported by the guide rail 14. The guide rail 14 extends obliquely so as to be located upward toward the rear. The second yarn guide roller 12 is configured to be movable along the guide rail 14 by an air cylinder 113 (see FIG. 4 ). Thereby, the second yarn guide roller 12 can wind the yarn at the winding position (the position of the solid line in FIG. 3) when winding the yarn Y, and the yarn hanging at the time of yarn hanging arranged close to the first yarn guide roller 11. Move between positions (the position of the chain line in Figure 3).　　 [0027] The spinning traction device 2 further includes a yarn absorber 15 and a yarn restricting guide 16. The yarn suction device 15 sucks and holds the plurality of yarns Y spun from the spinning device before the yarn hanging manipulator 3 performs the yarn hanging operation. The yarn suction device 15 extends in the left-right direction, and a suction port 15a for sucking the yarn Y is formed at the right end portion thereof. The yarn suction device 15 is arranged slightly above the first yarn guide roller 11 such that the suction port 15a is located near the plurality of yarns Y. [0028] The yarn restricting guide 16 is disposed between the first yarn guide roller 11 and the yarn absorber 15 in the vertical direction. The yarn restricting guide 16 is, for example, a known comb-shaped yarn guide having a plurality of guide grooves, and when a plurality of yarns Y are hooked, the interval between adjacent yarns Y is defined. In addition, the yarn restricting guide 16 is configured to be movable in the left-right direction (the axial direction of the first yarn guide roller 11) by the air cylinder 114 (see FIG. 4 ). Thereby, the yarn restricting guide 16 can be located in the retreat position (the position shown by the solid line in FIG. 2) in the range in which the first yarn guide roller 11 is disposed in the left-right direction, and can be compared with the tip of the first yarn guide roller 11 The part moves further between the protruding positions that protrude to the right (the position of the one-dot chain line in Figure 2). [0029] The winding unit 13 includes a plurality of fulcrum guides 21, a plurality of traverse guides 22, a turntable 23, two bobbin holders 24, and a touch roller 25. [0030] FIG. 5 is a plan view of the fulcrum guide 21. The plurality of fulcrum guides 21 are individually provided for the plurality of yarns Y, and are arranged in the front-rear direction. In addition, each fulcrum guide 21 has a groove 21a that opens toward the rear side, and the yarn can be hooked by inserting the yarn Y into the groove 21a from the rear side. The plurality of fulcrum guides 21 are individually attached to the plurality of sliders 27. The plurality of sliders 27 are supported to be movable in the front-rear direction along the guide rail 28. In addition, the plurality of sliders 27 are connected to the cylinder 115 (see FIG. 4 ). When the air cylinder 115 is driven, the plurality of sliders 27 move in the front-rear direction along the guide rail 28. Thereby, the plurality of fulcrum guides 21 can be moved between the winding position (the position shown in FIG. 5(a)) and the yarn hanging position (the position shown in FIG. 5(b)). The winding position is The positions at the time of winding the yarn Y that are spaced apart from each other in the front-rear direction are the positions at which the front ends of the guide rails 28 are arranged close to each other when the yarn is hung. The plurality of fulcrum guides 21 at the yarn hanging position are located near the first yarn guide roller 11 and the second yarn guide roller 12 at the yarn hanging position. [0031] The plurality of traverse guides 22 are individually provided for the plurality of yarns Y, and are arranged in the front-rear direction. The plurality of traverse guides 22 are driven by a common traverse motor 116 (refer to FIG. 4 ), and reciprocate in the front-rear direction. As a result, the yarn Y hooked on the traverse guide 22 traverses about the fulcrum guide 21. [0032] The turntable 23 is a disk-shaped member whose axial direction is substantially parallel to the front-rear direction. The turntable 23 is driven to rotate by a turntable motor 117 (see FIG. 4 ). The two bobbin holders 24 are respectively axially parallel to the front-rear direction, and are rotatably supported by the upper end and the lower end of the turntable 23. On each bobbin holder 24, a plurality of bobbins B that are individually provided for a plurality of yarns Y are aligned and mounted in the front-rear direction. In addition, the two bobbin holders 24 are rotatably driven by individual winding motors 118 (see FIG. 4 ). [0033] When the upper bobbin holder 24 is rotationally driven, the yarn Y traversed by the traverse guide 22 is wound around the bobbin B to form a package P. In addition, when the package P becomes full, the upper and lower positions of the two bobbin holders 24 are exchanged by rotating the turntable 23. As a result, the bobbin holder 24 located on the lower side before this moves to the upper side, and the yarn Y can be wound around the bobbin B attached to the bobbin holder 24 to form the package P. In addition, the bobbin holder 24 located on the upper side before this moves to the lower side, and the package P is recovered by a package recovery device (not shown). [0034] The touch roller 25 is a roller whose axial direction is substantially parallel to the front-rear direction, and is arranged immediately above the bobbin 24 on the upper side. The contact roller 25 adjusts the shape of the package by contacting the surfaces of the plurality of packages P supported by the upper bobbin holder 24 to apply contact pressure to the surface of the package P being wound.　　[0035] (yarn hanging manipulator) 　　 Next, the yarn hanging manipulator 3 will be described. The yarn hanging manipulator 3 has a main body 31, a robot arm 32, and a yarn hanging unit 33. [0036] The main body portion 31 is configured in a substantially rectangular parallelepiped shape, and a robot control device 102 (see FIG. 4) for controlling operations of the robot arm 32, the yarn hanging unit 33, the electro-pneumatic proportional valve 37, and the like is mounted inside. The main body portion 31 is suspended on the two guide rails 35 and can move in the left-right direction along the two guide rails 35. The two guide rails 35 are arranged in front of the plurality of spinning traction devices 2 at intervals in the front-rear direction, and extend in the left-right direction throughout the plurality of spinning traction devices 2. That is, the yarn hanging manipulator 3 is configured to be movable in the left-right direction in front of the plurality of spinning traction devices 2. [0037] Four wheels 36 are provided at the upper end of the main body 31. In addition, two of the four wheels 36 are respectively arranged on the upper surface of each guide rail 35. In addition, the four wheels 36 are rotationally driven by the moving motor 121 (see FIG. 4 ), and the four wheels 36 are rotationally driven to move the main body 31 along the two guide rails 35 in the left-right direction. [0038] The robot arm 32 is attached to the lower surface of the main body 31. The robot arm 32 has a plurality of arms 32a and a plurality of joint portions 32b connecting the arms 32a to each other. An arm motor 122 (see FIG. 4) is built into each joint 32 b. When the arm motor 122 is driven, the arm 32 a swings about the joint 32 b. Thereby, the robot arm 32 can be operated three-dimensionally. [0039] FIG. 6 is a perspective view showing the yarn hanging unit 33 of the yarn hanging manipulator 3. The yarn hanging unit 33 is attached to the front end of the robot arm 32. The yarn-hanging unit 33 is elongated in one direction (hereinafter referred to as the first direction), and is connected to the end of one side in the first direction (hereinafter referred to as the base end side in the first direction) There are arms 32a. In addition, in the following, the side opposite to the base end side in the first direction is referred to as the front end side. [0040] Here, in this embodiment, when the robot arm 32 is driven, the yarn hanging unit 33 attached to the front end portion of the robot arm 32 operates three-dimensionally. At this time, the orientation of the yarn hanging unit 33 can be further changed. However, as will be described later, when the yarn is hanging, the yarn hanging unit 33 is mainly parallel to the vertical direction in FIG. 6, and the upper side in FIG. 6 becomes the upper side in the vertical direction, and the lower side in FIG. 6 becomes the vertical Use the alignment like the lower side of the direction. Therefore, in the following, the vertical direction in FIG. 6 of the yarn hanging unit 33 is set as the second direction, the upper side of FIG. 6 is set as the upper side of the second direction, and the lower side of FIG. 6 is set as the lower side of the second direction side. In the following description, the direction orthogonal to both the first direction and the second direction will be referred to as the third direction, and one side and the other side of the third direction will be defined as shown in FIG. 6. [0041] The yarn hanging unit 33 includes a frame 41, an attractor 42, a yarn gathering guide 43, a cutter 44, a sliding member 45, a pressing roller 46, a yarn dividing guide 47, and the like. The base end portion of the frame 41 in the first direction is connected to the arm 32a. The attractor 42 is attached to a portion of the frame 41 on one side in the third direction. The suction device 42 extends in the first direction, and can attract and hold the yarn Y at the front end portion thereof. The yarn gathering guide 43 is attached to the frame 41 and is located on the lower side of the front end portion of the suction device 42 in the second direction. When the yarn is hung, a plurality of yarns Y are hooked on the yarn gathering guide 43 in a converged state. The cutter 44 is attached to the frame 41 and is located on the lower side of the yarn gathering guide 43 in the second direction. As will be described later, the cutter 44 is used to cut the yarn Y when the yarn Y is transferred from the yarn absorber 15 to the attractor 42. [0042] The sliding member 45 is biased to the other side in the third direction with respect to the sucker 42, the yarn gathering guide 43, and the cutter 44. The slide member 45 is attached to the frame 41 via the air cylinder 48, and when the air cylinder 48 is driven, the slide member 45 moves in the first direction relative to the frame 41. [0043] The pressing roller 46 is a free roller rotatably supported by a shaft 46a orthogonal to the second direction, and is mounted so as to be able to be arranged on the upper side of the sliding member 45 in the second direction It moves integrally with the sliding member 45 in the first direction. In addition, one end of the shaft 46a is attached to the cylindrical shaft 49. The shaft 49 extends along the second direction and penetrates the sliding 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 such that the roller swinging device 50 can swing around the axis of the shaft 49 in a plane including the first direction and the third direction. By pressing the pressing roller 46 about the axis of the shaft 49 as the center, it is possible to selectively obtain between the retreating posture (posture shown in FIG. 6) and the pressing posture (posture shown in FIG. 9(a)) In any posture, the retracted posture is that the axial direction of the pressing roller 46 is substantially parallel to the first direction, and the pressing roller 46 is located in the entirety compared to the area where the suction device 42, the yarn gathering guide 43, and the cutter 44 are arranged The other side of the third direction; the pressing posture is that the axial direction of the pressing roller 46 is substantially parallel to the third direction, and the pressing roller 46 is arranged across the suction device 42, the yarn gathering guide 43, and the third direction The area of the cutter 44. [0044] The yarn dividing guide 47 is installed so as to be able to move integrally with the sliding member 45 in the first direction in a state where it is arranged above the second direction of the pressing roller 46 in the second direction. The yarn dividing guide 47 is formed with a plurality of grooves 47a arranged in the longitudinal direction thereof. A plurality of grooves 47a have openings formed on one end thereof, and the farther away from the opening portion, the larger the interval between the grooves 47a becomes. However, the interval between the plurality of grooves 47a may be constant regardless of the distance from the opening portion. In addition, the end on one side in the longitudinal direction of the yarn split guide 47 is attached to a shaft (not shown) that extends parallel to the second direction. The shaft is inserted through the cylindrical shaft 49, and the guide swinging device 51 is connected to the lower end in the second direction. The yarn separating guide 47 is pivoted about the axis of the shaft (not shown) by the guide swinging device 51, so that it can be in the retracted posture (posture shown in FIG. 6) and the yarn hanging posture (shown in FIG. 9(c)) Any posture), the retreat posture is that the longitudinal direction of the yarn separation guide 47 is substantially parallel to the first direction, and the suction guide 42, the yarn gathering guide 43, and the cutter 44 are arranged The area of the yarn separation guide 47 is located on the other side of the third direction than the entire yarn separation guide 47; the yarn hanging posture is that the length direction of the yarn separation guide 47 is substantially parallel to the third direction, and the yarn separation guide 47 is arranged across the third direction There is a region of the attractor 42, the yarn gathering guide 43, and the cutter 44.　　 [0045] FIG. 7 is a cross-sectional view of the suction device 42. The suction device 42 has a suction tube 42a extending in the first direction and a compressed air tube 42b integrally connected to a midway portion of the suction tube 42a. The front end portion of the suction tube 42a becomes a suction port 42c for sucking the yarn Y, and the base end portion of the suction tube 42a is connected with a waste yarn hose 8 drawn from the waste yarn box 6 (see FIG. 1 ). In addition, the front end portion of the compressed air pipe 42b communicates with the suction pipe 42a via the communication hole 42b, and a compressed air hose 7 pulled out from the compressed air supply section 5 is connected to the base end portion of the compressed air pipe 42b (see FIG. 1) . The communication hole 42d is inclined with respect to the suction tube 42a so as to approach the base end side of the suction tube 42a as it approaches the suction tube 42a. In addition, a portion 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 hinder the operation of the robot arm 32. [0046] In the suction device 42 configured in this way, as indicated by an arrow in FIG. 7, the compressed air flowing into the suction tube 42a from the compressed air tube 42b flows from the front end side toward the base end side of the suction tube 42a. By this flow, a negative pressure is generated in the suction port 42c, and the yarn Y can be sucked from the suction port 42c. The yarn Y sucked by the suction port 42c is just discharged to the waste yarn hose 8 by the air flow in the suction pipe 42a. The yarn-hanging robot 3 performs the yarn-hanging operation while sucking and holding the yarn Y by the suction device 42a. [0047] As described above, the suction device 42 of the present embodiment generates suction force (negative pressure) at the suction port 42c by the compressed air supplied from the compressed air supply unit 5, and changes the pressure of the compressed air supplied to the suction device 42 , The attractive force of the suction device 42 can be changed. In the present embodiment, as shown in FIG. 1, a portion of the compressed air hose 7 that is disposed on the yarn hanging manipulator 3 is provided with an electro-pneumatic proportional valve 37 that can be adjusted substantially steplessly The pressure of compressed air. Thereby, the pressure of the compressed air supplied to the suction device 42 can be adjusted, and further the suction force of the suction device 42 can be adjusted.　　 [0048] (Electrical Structure of Spinning Traction Device) Next, the electrical structure of the spinning traction device 1 will be described. As shown in FIG. 1, the spinning traction device 1 has a centralized control device 4 for controlling the entire device. The centralized control device 4 includes an operation unit 4a for the operator to perform various settings, and a display unit 4b that displays a screen that assists the settings and a screen that shows the status of each part. As shown in FIG. 4, each spinning traction 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 traction device 2. In addition, a robot control device 102 is provided in the yarn hanging manipulator 3, and the robot control device 102 controls the operation of each drive unit provided in the yarn hanging manipulator 3. The centralized control device 4 can be connected to each winding control device 101 and the manipulator control device 102 by wireless or wired communication.　　 [0049] (A series of flow of yarn hanging operation) 　　 Next, the yarn hanging operation performed by the yarn hanging manipulator 3 will be described. 8 is a side view showing the operation of the yarn-hanging robot 3 during the yarn-hanging operation, FIGS. 9 and 10 are plan views showing the operation of the yarn-hanging robot 3 during the yarn-hanging operation, and FIG. 11 is a diagram showing the yarn Y from A top view of the operation of the yarn separation guide 47 hooking to the fulcrum guide 21. More specifically, FIG. 8 shows a step of drawing a plurality of yarns Y spun from the spinning device and winding the first yarn guide roller 11 and the second yarn guide roller 12 during the yarn hanging operation, and FIG. 9 And FIG. 10 shows a procedure of yarn hanging on the yarn separation guide 47 of the yarn hanging manipulator 3. In addition, in FIG. 8, in order to simplify the illustration, the first direction of the yarn hanging unit 33 is substantially parallel to the front-rear direction. However, in practice, the yarn hanging unit 33 performs the yarn hanging operation while changing the posture. [0050] As shown in FIG. 8( a ), before the yarn hanging manipulator 3 performs the yarn hanging operation, the yarn sucker 15 sucks and holds the plurality of yarns Y spun from the spinning device. In addition, the second yarn guide roller 12 of the spinning traction device 2 that performs the yarn hanging operation is positioned at the yarn hanging position. In addition, the plurality of fulcrum guides 21 are located at the yarn hanging position (the position shown in FIG. 5(b)). In addition, the pressing roller 46 and the yarn separation guide 47 provided in the yarn hanging unit 33 are brought into the retreat posture (the state shown in FIG. 6 ).　　 [0051] Then, the yarn hanging manipulator 3 is moved to a position overlapping with the spinning traction device 2 that is an object of the yarn hanging operation in the front-rear direction. Next, the yarn hanging manipulator 3 drives the robot arm 32, thereby moving the yarn hanging unit 33 to a position slightly above the yarn absorber 15 as shown in FIG. 8(b). At this time, the yarn hanging unit 33 is moved so that the front end portion of the suction device 42 is pressed against the plurality of yarns Y sucked and held by the yarn suction device 15, and the cutter 44 is located at a position capable of cutting the plurality of yarns Y . Next, when a plurality of yarns Y are cut by the cutter 44, as shown in FIG. 8(c), the plurality of yarns Y are sucked and held by the attractor 42, and the plurality of yarns Y are drawn from the yarn absorber 15 toward The handover of the attractor 42 is completed. [0052] After the delivery of the plurality of yarns Y from the yarn absorber 15 to the attractor 42 is completed, as shown in FIG. 8(d), the yarn hanging unit 33 is moved below the first yarn guide roller 11 , While a plurality of yarns Y are hooked to the yarn restricting guide 16. In order to prevent the yarn hooking unit 33 from interfering with the yarn guide rollers 11 and 12 when the yarn is hooked to the yarn restricting guide 16, the yarn restricting guide 16 is moved to the protruding position once (the position of the one-point chain line in FIG. 2) ), and hang the yarn to the yarn restricting guide 16 in the protruding position. Then, when the yarn hooking to the yarn restriction guide 16 is completed, the yarn restriction guide 16 is returned to the retreat position (the position of the solid line in FIG. 2 ). Next, by appropriately moving the yarn hanging unit 33, as shown in FIG. 8(e), the plurality of yarns Y held by the attractor 42 are wound from the lower side to the first yarn guide roller 11, and then wound from the upper side于第一导滚滚12。 The second yarn guide roller 12.　　 [0053] Next, the yarn hanging to the plurality of fulcrum guides 21 will be described with reference to FIGS. 9 and 10. The yarn hanging manipulator 3, when the yarn hanging by the yarn guide rollers 11 and 12 is completed, as shown in FIG. 9(a), by swinging the pressing roller 46, the pressing roller 46 is switched from the retracted position to the pressing Resist posture. Then, the pressing roller 46 presses against the plurality of yarns Y, and rotates by friction with the plurality of yarns Y. As a result, the interval between the portions of the plurality of yarns Y pressed by the pressing rod 46 is increased. [0054] Next, as shown in FIG. 9(b), the sliding member 45 is slid toward the front end side in the first direction. Then, the pressing roller 46 pressed against the plurality of yarns Y slides toward the front end side in the first direction together with the sliding member 45 and moves away from the suction device 42. Thus, as compared with the state of FIG. 9( a ), the angle of inclination of the yarn Y from the pressing roller 46 toward the attractor 42 with respect to the first direction becomes smaller when viewed from the second direction. Here, when the above-mentioned inclination angle of the yarn Y is large, the position where the yarn Y is directed away from the pressing roller 46 toward the attractor 42 is likely to be deviated, which causes the yarn to swing. Therefore, in the present embodiment, as described above, by disengaging the pressing roller 46 from the attractor 42, the above-mentioned inclination angle of the yarn Y is reduced to suppress the yarn swing. As a result, the interval between the plurality of yarns Y becomes substantially the same as the interval between the openings of the plurality of grooves 47a of the yarn dividing guide 47, and the interval between the openings of the plurality of grooves 47a of the yarn dividing guide 47 is restricted from the yarn The intervals of the plurality of guide grooves of the guide 16 are equal. [0055] Next, as shown in FIG. 9(c), by swinging the yarn separation guide 47, the retracted posture is switched to the yarn hanging posture. As a result, the plurality of grooves 47 a of the yarn dividing guide 47 and the plurality of yarns Y pressed by the pressing roller 46 are opposed to each other. Next, as shown in FIG. 10, by swinging the pressing roller 46, the pressing posture is returned to the retracted posture. Then, the pressing roller 46 is separated from the plurality of yarns Y, and the plurality of yarns Y are inserted into the plurality of grooves 47a, respectively. At this time, as the distance from the openings of the plurality of grooves 47a increases, the interval between the grooves 47a becomes larger, so the interval between the plurality of yarns Y inserted into the plurality of grooves 47a further increases. In addition, at this time, as shown in FIG. 11, the yarn hanging unit 33 is arranged so that the straight lines connecting the openings of the front ends of the grooves 21 a of the yarn separation guide 47 and the corresponding fulcrum guide 21 are parallel to each other. . [0056] From this state, as shown in FIG. 11, by moving the yarn separation guide 47, the plurality of yarns Y inserted into the plurality of grooves 47a are hung on the corresponding fulcrum guides 21, respectively. When the yarn hanging to the plurality of fulcrum guides 21 is completed, the second yarn guide roller 12 and the plurality of fulcrum guides 21 are moved to the winding position, respectively, the sliding member 45 is slid toward the base end side in the first direction, and the The yarn split guide 47 returns to the retracted position. [0057] (Attractor control of the suction device) During the series of yarn hanging operations as described above, the yarn hanging manipulator 3 sucks and holds the yarn Y by the suction device 42, but depending on which member performs the yarn hanging, etc. The appropriate attractive force may be different depending on the situation. Sometimes, when the attractive force of the attractor 42 is constant, the yarn cannot be hanged well. Therefore, in this embodiment, as described above, the electro-pneumatic proportional valve 37 is provided in the middle of the compressed air hose 7 and the electro-pneumatic proportional valve 37 is controlled by the robot control device 102, thereby enabling Adjust the attraction of the attractor 42. In the following, a specific example of suction control of the suction device 42 will be described. [0058] FIG. 12 is a graph showing an example of suction control of the suction device 42. In this embodiment, as shown in FIG. 12, the robot control device 102 controls the suction force of the suction device 42 according to the procedure of the yarn hanging operation. In the manipulator control device 102, the control data (a function of the yarn-hanging operation and the attraction function) shown in FIG. 12 is stored in advance, and based on the control data, the yarn Y is transferred from the suction device described later to the The electro-pneumatic proportional valve 37 is controlled while a plurality of bobbins B perform a series of yarn hanging operations (a yarn hanging operation) as described later. [0059] First, the robot control device 102 controls the electro-pneumatic proportional valve 37, thereby causing the suction device 42 to generate a predetermined suction force, and in this state, the yarn Y is transferred from the yarn suction device 15 to the suction device 42. Handover. After that, the yarn hooking to the yarn restricting guide 16 is performed. However, when the yarn hooking to the yarn restricting guide 16 is performed, the robot control device 102 makes the suction force of the attractor 42 larger than the above-mentioned predetermined setting when the yarn Y is delivered Appeal. The reason is that, when the yarn Y is hooked into the guide groove of the yarn restricting guide 16, if the tension of the yarn Y is not increased to a certain degree in advance, it is caused by contact with the yarn restricting guide 16 The operation of the yarn Y tends to become unstable, and the yarn may not be satisfactorily hung. [0060] Next, the yarn hanging of the yarn guide rollers 11 and 12 is performed. At this time, if it is necessary to cooperate with the operation of the yarn hanging unit 33, the manipulator control device 102 adjusts the electric power to increase or decrease the attractive force of the suction device 42. The proportional valve 37 is controlled. However, it is not necessary to increase or decrease the attractive force in this way, and the yarn guide rollers 11 and 12 may be used to hang the yarn while maintaining the attractive force when the yarn restricting guide 16 is hanged.　　 [0061] When the yarn hooking of the yarn guide rollers 11 and 12 is completed, the yarn hooking is performed in the order of the pressing roller 46 and the yarn separation guide 47. The robot control device 102 controls the electro-pneumatic proportional valve 37 so as to reduce the attractive force of the suction device 42 before hanging the yarn to the pressing roller 46. The reason is that when the suction force of the suction device 42 is high, the vibration given to the yarn Y sucked by the suction device 42 becomes large, and as a result, the propagation of the vibration cannot be suppressed by the pressing roller 46. The swing becomes large, and the yarn may not be satisfactorily hooked to the yarn separation guide 47. [0062] Next, the yarn is hung to the plurality of fulcrum guides 21 at the yarn hang position. At this time, the robot control device 102 controls the electro-pneumatic proportional valve 37 so as to adjust the suction force of the suction device 42. It can be clearly understood from FIG. 11 that when the yarn is hung on the fulcrum guide 21, the yarn Y is inserted into the groove 21a while contacting the fulcrum guide 21. Therefore, in order to increase the success rate of the yarn hanger, it is necessary to increase the Attractive force to suppress yarn swing. However, when the suction force of the suction device 42 is too large in order to suppress the yarn swing, the resistance between the yarn Y and the yarn separation guide 47 becomes large, and yarn breakage may occur. Therefore, as described above, the attractive force when the yarn is hung on the fulcrum guide 21 needs to be adjusted in consideration of the resistance between the yarn Y and the yarn separation guide 47, and adjusted to suppress yarn breakage and yarn oscillation. By this adjustment, the yarn hanging to the fulcrum guide 21 is easily successful. In addition, FIG. 12 shows, as an example, a case where the attraction force of the suction device 42 is slightly increased when the yarn is hung on the fulcrum guide 21.　　 [0063] After the yarn is hung on the plurality of fulcrum guides 21, the plurality of fulcrum guides 21 are moved from the yarn hang position to the winding position. In addition, regardless of whether the plurality of fulcrum guides 21 move from the yarn hanging position to the winding position, when the yarn hanging to the plurality of fulcrum guides 21 ends, the yarn hanging unit 33 moves to the plurality of bobbin holders 24 The bobbin B is hung on the yarn, and the yarn is hung on a plurality of bobbins B. When the yarn is hung from a plurality of bobbins B, the robot control device 102 controls the electro-pneumatic proportional valve 37 so that the suction force of the suction device 42 is maximized during one yarn-hanging operation. By increasing the attractive force, the tension of the yarn Y can be increased, and the failure of the yarn hooking to the bobbin B due to the relaxation of the yarn Y can be suppressed. [0064] However, the appropriate suction force of the suction device 42 may vary depending on production conditions such as the material, thickness, and spinning speed of the yarn Y. Therefore, in this embodiment, a plurality of the above-mentioned control data are prepared according to the type of yarn Y and production conditions (an example of which is indicated by a broken line in FIG. 12 ). For example, when the operator inputs the type and production conditions of the yarn Y via the operation unit 4 a of the centralized control device 4, the central control device 4 sends information related to the yarn type and production conditions to the robot control device 102. Then, the robot control device 102 selects control data corresponding to the type of yarn Y and production conditions, and controls the attractive force of the attractor 42 based on the control data. However, it is not necessary to vary the suction control of the suction device 42 according to the type of yarn Y and production conditions. [Effect] As described above, the yarn hanging manipulator 3 of the present embodiment is configured to control the attraction of the suction device 42 (suction holding member) by the robot control device 102 (control unit), and to attract as necessary The increase or decrease of force enables stable yarn hanging operation. [0066] In addition, in this embodiment, the suction device 42 is configured to generate an attractive force corresponding to the pressure of the compressed air by being supplied with compressed air (compressed fluid), and the manipulator control device 102 is configured to The pressure of the compressed air supplied to the suction device 42 is controlled, and the suction force of the suction device 42 is controlled. According to such a configuration, only by adjusting the pressure of the compressed air, the suction force of the suction device 42 can be easily increased or decreased. [0067] In addition, in the present embodiment, an electro-pneumatic proportional valve 37 (pressure regulator) is further provided. The electro-pneumatic proportional valve 37 is provided in the compressed air hose 7 for supplying compressed air to the suction device 42. (Path), and for adjusting the pressure of the compressed air, the manipulator control device 102 controls the action of the electro-pneumatic proportional valve 37 to control the suction force of the suction device 42. In this way, by providing the electro-pneumatic proportional valve 37 that adjusts the pressure of the compressed air in the yarn hanging manipulator 3, the distance between the electro-pneumatic proportional valve 37 and the suction device 42 can be shortened, and the response speed of the attraction control can be accelerated. [0068] In the present embodiment, as described above, the pressure adjusting portion is the electro-pneumatic proportional valve 37. Therefore, the pressure of the compressed air can be adjusted substantially steplessly, and the suction power of the suction device 42 can be controlled more finely. [0069] In addition, in the present embodiment, the robot control device 102 is configured to change the suction force of the suction device 42 during one yarn hanging operation. Here, even during one yarn hanging operation, the appropriate attractive force may vary depending on the step (for example, according to which member the yarn is hooked). Therefore, according to the above configuration, even when the appropriate attractive force changes during one yarn hanging operation, the yarn hanging operation can be performed more stably according to the situation. [0070] In addition, in the present embodiment, the robot control device 102 is configured to maximize the suction force of the suction device 42 when the yarn is hung on the bobbin B during one yarn hanging operation. In general, when the yarn is hung on the bobbin B, the yarn Y needs to be hooked on the slit formed in the bobbin B. Therefore, when the attraction force when the yarn is hooked to the bobbin B is insufficient, the tension of the yarn Y becomes weak, and the yarn Y may not be hooked to the slit well. Therefore, as described above, by maximizing the attractive force when the yarn is hung on the bobbin B during one yarn hanging operation, the yarn is easily caught in the slit and the yarn can be reliably hung on the bobbin B . [0071] In the present embodiment, the robot control device 102 changes the attractive force of the suction device 42 according to at least one of the type of the yarn Y wound by the spinning traction device 2 and the production conditions. Depending on the type of yarn Y and the production conditions, the appropriate tension when hanging the yarn may be different. In such a case, by changing the attractive force according to at least one of the type of the yarn Y and the production conditions, the yarn can be hung with a tension suitable for various yarns Y. [0072] (Other Embodiments) In the above, the embodiments of the present invention have been described, but the manners to which the present invention can be applied are not limited to the above-mentioned embodiments, as illustrated below, without departing from the gist of the present invention Apply changes appropriately within the scope. [0073] For example, in the above-described embodiment, the electro-pneumatic proportional valve 37 as the pressure adjusting portion is provided in the portion of the compressed air hose 7 that is disposed on the yarn hanging manipulator 3. However, the position where the electro-pneumatic proportional valve 37 is provided is not limited to this. For example, the electro-pneumatic proportional valve 37 may be provided in a portion outside the yarn hanging manipulator 3 in the compressed air hose 7. In addition, as the pressure adjustment section, in addition to the electro-pneumatic proportional valve 37, for example, an electric flow adjustment valve may be provided.　　 [0074] In addition, in the above-described embodiment, the robot control device 102 controls the suction force of the suction device 42 according to the yarn-hanging operation procedure. However, in addition to this, for example, various sensors that detect the position and posture of the robot arm 32 may be provided, and the attractive force of the attractor 42 may be controlled based on the output values from these various sensors.　　 [0075] In the above-described embodiment, the manipulator control device 102 previously has control data that specifies the attractive force of the suction device 42, and performs attractive force control based on the control data. However, it is not necessary to have such control data in advance. For example, a sensor that detects the tension of the yarn Y may be provided, and the attractive force of the attractor 42 may be appropriately controlled based on the output value from the sensor.　　 [0076] In the above embodiment, the yarn hanging manipulator 3 is a hanging type suspended on the guide rail 35, but the yarn hanging manipulator 3 is not limited to the hanging type. For example, the yarn hanging manipulator 3 may be configured to travel on the ground.　　 [0077] In addition, the structure of the yarn hanging unit 33 is not limited to the above embodiment. For example, if the pressing roller 46, the yarn separation guide 47, and the driving source for yarn hanging on the yarn guide Y hooked to the fulcrum guide 21 are installed in the winding unit 13, the drive source The yarn unit 33 may include only the suction device 42, the yarn gathering guide 43, and the cutter 44.

[0078] 2 ‧‧‧ Spinning traction device 3 ‧ ‧ ‧ hanging yarn manipulator 7 ‧ ‧ ‧ compressed air hose (path) 37 ‧ ‧ ‧ electropneumatic proportional valve (pressure regulator) 42 ‧ ‧ ‧ suction (Attractive holding member) 102‧‧‧ Robot control device (control section) Y‧‧‧ Yarn

[0020] FIG. 1 is a schematic configuration diagram of a spinning traction apparatus according to this embodiment. FIG. 2 is a front view of the spinning traction device and the yarn hanging manipulator. FIG. 3 is a side view of the spinning traction device and the yarn hanging manipulator. FIG. 4 is a block diagram showing the electrical configuration of the spinning traction device. FIG. 5 is a plan view of the fulcrum guide. FIG. 6 is a perspective view showing the yarn hanging unit of the yarn hanging manipulator. FIG. 7 is a cross-sectional view of the suction device. FIG. 8 (a) to (e) are side views showing the operation of the yarn hanging manipulator during the yarn hanging operation. FIG. 9 (a) to (c) are plan views showing the operation of the yarn hanging manipulator during the yarn hanging operation. FIG. 10 is a plan view showing the operation of the yarn hanging manipulator during the yarn hanging operation. FIG. 11 is a plan view showing that the yarn is hanged from the yarn separation guide to the fulcrum guide. FIG. 12 is a graph showing an example of suction control of the suction device.

2‧‧‧ Spinning traction device

3‧‧‧ Yarn hanging manipulator

11‧‧‧First yarn guide roller

12‧‧‧Second yarn guide roller

13‧‧‧winding unit

14‧‧‧rail

15‧‧‧ Yarn suction device

15a‧‧‧Attract

16‧‧‧Yarn limit guide

21‧‧‧Pivot guide

22‧‧‧Traverse guide

23‧‧‧Turntable

24‧‧‧Spool support

25‧‧‧contact roller

31‧‧‧Main part

32‧‧‧Robot

32a‧‧‧arm

32b‧‧‧Joint

33‧‧‧ Yarn hanging unit

35‧‧‧rail

36‧‧‧wheel

42‧‧‧Aspirator

44‧‧‧Cutter

B‧‧‧bobbin

P‧‧‧Roll

Y‧‧‧Yarn

Claims (11)

A yarn hanging manipulator is a spinning traction device that winds a spun yarn around a bobbin to form a package while traversing, and performs a yarn hanging operation while sucking and holding the yarn by a suction holding member. It is characterized by comprising a control unit that controls the suction force of the suction and holding member, the control unit changes the suction force of the suction and holding member during one yarn hanging operation, and the control unit during the one yarn hanging operation , So that the suction force of the suction holding member becomes maximum when the yarn is hung on the bobbin. A yarn hanging manipulator is a spinning traction device that winds a spun yarn around a bobbin to form a package while traversing, and performs a yarn hanging operation while sucking and holding the yarn by a suction holding member. It is characterized by comprising a control unit that controls the suction force of the suction and holding member, the control unit changes the suction force of the suction and holding member during one yarn hanging operation, and the control unit includes: detecting the position of the manipulator And the sensor of at least one of the postures, the control unit controls the attractive force of the suction holding member based on the output value from the sensor of at least one of the position and posture of the detection robot. A yarn hanging manipulator for traversing the spun yarn side by side A spinning traction device that forms a package while being wound around a bobbin, and performs a yarn hanging operation while sucking and holding a yarn by a suction and holding member, is characterized by comprising a control unit that controls the suction of the suction and holding member, The control unit changes the attractive force of the suction holding member during one yarn hanging operation. The control unit includes a sensor that detects the tension of the yarn. The control unit senses the tension from the detected yarn The output value of the detector controls the attraction of the attraction holding member. The yarn hanging manipulator according to claim 2 or 3, wherein the control unit maximizes the attractive force of the suction holding member when the yarn is hung on the bobbin during the primary yarn hanging operation. The yarn hanging manipulator according to any one of claim 1 to claim 3, wherein the suction holding member is configured to generate an attractive force corresponding to the pressure of the compressed fluid by being supplied with compressed fluid, The control unit controls the suction force of the suction holding member by controlling the pressure of the compressed fluid supplied to the suction holding member. The yarn hanging manipulator according to claim 4, wherein the suction holding member is configured to generate an attractive force corresponding to the pressure of the compressed fluid by being supplied with compressed fluid, and the control unit controls the suction by controlling Holding member supplied above The pressure of the fluid is compressed to control the attractive force of the suction holding member. The yarn hanging manipulator according to claim 5, further comprising a pressure adjusting part provided on a path for supplying the compressed fluid to the suction holding member and for adjusting the compressed fluid For the pressure, the control unit controls the operation of the pressure adjusting unit to control the suction force of the suction holding member. The yarn hanging manipulator according to claim 6, further comprising a pressure adjusting part provided on a path for supplying the compressed fluid to the suction holding member and for adjusting the compressed fluid For the pressure, the control unit controls the operation of the pressure adjusting unit to control the suction force of the suction holding member. The yarn hanging manipulator according to claim 7, wherein the pressure adjusting part is an electro-pneumatic proportional valve. The yarn hanging manipulator according to claim 8, wherein the pressure adjusting part is an electro-pneumatic proportional valve. The yarn hanging manipulator according to any one of claim 1 to claim 3, wherein, The control unit changes the suction force of the suction holding member according to at least one of the type of yarn wound by the spinning traction device and the production conditions.

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