JP7535384B2 - Textile machinery - Google Patents

Description

The present invention relates to a textile machine.

The yarn take-up machine (textile machine) described in Patent Documents 1 and 2 includes a take-up unit that traverses multiple yarns and winds them onto multiple bobbins to form a package. The take-up unit has multiple fulcrum guides that are arranged corresponding to the multiple bobbins and serve as fulcrums when each yarn is traversed. The multiple fulcrum guides are driven, for example by an air cylinder, to move between a production position when the yarn is wound onto the bobbin and a threading position that is closer to each other than when the guides are located at the production position. The yarns are threaded onto the multiple fulcrum guides located at the threading positions by a threading robot (see Patent Document 1) or an operator (see Patent Document 2).

JP 2017-82379 A JP 2015-78455 A

If the driving parts such as the air cylinder do not operate normally due to clogging with lint, the fulcrum guide and other thread-hooking target parts cannot move normally. In this case, the following problems may occur:

In a configuration in which a thread is threaded on a threading target member by a threading robot, although this is not described in Patent Document 1, for example, when a predetermined time has elapsed since the threading target member started to be moved, the movement is considered complete and threading continues. For this reason, if threading is performed when the threading target member is shifted from its intended position, threading may fail.

Furthermore, whether the threading is performed by a threading robot or by an operator, if the fulcrum guide does not return normally to the production position, winding of the yarn may begin with the fulcrum guide misaligned from its intended position. This may result in an incorrect formation of a package.

The purpose of the present invention is to prevent problems that can occur when the threading target component does not move normally.

The textile machine of the first invention is a textile machine that processes at least one yarn, and includes a threading target member on which the yarn is threaded, a drive unit that moves the threading target member between a predetermined production position and a threading position different from the production position, a detection unit that detects information related to the movement of the threading target member by the drive unit, and a control unit, and the control unit determines whether the movement of the threading target member is normal or abnormal based on the detection result by the detection unit.

In the present invention, threading can be performed if the movement of the threading target member is determined to be normal, and threading can be stopped if the movement of the threading target member is determined to be abnormal. Therefore, problems that can occur when the threading target member does not move normally can be suppressed.

The textile machine of the second invention is the same as the first invention, but includes an automatic threading device that threads the threaded object member, and the control unit continues the operation of the automatic threading device only when it determines that the movement of the threaded object member is normal.

The present invention can reliably prevent the threading robot from unintentionally threading a material if an abnormality occurs in the movement of the material to be threaded.

The textile machine of the third invention is the textile machine of the first or second invention, further comprising an alarm unit that notifies information, and the control unit is characterized in that, when it determines that an abnormality has occurred in the movement of the threading target member, it causes the alarm unit to notify information indicating the occurrence of the abnormality.

This invention can prompt the worker to take prompt action if an abnormality occurs in the movement of the threading target member.

The textile machine of the fourth invention is any one of the first to third inventions, characterized in that the detection unit detects information regarding the position of the threading target member.

In the present invention, by using information about the position of the threading target member, it is easy to determine whether the movement of the threading target member is normal or not.

The textile machine of the fifth invention is the textile machine of the fourth invention, characterized in that the position information detection unit is a limit switch that detects information regarding whether the threading target member is located at a target position.

In this invention, by using a limit switch, which is generally inexpensive, it is possible to easily determine whether the threading target member has reached the target position while suppressing increases in the manufacturing costs of the textile machine.

The textile machine of the sixth invention is the textile machine of the fourth or fifth invention, characterized in that the drive unit includes an air cylinder.

Since air cylinders generally have a smaller thrust force than, for example, electric motors, there is a concern that even a small amount of lint may cause the threading target member to stop moving normally. In such a configuration, it is effective to determine whether the movement of the threading target member is normal or not based on the detection results from the position information detection unit.

The textile machine of the seventh invention is characterized in that in any one of the first to fifth inventions, the drive unit includes an electric motor.

For example, if lint or the like becomes lodged between the movable and fixed parts of the electric motor, excessive load may be placed on the electric motor, causing it to break down. In the present invention, by stopping the operation of the electric motor when it is determined that an abnormality has occurred in the movement of the threading target member, it is possible to prevent excessive load from being placed on the electric motor.

The textile machine of the eighth invention is the seventh invention, characterized in that the detection unit detects information regarding the position of the movable part of the electric motor.

In the present invention, information about the position of the threading target member can be indirectly obtained by utilizing information about the position of the movable part. Therefore, even if information about the position of the threading target member cannot be directly obtained, it is possible to determine whether the movement of the threading target member is normal or abnormal.

The textile machine of the ninth invention is the seventh or eighth invention, characterized in that the electric motor is a stepping motor, and the detection unit detects loss of synchronism of the stepping motor.

In the present invention, by using information regarding step-out, it is possible to determine whether the motor is operating normally. Therefore, even if information regarding the position of the threading target member cannot be obtained, it is possible to determine whether the movement of the threading target member is normal or abnormal.

The textile machine of the tenth invention is any one of the first to ninth inventions, and is characterized in that it comprises a bobbin holder that supports a plurality of bobbins on which the plurality of threads are wound, arranged in the axial direction of the bobbins, and a plurality of traverse guides arranged in the axial direction corresponding to the plurality of bobbins for traversing the plurality of threads, and the threading target member includes a plurality of fulcrum guides arranged in the axial direction corresponding to the plurality of traverse guides, which serve as fulcrums when the plurality of threads are traversed, and the plurality of fulcrum guides are movable between a separated position as the production position when the plurality of threads are wound on the plurality of bobbins, and a close position as the threading position where the fulcrum guides are gathered so that the distance in the axial direction is smaller than when the fulcrum guides are located in the separated position.

Since the multiple fulcrum guides need to move long distances between the separated and close positions, there is a high concern that they will not be able to reach the target position properly if the drive unit is not working properly. In such a configuration, it is effective to determine whether the movement of the threading target member is normal or not based on the detection results from the detection unit.

The textile machine of the eleventh invention is the tenth invention, characterized in that the detection unit detects information regarding whether the multiple fulcrum guides are normally positioned at the separation position.

If the multiple fulcrum guides are misaligned from their separated positions when the yarn is being wound onto the bobbin, the yarn that is hooked on the multiple fulcrum guides may not be properly wound onto the bobbin, and the yarn that is wound onto the bobbin may be wasted. In such a configuration, it is effective to determine whether the movement of the multiple fulcrum guides is normal or not based on the detection results from the detection unit.

The textile machine of the 12th invention is the 10th or 11th invention, characterized in that the detection unit detects information regarding whether the multiple fulcrum guides are normally positioned at the proximity position.

When the yarn is hung on the multiple fulcrum guides, if the multiple fulcrum guides are shifted from their close positions, the yarn may not be hung properly on the multiple fulcrum guides. In such a configuration, it is effective to determine whether the movement of the multiple fulcrum guides is normal or not based on the detection results from the detection unit.

FIG. 2 is a front view of the spinning take-off machine according to the embodiment. FIG. FIG. 2 is a block diagram showing the electrical configuration of the yarn take-off machine. FIG. 6A and 6B are explanatory diagrams showing the movement of a fulcrum guide. FIG. 4A and 4B are explanatory diagrams showing a first separator, and FIG. 4C is an explanatory diagram showing a second separator. 10 is a flowchart showing a threading procedure. 13(a) to 13(f) are explanatory diagrams showing the threading procedure. 13A and 13B are explanatory diagrams showing a threading procedure. FIG. 11 is an explanatory diagram showing a threading procedure. 13 is an explanatory diagram showing a drive unit according to a modified example. FIG. FIG. 13 is an explanatory diagram showing a drive unit according to another modified example. 13A and 13B are explanatory diagrams showing a position information detection unit according to still another modified example.

Next, an embodiment of the present invention will be described. For ease of explanation, the directions shown in Figs. 1 and 2 are referred to as the up-down direction, the left-right direction, and the front-rear direction. The up-down direction is the vertical direction in which gravity acts. The left-right direction is the direction perpendicular to the up-down direction in which the take-up units 3, described later, are arranged side by side. The front-rear direction is the direction perpendicular to both the up-down direction and the left-right direction. The direction in which the yarn Y runs is referred to as the yarn running direction. The axial direction of multiple bobbins B, described later, which is approximately parallel to the front-rear direction, is referred to as the bobbin axial direction (axial direction of the present invention).

(Yarn take-off machine)
The configuration of the yarn take-off machine 1 (textile machine of the present invention) according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a front view of the yarn take-off machine 1. As shown in Fig. 1, the yarn take-off machine 1 includes a plurality of spinning devices 2, a plurality of take-off units 3 provided corresponding to each of the spinning devices 2, a threading robot 4 (automatic threading device of the present invention), and an overall control device 100 (see Fig. 3).

The multiple spinning devices 2 are arranged in the left-right direction. Each spinning device 2 spins multiple yarns Y (e.g., 12 yarns). The multiple take-up units 3 are arranged below the multiple spinning devices 2. The multiple take-up units 3 are arranged in the left-right direction corresponding to the multiple spinning devices 2. Each take-up unit 3 takes up multiple yarns Y spun from the spinning devices 2 and simultaneously winds them onto multiple bobbins B (e.g., 12 bobbins) to form a package P. The threading robot 4 is configured to move along rails 5 extending in the left-right direction and thread the yarns on each take-up unit 3.

The overall control device 100 (see FIG. 3) is, for example, a general computer device. The overall control device 100 is electrically connected to a plurality of unit control devices 101 that respectively control a plurality of take-up units 3, and a threading control device 102 that controls the threading robot 4 (see FIG. 3). The overall control device 100 cooperates with the unit control devices 101 and the threading control device 102 to provide overall control of the entire spinning take-up machine 1.

(take-over unit)
Next, the configuration of the take-up unit 3 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is a side view of the take-up unit 3 and the threading robot 4. Fig. 3 is a block diagram showing the electrical configuration of the yarn take-up machine 1. As shown in Fig. 2, the take-up unit 3 has an aspirator 11, a regulating guide 12, a first godet roller 13, a second godet roller 14, and a winding section 15.

The aspirator 11 is disposed at the front end of the take-up unit 3. The aspirator 11 is configured to suck and hold the multiple yarns spun from the spinning device 2 before they are threaded onto the take-up unit 3.

The restricting guide 12 is, for example, a known comb-shaped thread guide. As shown in FIG. 2, the restricting guide 12 is disposed below the aspirator 11. The restricting guide 12 is configured to arrange a plurality of threads Y in the left-right direction. When a plurality of threads Y are wound, the restricting guide 12 restricts the movement of the threads Y in the left-right direction so that the interval between adjacent threads Y is set to a predetermined interval. The restricting guide 12 is driven to move in the left-right direction by, for example, an air cylinder 111 (see FIG. 3). The restricting guide 12 is movable between a production position (see the two-dot chain line in FIG. 9(d)) when the thread Y is wound onto the bobbin B and a threading position (see the solid line in FIG. 9(d)) when threading is performed.

The first godet roller 13 is a roller whose axial direction is approximately parallel to the left-right direction. As shown in FIG. 2, the first godet roller 13 is disposed below the regulating guide 12. The first godet roller 13 is driven to rotate by a motor (not shown) to send the yarn Y downstream in the yarn running direction.

The second godet roller 14 is a roller whose axial direction is approximately parallel to the left-right direction. As shown in FIG. 2, the second godet roller 14 is disposed above and behind the first godet roller 13. The second godet roller 14 is driven to rotate by a motor (not shown) to send the yarn Y downstream in the yarn running direction. The second godet roller 14 is movably supported on a guide rail 16 that extends obliquely upward and backward. The second godet roller 14 is configured to be movable along the guide rail 16 by, for example, a moving motor 112 (see FIG. 3), a pulley pair (not shown), a belt, an air device, etc. As a result, the second godet roller 14 is movable between a production position (see solid line in FIG. 2) when the yarn Y is wound onto the bobbin B and a threading position (see two-dot chain line in FIG. 2) when threading is performed, which is disposed close to the first godet roller 13.

The winding unit 15 is configured to wind multiple yarns Y onto multiple bobbins B to form a package P. As shown in FIG. 2, the winding unit 15 is disposed below the first godet roller 13, the second godet roller 14, etc. The winding unit 15 includes a frame 20, multiple fulcrum guides 21 (thread-hooking target members of the present invention), multiple traverse guides 22, a turret 23, two bobbin holders 24, a contact roller 25, and a unit control device 101.

The frame 20 is a member that is installed, for example, on the floor of a factory, and on which each component of the winding unit 15 is attached or housed. As shown in FIG. 2, the frame 20 has a base portion 20a that is installed on the floor and extends in the front-to-rear direction, a rear portion 20b that stands on the rear end of the base portion 20a, and an upper portion 20c that extends forward from the upper part of the rear portion 20b.

The multiple fulcrum guides 21 are guides that serve as fulcrums when the yarn Y is traversed by each traverse guide 22. As shown in FIG. 2, the multiple fulcrum guides 21 are provided individually for the multiple yarns Y and are arranged in the front-rear direction. Each fulcrum guide 21 has a groove 21a (see FIGS. 5(a) and (b)) that opens to the rear side, and the yarn Y can be accommodated by inserting the yarn Y into the groove 21a from the rear side. Each fulcrum guide 21 also has a cylindrical mounting portion 21b that opens in the front-rear direction. The mounting portion 21b is movably mounted on a guide support body 26 that extends in the front-rear direction (see FIGS. 5(a) and (b)). The guide support body 26 is a hollow cylindrical member fixed to, for example, the upper portion 20c of the frame 20. When threading is performed, the multiple fulcrum guides 21 are driven to move in the front-rear direction along the guide support body 26 by a drive unit 30 described later.

The multiple traverse guides 22 are provided individually for the multiple yarns Y and are arranged in a line in the front-to-rear direction. The traverse guides 22 are, for example, known blade-type guides. The traverse guides 22 are reciprocatingly driven in the front-to-rear direction by, for example, a motor (not shown). This causes the yarns Y to traverse in the front-to-rear direction with the fulcrum guide 21 as a fulcrum.

The turret 23 is a disk-shaped member whose axial direction is approximately parallel to the front-rear direction. The turret 23 is driven to rotate by a motor (not shown). The two bobbin holders 24 each have an axial direction parallel to the front-rear direction, and are rotatably supported at the upper and lower ends of the turret 23. A plurality of bobbins B, which are individually provided for a plurality of threads Y, are mounted in each of the bobbin holders 24 in a line in the front-rear direction (bobbin axial direction) and rotatably supported. Each of the two bobbin holders 24 is driven to rotate by an individual motor (not shown).

The contact roller 25 is a roller whose axial direction is approximately parallel to the front-rear direction, and is disposed immediately above the upper bobbin holder 24. The contact roller 25 comes into contact with the surfaces of the multiple packages P supported by the upper bobbin holder 24, thereby applying contact pressure to the surfaces of the packages P during winding, thereby adjusting the shape of the packages P.

The unit control device 101 (see FIG. 3) has a CPU, ROM, RAM, etc., and is configured to perform control for operating the air cylinder 111, the movement motor 112, etc. The unit control device 101 also has an operation unit 121 (see FIG. 3) that is operated by the worker, and an alarm unit 122 (see FIG. 3) that notifies the worker of information. The operation unit 121 has, for example, an operation button (not shown). The alarm unit 122 has, for example, an alarm lamp (not shown). The unit control device 101 is electrically connected to the overall control device 100 (see FIG. 3) and communicates with the overall control device 100.

In the winding section 15 having the above configuration, when the upper bobbin holder 24 is rotated, the yarn Y traversed by the traverse guide 22 is wound onto the bobbin B to form a package P. When the package P is fully wound, the turret 23 is rotated, and the upper and lower positions of the two bobbin holders 24 are swapped. This moves the bobbin holder 24 located on the lower side to the upper side, and the yarn Y can be wound onto the bobbin B attached to this bobbin holder 24 to form the package P.

(Drive unit)
The driving unit 30 that moves the multiple fulcrum guides 21 will be described with reference to Fig. 4 and Figs. 5(a) and (b). Fig. 4 is an explanatory diagram showing the driving unit 30. Figs. 5(a) and (b) are explanatory diagrams showing the movement of the fulcrum guides 21. As shown in Fig. 4, the driving unit 30 has an air cylinder 31 and a movable member 32. The air cylinder 31 moves the movable member 32 connected to the rearmost fulcrum guide 21, thereby moving the multiple fulcrum guides 21.

The air cylinder 31 is, for example, a rodless cylinder extending in the front-rear direction. The operation of the air cylinder 31 is controlled by the unit control device 101 (see FIG. 3). As shown in FIG. 4, the air cylinder 31 is, for example, housed inside the guide support 26. The air cylinder 31 has a cylinder body 33, a piston 34 built into the cylinder body 33 and movable in the front-rear direction, and a slider 35 connected to the piston 34 and arranged outside the cylinder body 33.

The cylinder body 33 extends in the front-rear direction. Inside the cylinder body 33, a cylinder chamber 33a and a cylinder chamber 33b are formed. The cylinder chamber 33a is formed in front of the piston 34. The cylinder chamber 33a is connected to a pipe 36a extending to the outside of the guide support 26. The cylinder chamber 33b is formed in the rear of the piston 34. The cylinder chamber 33b is connected to a pipe 36b extending to the outside of the guide support 26. The pipes 36a and 36b are connected to a compressed air supply port (not shown) or a discharge port (not shown) via, for example, a known four-way solenoid valve (not shown). The four-way solenoid valve can switch the state of the drive unit 30 between the following first and second states. In the first state, the pipe 36a is connected to the supply port, and the pipe 36b is connected to the discharge port. In the second state, the pipe 36b is connected to the supply port, and the pipe 36a is connected to the exhaust port. When the drive unit 30 is in the first state, compressed air is supplied to the cylinder chamber 33a and exhausted from the cylinder chamber 33b. This causes the piston 34 and the slider 35 to move rearward (see the solid line in FIG. 4). Conversely, when the drive unit 30 is in the second state, the piston 34 and the slider 35 move forward (see the two-dot chain line in FIG. 4). For example, a magnet (not shown) is fixed to the slider 35.

The movable member 32 is attached to the guide support 26 and is configured to be movable in the front-rear direction (bobbin axial direction) along the guide support 26. The rearmost fulcrum guide 21 (fulcrum guide 21R) is fixed to the movable member 32 (see Figs. 5(a) and (b)). For example, a magnet (not shown) is fixed to the movable member 32. This connects the movable member 32 to the slider 35 by magnetic force. When the slider 35 moves in the front-rear direction, the movable member 32 follows the slider 35 by magnetic force and moves in the bobbin axial direction together with the fulcrum guide 21R (the rearmost of the multiple fulcrum guides 21).

The above-mentioned multiple fulcrum guides 21 are connected to each other, for example, by a belt (not shown). More specifically, two adjacent fulcrum guides 21 in the front-rear direction (bobbin axial direction) are connected by a belt. When the movable member 32 and the fulcrum guide 21R move rearward, the other fulcrum guides 21 are pulled by the belt and move rearward. When the fulcrum guide 21R moves to the rear end of the movable range, the multiple fulcrum guides 21 are arranged at approximately equal intervals at intervals determined by the length of the belt (see FIG. 5(a)). At this time, the multiple fulcrum guides 21 are located directly above the corresponding bobbins B (see FIG. 2). The positions of the multiple fulcrum guides 21 at this time are called the separated position (also corresponds to the production position of the present invention). Also, when the movable member 32 and the fulcrum guide 21R move forward, the mounting portion 21b of the other fulcrum guide 21 is pushed by the fulcrum guide 21R. As a result, the multiple fulcrum guides 21 move to gather at the front side. At this time, the multiple fulcrum guides 21 are closer to each other (the intervals are narrower) than when they are in the separated position. The position of the multiple fulcrum guides 21 at this time is called the close position (also corresponds to the threading position of the present invention). As described above, the multiple fulcrum guides 21 can move between the separated position and a close position that is different from the separated position.

(Threading Execution Department)
The take-up unit 3 is also provided with a threading section 40 (see FIG. 6) configured to thread the yarn Y, which is threaded on the fulcrum guide 21, on the traverse guide 22 and the bobbin B. Hereinafter, a description will be given with reference to FIG. 6 and FIGS. 7(a) and (b). FIG. 6 is a schematic diagram of the threading section 40. FIGS. 7(a) and (b) are explanatory diagrams of a first separator 42, which will be described later. FIG. 7(c) is an explanatory diagram of a second separator 43, which will be described later, and is a view taken in the direction of arrow VII in FIG. 6.

As shown in FIG. 6, the threading execution unit 40 has, for example, a thread convergence guide 41, a first separator 42, and a second separator 43. The thread convergence guide 41 is configured to converge multiple threads Y to the front end of the take-up unit 3. The first separator 42 temporarily holds multiple threads Y that are respectively hung on multiple fulcrum guides 21. The second separator 43 receives the thread Y from the first separator 42 and performs operations such as bringing the thread Y close to the bobbin B.

The yarn convergence guide 41 is disposed at the front end of the take-up unit 3. As shown in FIG. 1, the yarn convergence guide 41 is attached to the tip of an arm-shaped swinging member 44 that can swing with the swing axis extending in the front-rear direction. The swinging member 44 is driven to swing by, for example, an air cylinder 113 (see FIG. 3). This allows the yarn convergence guide 41 to swing between an initial position (see solid line in FIG. 6) located at the right end of the take-up unit 3 and a transfer position (see dashed line in FIG. 6) to the left of the initial position.

7(a) and (b), the first separator 42 has a guide member 51 extending in the front-rear direction and a plurality of holding members 52 arranged in the front-rear direction and movably attached to the guide member 51. The guide member 51 is configured to be movable in the left-right direction by, for example, an air cylinder 114 (see FIG. 3). The guide member 51 is movable between an initial position (see solid line in FIG. 6) and a transfer position (see dashed line in FIG. 6) to the left of the initial position. As shown in FIG. 7(a) and (b), the holding member 52 has a main body 52a and a protrusion 52b that prevents the yarn Y from falling off. The plurality of holding members 52 are connected to each other by, for example, a belt (not shown), and are driven to move in the front-rear direction by an air cylinder 115 (see FIG. 3). Specifically, the multiple holding members 52 are movable between a first position (see FIG. 7(a)) where the pitch in the front-rear direction is approximately equal to the pitch in the front-rear direction of the multiple bobbins B, and a second position (see FIG. 7(b)) where the holding members 52 are grouped together forward of the first position.

The second separator 43 is disposed to the left of the first separator 42. The second separator 43 has an arm-shaped swinging member 53 that extends in the front-rear direction and can swing around the front-rear direction as a swing axis, and a holding member 54 fixed to the tip of the swinging member 53. At the end of the holding member 54 opposite the swinging member 53, for example, as shown in FIG. 7(c), insertion spaces 54a through which the yarn Y is inserted are formed in a line in the front-rear direction. In addition, protrusions 54b and 54c are provided at the entrance of the insertion space 54a to prevent the yarn Y from falling off. The swinging member 53 and the holding member 54 are swingably driven by, for example, an air cylinder 116 (see FIG. 3). As a result, the swinging member 53 and the holding member 54 can be moved between a predetermined retracted position (see solid line in FIG. 6) and a receiving position (see dashed line in FIG. 6) to the right of the retracted position for receiving the yarn Y from the first separator 42. Although not shown in the figure, the second separator 43 is configured to be able to capture the yarn Y on the reciprocating traverse guide 22 by moving the holding member 54 leftward from the receiving position after receiving the yarn Y from the first separator 42.

The threading execution unit 40 is also provided with a thread shifting device (not shown). The thread shifting device is configured to temporarily remove the thread Y captured by the traverse guide 22 from the traverse guide 22 and guide it to a slit (not shown) in the bobbin B (further explanation will be omitted. For details, see, for example, JP 2017-154891 A).

(Threading robot)
Returning to Fig. 2, a description will be given of the configuration of the threading robot 4. The threading robot 4 includes a main body 61, a robot arm 62, a threading unit 63, and a threading control device 102 (see Fig. 3).

The main body 61 is a member having an approximately rectangular parallelepiped shape. The main body 61 is driven to move in the left-right direction by a moving motor 131 (see FIG. 3). The robot arm 62 is attached to the underside of the main body 61. The robot arm 62 has a plurality of arms 62a and a plurality of joints 62b that connect the arms 62a to each other. An arm motor 132 (see FIG. 3) is built into each joint 62b. When the arm motor 132 is driven, the arm 62a swings around the joint 62b. The threading unit 63 is attached to the tip of the robot arm 62. The threading unit 63 has a suction 64, a cutter 65, and a threading auxiliary member 66 (see FIG. 5(b)). The suction 64 is configured to suck and hold the yarn Y during threading. The cutter 65 is configured to cut the yarn Y when the yarn Y is transferred from the aspirator 11 to the threading unit 63 (described later). The threading assist member 66 has multiple holding grooves 66a (see FIG. 5(b)), and multiple threads Y are respectively held by the multiple holding grooves 66a.

The threading control device 102 (see FIG. 3) has a CPU, ROM, RAM, etc., and is configured to control the movement motor 131, the arm motor 132, and the threading unit 63. The threading control device 102 moves the main body 61 in front of the take-up unit 3 that is the target of threading, and then controls the robot arm 62 to thread the thread on the take-up unit 3 while the threading unit 63 holds the yarn Y. The threading control device 102 is electrically connected to the overall control device 100 (see FIG. 3) and communicates with the overall control device 100.

Next, before going into a detailed explanation of threading, we will explain problems that can occur with conventional spinning take-up machines and the detailed configuration of the spinning take-up machine 1 in this embodiment.

(Previous problem)
Conventionally, for example, when a predetermined time has elapsed since the unit control device 101 started to move the fulcrum guide 21, the movement of the fulcrum guide 21 is determined to be complete, and the threading by the threading robot 4 continues. However, for example, if the air cylinder 31 does not operate normally and the fulcrum guide 21 cannot move normally, the fulcrum guide 21 cannot be positioned normally at the close position or the separated position. If the fulcrum guide 21 is not positioned normally at the close position, a problem may occur in which threading by the threading robot 4 fails. In addition, when the fulcrum guide 21 does not return normally from the close position to the separated position, winding of the yarn Y may be started in a state in which the fulcrum guide 21 is deviated from its original position. Then, the package may not be formed normally, and the wound yarn Y and the time spent on winding may be wasted.

One of the reasons why the air cylinder 31 does not operate normally is, for example, an increase in load due to lint clogging between the cylinder body 33 and the slider 35. The lint includes, for example, a part of the yarn Y that has become powdery due to rubbing against a guide member such as the fulcrum guide 21 during running. Since such lint may also enter the internal space of the guide support 26, for example, it is difficult to completely prevent clogging with lint. Another cause is that when a compressed air supply source is commonly connected to multiple air cylinders including the air cylinder 31, a shortage of compressed air pressure occurs when multiple air cylinders operate simultaneously. In such cases, the air cylinder also becomes difficult to operate normally. Therefore, in this embodiment, in order to suppress problems that may occur when multiple fulcrum guides 21 (threading target members) do not move normally, the spinning take-up machine 1 is configured as follows. More specifically, a position information detection unit 70, which will be described later, is arranged near the multiple fulcrum guides 21.

(Detailed configuration of the spinning take-off machine)
Returning to FIGS. 5(a) and (b), the detailed configuration of the spinning take-off machine 1 (more specifically, the configuration in the vicinity of the fulcrum guide 21) will be described. As described above, the movable member 32 is attached to the guide support 26 so as to be movable in the front-rear direction. The left end of the movable member 32, for example, protrudes to the left from the left end of the fulcrum guide 21. A position information detection unit 70 (detection unit of the present invention) that detects information regarding the current position of the fulcrum guide 21 is provided in the vicinity of such a movable member 32. In other words, the position information detection unit 70 detects information regarding the movement of the fulcrum guide 21. The position information detection unit 70 has a first limit switch 71 and a second limit switch 72 (both of which correspond to the limit switch of the present invention) that detect information regarding whether the fulcrum guide 21 is located at the target position. The first limit switch 71 and the second limit switch 72 are, for example, switch devices in which a known contact type microswitch is built in. Various types of microswitches, such as a known plunger and hinge lever, can be applied to the driving mechanism of the microswitch. Alternatively, the first limit switch 71 and the second limit switch 72 (limit switches) may be known non-contact type proximity sensors. As a non-contact type proximity sensor, a type that detects the approach of a metal body by electromagnetic induction or a Hall element can also be applied to the limit switch. The first limit switch 71 and the second limit switch 72 are electrically connected to the unit control device 101. In the following, the first limit switch 71 and the second limit switch 72 will be described as being contact type limit switches.

The first limit switch 71 is configured to detect whether the movable member 32 and the fulcrum guide 21R (the one arranged at the rearmost side among the multiple fulcrum guides 21) are normally located at the close position. As shown in Figures 5 (a) and (b), the first limit switch 71 is arranged forward of the left end of the movable member 32. The first limit switch 71 is arranged to the left of the multiple fulcrum guides 21. For this reason, the fulcrum guide 21 does not interfere with the first limit switch 71 when moving in the bobbin axial direction. The first limit switch 71 is arranged so that the left end of the movable member 32 comes into contact with the first limit switch 71 when the movable member 32 moves to the close position. When the movable member 32 is in contact with the first limit switch 71, the first limit switch 71 is turned on. When the movable member 32 is not in contact with the first limit switch 71, the first limit switch 71 is turned off. As a result, the first limit switch 71 can detect information regarding whether the movement of the movable member 32 to the close position is normal or not. For the first limit switch 71, the approach position corresponds to the target position of the present invention.

The second limit switch 72 is configured to detect whether the movable member 32 and the fulcrum guide 21R are normally positioned at the separated position. As shown in Figs. 5(a) and (b), the second limit switch 72 is arranged rearward of the left end of the movable member 32. The second limit switch 72 is arranged at approximately the same position as the first limit switch 71 in the left-right direction. The second limit switch 72 is arranged so as to overlap with the left end of the movable member 32 in the left-right direction. The second limit switch 72 is arranged so that the left end of the movable member 32 comes into contact with the second limit switch 72 when the movable member 32 moves to the separated position. When the movable member 32 is in contact with the second limit switch 72, the second limit switch 72 is turned on. When the movable member 32 is not in contact with the second limit switch 72, the second limit switch 72 is turned off. As a result, the second limit switch 72 can detect information regarding whether the movement of the movable member 32 to the separated position is normal or not. For the second limit switch 72, the separated position corresponds to the target position of the present invention.

(Judgment regarding the movement of the fulcrum guide when threading, etc.)
Next, a judgment as to whether the movement of the fulcrum guide 21 is normal or abnormal when threading the take-off unit 3 and a response based on the judgment will be described with reference to Figs. 8 to 11 together with a specific threading procedure. Fig. 8 is a flowchart showing the threading procedure. Figs. 9(a) to 11 are explanatory diagrams showing the threading procedure. Fig. 9(d) is a view seen from the arrow D in Fig. 9(c). The overall control device 100, the unit control device 101, and the threading control device 102 cooperate with each other to control each part of the take-off unit 3 and each part of the threading robot 4, thereby performing threading. In this embodiment, the overall control device 100, the unit control device 101, and the threading control device 102 together correspond to the control unit of the present invention.

In the initial state, multiple yarns Y are sucked and held by the aspirator 11 (see FIG. 9(a)). In this state, threading begins (S101). Specifically, a signal to cause the take-up unit 3 to perform the operations required for threading is sent from the overall control device 100 to the unit control device 101 of the take-up unit 3 that is the target of threading. In addition, a signal to move the main body 61 of the threading robot 4 in front of the take-up unit 3 is sent from the overall control device 100 to the threading control device 102. The threading control device 102 controls the movement motor 131 according to the signal to move the main body 61 in the left-right direction.

Next, the unit control device 101 controls each part of the take-up unit 3 to start moving each part to be threaded from the production position to the threading position (S102). Specifically, the second godet roller 14 starts to move to the threading position by the movement motor 112, and the multiple fulcrum guides 21 start to move to the proximity position (threading position) by the air cylinder 31.

Next, the unit control device 101 determines whether the fulcrum guide 21 has normally moved to the proximity position (threading position) within a predetermined time after starting to move the fulcrum guide 21. Specifically, in the next step S103, when the movable member 32 comes into contact with the first limit switch 71 and the first limit switch 71 turns on (S103: Yes), the unit control device 101 determines that the fulcrum guide 21 has normally moved to the proximity position. On the other hand, when the first limit switch 71 is off (S103: No), the unit control device 101 returns to step S103 until the predetermined time has elapsed (S104: No).

When a predetermined time has elapsed since the fulcrum guide 21 started to move to the approaching position and the first limit switch 71 remains off (S104: Yes), the unit control device 101 determines that an abnormality has occurred in the movement of the fulcrum guide 21 to the approaching position. Accordingly, threading is stopped. Specifically, the unit control device 101 stops the operation of each part of the take-up unit 3 and sends a signal to the general control device 100 indicating that an abnormality has occurred in the movement of the fulcrum guide 21. The general control device 100 sends a signal to stop threading to the threading control device 102. The unit control device 101 also controls the notification unit 122 to notify information indicating that an abnormality has occurred in the movement of the fulcrum guide 21 (S105). The operator checks the state of the take-up unit 3 based on the information notified by the notification unit 122. The operator also performs maintenance on the take-up unit 3 as necessary.

On the other hand, when the first limit switch 71 is turned on before the predetermined time has elapsed (S103: Yes), the unit control device 101 immediately sends a signal indicating that the movement of the fulcrum guide 21 is normal to the overall control device 100. Based on the signal received from the unit control device 101, the overall control device 100 sends a signal to the threading control device 102 to continue the operation of the threading robot 4. The threading control device 102 operates the threading robot 4 according to the signal. Specifically, when the suction 64 is positioned near the yarn Y that is sucked and held by the aspirator 11, the yarn Y is cut by the cutter 65. As a result, the yarn Y is transferred from the aspirator 11 to the threading unit 63 (S106, see FIG. 9(b)). In this way, the operation of the threading robot 4 is continued only when it is determined that the movement of the fulcrum guide 21 is normal.

In the next step S107, the threading robot 4 threads the yarn on the regulating guide 12, the first godet roller 13, and the second godet roller 14. More specifically, the threading control device 102 moves the tip of the threading unit 63 downward, rearward, and to the right of the regulating guide 12 by the robot arm 62 (see the two-dot chain line in FIG. 9(c) and FIG. 9(d)). After that, the unit control device 101 moves the regulating guide 12 from the production position (see the two-dot chain line in FIG. 9(d)) to the threading position (see the solid line in FIG. 9(d)). Next, the threading control device 102 moves the threading unit 63 forward and threads multiple yarns Y on the regulating guide 12. Next, the threading control device 102 moves the tip of the threading unit 63 toward the base end side in the axial direction of the first godet roller 13 (see FIG. 9(e)). At the same time, the unit control device 101 moves the regulating guide 12 from the threading position to the production position (see FIG. 9(e)). After that, the threading control device 102 moves the threading unit 63 to successively thread the yarn Y on the first godet roller 13 and the second godet roller 14 (see FIG. 9(f)).

In the next step S108, the threading robot 4 threads the threads on the multiple fulcrum guides 21. More specifically, the multiple threads Y are held apart from each other by the threading auxiliary member 66 of the threading unit 63 (see FIG. 5(b)). Next, the threading control device 102 controls the robot arm 62 to move the threading unit 63 to a predetermined position on the rear side (see the two-dot chain line in FIG. 5(b)). Furthermore, the threading control device 102 moves the threading unit 63 diagonally forward and to the left (see the arrow in FIG. 5(b)). As a result, the multiple threads Y are threaded on the corresponding fulcrum guides 21 (see FIG. 10(a)).

In the next step S109, the unit control device 101 starts moving the second godet roller 14 and the multiple fulcrum guides 21 to the production position. Next, the unit control device 101 determines whether the fulcrum guide 21 has returned normally to the separated position (production position) within a predetermined time after starting to move the fulcrum guide 21. Specifically, in the next step S110, when the movable member 32 comes into contact with the second limit switch 72 and the second limit switch 72 is turned on (S110: Yes), the unit control device 101 determines that the fulcrum guide 21 has moved normally to the separated position. On the other hand, when the second limit switch 72 is off (S110: No), the unit control device 101 returns to step S110 until the predetermined time has elapsed (S111: No).

When a predetermined time has elapsed with the second limit switch 72 remaining off after the fulcrum guide 21 has started to move to the separated position (S111: Yes), the unit control device 101 determines that an abnormality has occurred in the movement of the fulcrum guide 21 to the separated position. As a result, threading is stopped as in step S105. The unit control device 101 also controls the notification unit 122 to notify information indicating that an abnormality has occurred in the movement of the fulcrum guide 21 (S112).

On the other hand, when the second limit switch 72 is turned on before the predetermined time has elapsed (S110: Yes, see FIG. 10(b)), the unit control device 101 sends a signal to the overall control device 100 indicating that the movement of the fulcrum guide 21 is normal. The unit control device 101 also moves the yarn convergence guide 41 from the initial position (see the solid line in FIG. 6) to the transfer position (see the dashed line in FIG. 6). The unit control device 101 also moves the multiple holding members 52 of the first separator 42 from the first position to the second position (see FIG. 7(b) and FIG. 10(b)).

Based on the signal received from the unit control device 101, the overall control device 100 sends a signal to the threading control device 102 to continue the operation of the threading robot 4. The threading control device 102 operates the threading robot 4 according to the signal. Specifically, the threading control device 102 moves the threading unit 63 by the robot arm 62 and threads multiple threads Y on the thread convergence guide 41 (S113). As a result, each thread Y is positioned immediately behind the corresponding holding member 52 (see Figures 7(b) and 10(b)).

In the next step S114, the yarn is threaded onto the bobbin B. Specifically, the unit control device 101 returns the holding member 52 to the first position (see FIG. 7(a) and FIG. 11) and moves the second separator 43 to the receiving position (see the dashed line in FIG. 6). Furthermore, the unit control device 101 moves the first separator 42 to the transfer position (see the dashed line in FIG. 6), and then moves the holding member 52 to the second position again. As a result, the yarn Y is transferred from the first separator 42 to the second separator 43 (not shown). After that, the unit control device 101 swings the holding member 54 of the second separator 43 to the left from the receiving position (not shown). At this time, the yarn Y is captured by the traverse guide 22. Furthermore, the unit control device 101 causes the yarn shifting device (not shown) to temporarily remove the yarn Y from the traverse guide 22 and guide it into the slit of the bobbin B. As a result, the yarn Y is threaded onto the bobbin B. After that, the unit control device 101 causes the yarn shifting device to return the yarn Y to a position where the yarn Y is captured by the traverse guide 22. When the yarn Y is captured again by the traverse guide 22, the yarn threading ends and the take-up unit 3 starts winding the yarn Y (S115).

As described above, if the movement of the fulcrum guide 21 is determined to be normal, threading can be performed, and if the movement of the threading target member is determined to be abnormal, threading can be stopped, etc. Therefore, problems that may occur when the fulcrum guide 21 does not move normally can be suppressed.

Furthermore, the operation of the threading robot 4 continues only if the movement of the fulcrum guide 21 is determined to be normal. Therefore, if an abnormality occurs in the movement of the fulcrum guide 21, it is possible to reliably prevent the threading robot 4 from unintentionally threading the yarn.

In addition, if it is determined that an abnormality has occurred in the movement of the fulcrum guide 21, information indicating the occurrence of the abnormality is notified by the notification unit 122. Therefore, if an abnormality occurs in the movement of the fulcrum guide 21, the operator can be prompted to take prompt action.

In addition, the position information detection unit 70 detects information related to the position of the fulcrum guide 21. Therefore, by using such information, it is easy to determine whether the movement of the fulcrum guide 21 is normal or not.

In addition, by using a generally inexpensive limit switch as the position information detection unit 70, it is possible to easily determine whether the threading target member has reached the target position while suppressing increases in the manufacturing costs of the textile machine.

In addition, the air cylinder 31 of the drive unit 30 generally has a smaller thrust force than, for example, an electric motor, so there is a concern that even a small amount of lint may cause the fulcrum guide 21 to stop moving normally. In this configuration, it is effective to determine whether the movement of the fulcrum guide 21 is normal or not based on the detection results of the position information detection unit 70.

In addition, the multiple fulcrum guides 21 (particularly the fulcrum guide 21R located at the rearmost side) need to move a long distance between the separated position and the close position. For this reason, there is a high concern that if the operation of the drive unit 30 is not working properly, the target position will not be reached normally. In such a configuration, it is effective to determine whether the movement of the fulcrum guide 21 is normal or not based on the detection result by the position information detection unit 70.

In addition, if the multiple fulcrum guides 21 are misaligned from the separated position when the yarn Y is wound onto the bobbin, the yarn Y hooked on the multiple fulcrum guides 21 may not be properly wound onto the bobbin B, and the yarn wound onto the bobbin B may be wasted. In such a configuration, it is effective to determine whether the movement of the multiple fulcrum guides 21 to the separated position is normal or not, based on the detection result by the second limit switch 72 of the position information detection unit 70.

In addition, when the yarn Y is hung on the multiple fulcrum guides 21, if the multiple fulcrum guides 21 are shifted from the close position, the yarn may not be hung properly on the multiple fulcrum guides 21. In such a configuration, it is effective to determine whether the movement of the multiple fulcrum guides 21 to the close position is normal or not based on the detection result by the first limit switch 71 of the position information detection unit 70.

Next, we will explain modified versions of the above embodiment. However, parts that have the same configuration as the above embodiment will be given the same reference numerals and their explanations will be omitted as appropriate.

(1) In the above embodiment, the unit control device 101 immediately continues the operation of the threading robot 4 when the multiple fulcrum guides 21 have normally moved to the target positions (separate positions or close positions), but this is not limited to the above. For example, the unit control device 101 may wait until the above-mentioned predetermined time has elapsed, and then determine that the multiple fulcrum guides 21 have normally moved to the target positions.

(2) The position information detection unit 70 has both the first limit switch 71 and the second limit switch 72, but is not limited to this. The position information detection unit 70 may have only one of the first limit switch 71 and the second limit switch 72.

(3) The position information detection unit 70 may have, for example, an optical position sensor instead of the first limit switch 71 and the second limit switch 72. Alternatively, the position information detection unit 70 may have, for example, a camera (not shown) that captures an image. The unit control device 101 may perform image recognition using the image, and based on the result of the image recognition, determine whether the multiple fulcrum guides 21 have moved normally to the target positions.

(4) In the above embodiment, the driving unit 30 has an air cylinder 31, but this is not limited thereto. For example, as shown in FIG. 12, the winding unit 15A may have a driving unit 30A including an electric motor 81 provided with a rotating shaft 81a (the movable unit of the present invention) instead of the driving unit 30. The driving unit 30A is, for example, a known ball screw mechanism having a ball screw 83 and a nut 84. The ball screw 83 is connected to the rotating shaft 81a by, for example, a coupling 82 and extends in the front-rear direction. The nut 84 is screwed with the ball screw 83. A slider 85 is fixed to the nut 84. The slider 85 and the above-mentioned movable member 32 are connected by magnetic force. The winding unit 15A may also have the above-mentioned position information detection unit 70, but is not limited thereto. The winding unit 15A may have, for example, a rotary encoder 86 (the detection unit of the present invention) in addition to the position information detection unit 70 or instead of the position information detection unit 70. In other words, the electric motor 81 may be a servo motor. The rotary encoder 86 is configured to detect information on the rotation angle of the rotating shaft 81a of the electric motor 81 (in other words, information on the position of the rotating shaft 81a). The unit control device 101 controls the electric motor 81 so that the fulcrum guide 21 moves a predetermined target distance. The unit control device 101 may use the detection result of the rotary encoder 86 to calculate the movement distance of the fulcrum guide 21. The unit control device 101 may then compare the calculated movement distance with the target distance to determine whether the fulcrum guide 21 has normally reached the target position.

Here, if lint or the like gets stuck between the rotating shaft 81a of the electric motor 81 and the fixed part (housing, etc.), the electric motor 81 may be subjected to an excessive load and may break down. In this regard, in this modified example, when it is determined that the movement of the fulcrum guide 21 is abnormal, the operation of the electric motor 81 is stopped, thereby preventing the electric motor 81 from being subjected to an excessive load. In addition, by using information on the rotation angle of the rotating shaft 81a (in other words, the position of the rotating shaft 81a), the position information of the fulcrum guide 21 can be indirectly obtained. As a result, even if information on the position of the fulcrum guide 21 cannot be directly obtained, it is possible to determine whether the movement of the fulcrum guide 21 is normal or abnormal. In addition, a potentiometer (not shown) may be provided instead of the rotary encoder 86. In addition, instead of the electric motor 81 having the rotating shaft 81a, a linear motor (not shown) having a movable part (not shown) that can move approximately linearly may be provided. In this case, a linear encoder (not shown) may be provided instead of the rotary encoder 86. A linear encoder may detect information about the position of the moving part of the linear motor.

(5) As a further modification of the above-mentioned (4), for example, as shown in FIG. 13, the driving unit 30B of the winding unit 15B may have a stepping motor 91 driven by a pulse signal as an electric motor. The stepping motor 91 may be driven, for example, by a driver 92 (detection unit of the present invention) electrically connected to the unit control device 101. The driver 92 may be configured to detect step-out of the stepping motor 91. That is, when the load torque applied to the rotating shaft 91a of the stepping motor 91 increases, the rotation of the rotating shaft 91a becomes slow, and the fulcrum guide 21 may not move smoothly. In general, when the load torque applied to the rotating shaft 91a of the stepping motor 91 increases, the motor current flowing through the motor increases. Therefore, the driver 92 may detect step-out by, for example, comparing the motor current flowing through the stepping motor 91 with the motor current in a normal state. The unit control device 101 may determine whether the movement of the fulcrum guide 21 is normal or abnormal based on the detection result by the driver 92 (detection result regarding the movement of the fulcrum guide 21). As a specific example, the unit control device 101 may transmit information of a target distance to which the fulcrum guide 21 should move to the driver 92. The driver 92 transmits a required number of pulse signals to the stepping motor 91 based on the information of the target distance. Then, the unit control device 101 may determine that an abnormality has occurred in the movement of the fulcrum guide 21, for example, when a step-out has occurred a predetermined number of times or more. In this case, the unit control device 101 may determine that an abnormality has occurred in the movement of the fulcrum guide 21 before a predetermined time has elapsed since the unit control device 101 started to move the fulcrum guide 21. Alternatively, the unit control device 101 may determine that an abnormality has occurred in the movement of the fulcrum guide 21, when a step-out is detected when the last pulse signal is sent from the driver 92 to the stepping motor 91. Alternatively, the unit control device 101 may store an upper limit value for the motor current, and immediately determine that an abnormality has occurred in the movement of the fulcrum guide 21 when the motor current flowing through the stepping motor 91 exceeds the upper limit value.

By doing this, even if information regarding the position of the fulcrum guide 21 cannot be obtained, it is possible to determine whether the movement of the fulcrum guide 21 is normal or abnormal. As described above, the driver 92 may detect step-out, but this is not limited to the above. For example, the unit control device 101 may store information about the motor current under normal conditions in advance, and detect step-out by comparing the actual motor current with the motor current under normal conditions. In this case, the unit control device 101 corresponds to the detection unit of the present invention.

(6) As described above, the limit switch may be, for example, a non-contact type proximity sensor. Hereinafter, a specific description will be given with reference to Figs. 14(a) and 14(b). As shown in Figs. 14(a) and 14(b), the position information detection unit 70C of the winding unit 15C has a first limit switch 71C and a second limit switch 72C instead of the first limit switch 71 and the second limit switch 72 described above. The first limit switch 71C and the second limit switch 72C may be, for example, a known magnetic proximity sensor that detects the approach of a conductive member such as a metal body by using electromagnetic induction, but are not limited thereto. In addition, a metal plate 73 extending in the front-rear direction may be fixed as a detection piece to, for example, the lower end of the movable member 32. The first limit switch 71C and the second limit switch 72C are arranged outside the movement range of the metal plate 73 so as not to interfere with the metal plate 73. The first limit switch 71C and the second limit switch 72C may be arranged below the metal plate 73, for example, as shown in Figures 14(a) and (b). That is, for example, the first limit switch 71C may be arranged so that the metal plate 73 is located directly above the first limit switch 71C when the multiple fulcrum guides 21 are located in the close position (see Figure 14(a)). The second limit switch 72C may be arranged so that the metal plate 73 is located directly above the second limit switch 72C when the multiple fulcrum guides 21 are located in the separated position (see Figure 14(b)). The unit control device 101 may determine whether the movement of the fulcrum guide 21 is normal or abnormal based on the detection result by such a position information detection unit 70C.

(7) When an abnormality occurs in the movement of the fulcrum guide 21, the notification unit 122 does not necessarily have to notify the abnormality. When an abnormality occurs in the movement of the fulcrum guide 21, the unit control device 101 may, for example, simply stop the operation of the take-up unit 3.

(8) When an abnormality occurs in the movement of the fulcrum guide 21, threading does not necessarily have to be immediately stopped. For example, when an abnormality occurs in the movement of the fulcrum guide 21, the unit control device 101 may return the fulcrum guide 21 to its original position (either the separated position or the close position) and then start moving it again to the target position (the other of the separated position or the close position).

(9) In the above-described embodiment, the detection units such as the position information detection unit 70 detect information related to the movement of the fulcrum guide 21, but this is not limited to this. A detection unit that detects information related to the movement of other threading target members (the restricting guide 12, the second godet roller 14, the holding member 52, etc.) on which the yarn Y is threaded may also be provided.

(10) The yarn take-up machine 1 does not necessarily have to be equipped with a threading robot 4. The yarn take-up machine 1 may be configured so that at least a portion of the threading is performed by an operator.

(11) The air cylinder 31 described above does not necessarily have to be housed inside the guide support 26. In addition, the slider 35 and the movable member 32 may be connected to each other by a member other than a magnet (for example, a connector such as a screw).

(12) In the above embodiment, the unit control device 101 and the threading control device 102 communicate indirectly via the overall control device 100, but this is not limited to the above. The unit control device 101 and the threading control device 102 may also communicate directly.

(13) In the above embodiment, the overall control device 100, the unit control device 101, and the threading control device 102 are combined to correspond to the control unit of the present invention, but this is not limited to the above. For example, the unit control device 101 and the threading control device 102 described above do not necessarily need to be provided. The overall control device 100 may control the take-up unit 3 and the threading robot 4. In this case, the overall control device 100 corresponds to the control unit of the present invention.

(14) The spinning take-up machine 1 described above is equipped with multiple take-up units 3, but this is not limited to this. Only one take-up unit 3 may be provided.

(15) In the above embodiments, in the initial state before threading begins, multiple yarns Y are sucked and held by the aspirator 11, but this is not limited to the above. For example, a yarn lowering device (not shown) that holds and lowers multiple yarns Y spun from the spinning device 2 (see, for example, JP 2017-82376 A) may be provided near the spinning device 2. The threading robot 4 may receive the yarns Y directly from the yarn lowering device during threading.

(16) The detection unit that detects information regarding the movement of the threading target member is not limited to the yarn take-off machine 1, and may be provided in various textile machines that process at least one yarn. For example, in the false twisting machine (textile machine) described in JP 2016-223034 A, the threading target member on which the yarn is threaded may be configured to be movable between a production position and a threading position. The detection unit may be provided in the false twisting machine.

1. Spinning take-off machine (textile machinery)
4. Threading robot (automatic threading device)
21 Pivot guide (thread hook target member)
30 Drive unit 31 Air cylinder 70 Position information detection unit (detection unit)
71 First limit switch (limit switch)
72 Second limit switch (limit switch)
81 Electric motor 81a Rotating shaft (movable part)
86 Rotary encoder (detection part)
91 Stepping motor 92 Driver (detection unit)
100 Overall control device (control unit)
101 Unit control device (control unit)
102 Threading control device (control unit)
122 Notification unit B Bobbin Y Thread

Claims (12)

A textile machine for winding at least one yarn onto at least one bobbin ,
A threading target member on which the thread is to be threaded;
a drive unit that moves the threading target member between a predetermined production position when the yarn is threaded on the threading target member and wound around the bobbin, and a threading position different from the production position when the yarn is threaded on the threading target member;
A detection unit that detects information regarding the movement of the yarn threading target member by the drive unit;
A control unit,
The textile machine, characterized in that the control unit determines whether the movement of the yarn hook target member is normal or abnormal based on the detection result by the detection unit. 1. A textile machine for processing at least one yarn, comprising:
A threading target member on which the thread is to be threaded;
A drive unit that moves the threading target member between a predetermined production position and a threading position different from the production position;
A detection unit that detects information regarding the movement of the yarn threading target member by the drive unit;
A control unit,
The control unit determines whether the movement of the yarn threading target member is normal or abnormal based on the detection result by the detection unit,
a bobbin holder that supports a plurality of bobbins around which the plurality of yarns are respectively wound, in a line in an axial direction of the plurality of bobbins;
a plurality of traverse guides arranged in the axial direction corresponding to the plurality of bobbins for traversing the plurality of yarns,
The threading target member is
a plurality of fulcrum guides arranged in the axial direction corresponding to the plurality of traverse guides, each of which serves as a fulcrum when the plurality of yarns are traversed,
The plurality of fulcrum guides include
a separation position when the plurality of yarns are wound onto the plurality of bobbins, as the production position;
and a close position where the yarn threading positions are gathered together so that the distance therebetween in the axial direction is smaller than when the yarn threading positions are located at the separate position . The textile machine according to claim 2 , wherein the detection unit detects information relating to whether or not the plurality of fulcrum guides are normally positioned at the separated positions. 4. The textile machine according to claim 2, wherein the detection section detects information relating to whether or not the plurality of fulcrum guides are normally positioned at the adjacent positions. An automatic threading device that threads the thread onto the threading target member,
The control unit is
5. The textile machine according to claim 1, wherein the automatic threading device continues to operate only when it is determined that the movement of the threading target member is normal. A notification unit is provided for notifying information,
The textile machine according to any one of claims 1 to 5, characterized in that, when the control unit determines that an abnormality has occurred in the movement of the yarn hook target member, the control unit notifies the notification unit of information indicating the occurrence of the abnormality. The textile machine according to any one of claims 1 to 6 , wherein the detection unit detects information relating to a position of the yarn-threading target member. The textile machine according to claim 7 , wherein the detection unit is a limit switch that detects information relating to whether or not the yarn threading target member is located at a target position. The textile machine according to claim 7 or 8 , wherein the drive unit includes an air cylinder. The textile machine according to any one of claims 1 to 8 , characterized in that the drive unit includes an electric motor. The textile machine according to claim 10 , wherein the detection unit detects information relating to a position of a movable part of the electric motor. the electric motor is a stepping motor,
The textile machine according to claim 10 or 11 , wherein the detection unit detects loss of synchronism of the stepping motor.

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