TW202417704A - Wire processing system and processing robot - Google Patents

Abstract

一種絲線加工系統以及作業機器人，能夠穩定且順暢地從供絲捲筒退繞絲線。拉伸假撚加工機(1)具有：梭芯(12)，能夠設置捲繞有作為POY的絲線(3)的供絲捲筒(5)；加工位(35)，對設置於梭芯的供絲捲筒的絲線進行加工而形成捲繞捲筒；以及導絲器(13)，在從設置於梭芯的供絲捲筒退繞的絲線所形成的氣圈的下游側端部向加工位引導絲線。供絲台車(50)為對拉伸假撚加工機(1)進行作業的作業機器人。供絲台車含有供絲捲筒位置調整裝置(57)，該供絲捲筒位置調整裝置隨著從供絲捲筒退繞絲線的進度推進，使供絲捲筒以及導絲器中的至少其中之一移動，並使絲線退繞中的供絲捲筒與導絲器的距離減小。A yarn processing system and a working robot capable of stably and smoothly unwinding yarn from a yarn supply reel. A stretching false twist processing machine (1) comprises: a bobbin (12) capable of being provided with a yarn supply reel (5) on which a yarn (3) as POY is wound; a processing station (35) for processing the yarn of the yarn supply reel arranged on the bobbin to form a winding reel; and a yarn guide (13) for guiding the yarn to the processing station at the downstream side end of the balloon formed by the yarn unwound from the yarn supply reel arranged on the bobbin. A yarn supply trolley (50) is a working robot for operating the stretching false twist processing machine (1). The wire supply trolley includes a wire supply drum position adjusting device (57), which moves at least one of the wire supply drum and the wire guide as the wire is unwound from the wire supply drum, and reduces the distance between the wire supply drum and the wire guide during the unwinding of the wire.

Description

絲線加工系統以及作業機器人Wire processing system and processing robot

本發明涉及絲線加工系統以及以絲線加工機為對象進行作業的作業機器人。The present invention relates to a wire processing system and a working robot for working on a wire processing machine.

專利文獻1公開了作為一種絲線加工機的拉伸假撚加工機。Patent Document 1 discloses a stretching false twist processing machine as a wire processing machine.

專利文獻1的拉伸假撚加工機具有假撚裝置以及紗筒架。紗筒架具有能夠安裝供絲捲筒的梭芯。在拉伸假撚加工機之外，分開設有能夠沿著紗筒架行進的供絲台車。供絲台車能夠從梭芯拔出空的供絲捲筒，並將新的供絲捲筒***到梭芯。在拉伸假撚加工機中，從***到梭芯的供絲捲筒抽出絲線，藉由假撚裝置對該絲線進行假撚加工。 [先前技術文獻] [專利文獻] The stretch false curl processing machine of Patent Document 1 has a false curl device and a bobbin rack. The bobbin rack has a bobbin on which a yarn supply drum can be mounted. A yarn supply trolley capable of moving along the yarn supply rack is separately provided outside the stretch false curl processing machine. The yarn supply trolley can pull out an empty yarn supply drum from the bobbin and insert a new yarn supply drum into the bobbin. In the stretch false curl processing machine, a yarn is pulled out from the yarn supply drum inserted into the bobbin, and the yarn is falsely curled by the false curl device. [Prior Technical Document] [Patent Document]

[專利文獻1]日本特開平5-32377號公報。[Patent Document 1] Japanese Patent Application Publication No. 5-32377.

從供絲捲筒退繞的絲線藉由該絲線的旋轉與離心力，在供絲捲筒的緊鄰下游側形成氣圈。形成氣圈的位置在供絲捲筒與緊鄰供絲捲筒且位於該供絲捲筒下游側的導絲器之間。The yarn unwound from the yarn supply reel forms a balloon on the downstream side of the yarn supply reel due to the rotation and centrifugal force of the yarn. The balloon is formed between the yarn supply reel and a yarn guide located on the downstream side of the yarn supply reel and adjacent to the yarn supply reel.

隨著絲線抽出的進度推進，供絲捲筒的直徑逐漸變小，氣圈的形狀隨之而變化。在氣圈的形狀不穩定的情況下，從供絲捲筒退繞絲線的順暢性有可能受損。As the yarn is drawn out, the diameter of the supply reel gradually decreases, and the shape of the balloon changes accordingly. If the shape of the balloon is unstable, the smoothness of unwinding the yarn from the supply reel may be impaired.

本發明鑒於以上情況而完成，目的在於即使從供絲捲筒退繞絲線進度推進，也能夠順暢地從供絲捲筒退繞絲線。The present invention is completed in view of the above situation, and its purpose is to be able to smoothly unwind the wire from the wire supply reel even if the unwinding progress of the wire from the wire supply reel is advanced.

本發明希望解決的課題如上所述，下面對解決該課題的手段及功效進行說明。The problems that the present invention is intended to solve are as described above. The means and effects for solving the problems are described below.

根據本發明的第一觀點，提供以下結構的作業機器人。亦即， 前述作業機器人為對絲線加工機進行作業的作業機器人。前述絲線加工機具有供絲保持部、加工位以及導絲器。前述供絲保持部係能夠設置捲繞有合成纖維絲線的供絲捲筒。在前述加工位，對設置於前述供絲保持部的供絲捲筒的絲線進行加工而形成捲繞捲筒。前述導絲器在從設置於前述供絲保持部的供絲捲筒退繞的絲線所形成的氣圈的下游側端部，向前述加工位引導絲線。前述作業機器人含有氣圈調整裝置，前述氣圈調整裝置隨著從前述供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。According to the first viewpoint of the present invention, a working robot of the following structure is provided. That is, the aforementioned working robot is a working robot that operates a wire processing machine. The aforementioned wire processing machine has a wire supply holding portion, a processing position, and a wire guide. The aforementioned wire supply holding portion is capable of being provided with a wire supply reel on which a synthetic fiber wire is wound. At the aforementioned processing position, the wire of the wire supply reel disposed on the aforementioned wire supply holding portion is processed to form a winding reel. The aforementioned wire guide guides the wire to the aforementioned processing position at the downstream side end portion of the balloon formed by the wire unwound from the wire supply reel disposed on the aforementioned wire supply holding portion. The working robot includes a balloon adjusting device, which moves at least one of the supply reel and the wire guide during the unwinding of the wire as the wire is unwound from the supply reel, and reduces the distance between the supply reel and the wire guide during the unwinding of the wire.

藉此，能夠控制從供絲捲筒退繞絲線時形成的氣圈的形狀，因此能夠順暢地進行絲線的退繞。Thereby, the shape of the balloon formed when the yarn is unwound from the yarn supply reel can be controlled, so the yarn can be unwound smoothly.

在前述作業機器人中，較佳狀態是前述氣圈調整裝置藉由控制器的控制，隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。In the aforementioned working robot, the preferred state is that the aforementioned balloon adjustment device is controlled by a controller so that as the progress of unwinding the wire from the aforementioned wire supply reel advances, the distance between the aforementioned wire supply reel and the aforementioned wire guide during the unwinding of the aforementioned wire is reduced.

藉此，控制器能夠藉由控制氣圈調整裝置來控制氣圈的形狀。Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

在前述作業機器人中，較佳為以下結構。亦即，在前述絲線加工機中設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器。前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。In the aforementioned working robot, the following structure is preferred. That is, a plurality of aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of aforementioned wire supply holding parts and the aforementioned wire guide are provided corresponding to the plurality of aforementioned processing positions. The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts.

藉此，作業機器人能夠使用氣圈調整裝置對複數個供絲保持部進行作業，因此能夠藉由結構的共用化來降低成本。Thereby, the working robot can use the balloon adjustment device to operate a plurality of wire supply holding parts, so that the cost can be reduced by sharing the structure.

在前述作業機器人中，較佳為以下結構。亦即，前述作業機器人具有捲筒供給裝置，捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業。前述行進裝置以及／或者前述升降裝置能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。In the aforementioned working robot, the following structure is preferred. That is, the aforementioned working robot has a reel supply device, and the reel supply device performs the operation of setting the aforementioned wire supply reel relative to the plurality of aforementioned wire supply holding parts. The aforementioned travel device and/or the aforementioned lifting device can move the aforementioned reel supply device together with the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts.

藉此，由於向絲線加工機供給供絲捲筒的作業機器人也會進行氣圈調整作業，所以能夠藉由結構的共用化來削減成本。This allows the robot that supplies the yarn reel to the yarn processing machine to also perform the balloon adjustment operation, so costs can be reduced by sharing the structure.

根據本發明的第二觀點，提供以下結構的絲線加工系統。亦即，前述絲線加工系統具有絲線加工機以及對前述絲線加工機進行作業的作業機器人。前述絲線加工機具有供絲保持部、加工位以及導絲器。前述供絲保持部係能夠設置捲繞有合成纖維絲線的供絲捲筒。在前述加工位，係對設置於前述供絲保持部的供絲捲筒的絲線進行加工而形成捲繞捲筒。前述導絲器係在從設置於前述供絲保持部的供絲捲筒退繞的絲線所形成的氣圈的下游側端部，向前述加工位引導絲線。前述作業機器人係含有氣圈調整裝置。前述氣圈調整裝置係隨著從前述供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。According to the second viewpoint of the present invention, a wire processing system of the following structure is provided. That is, the wire processing system has a wire processing machine and a working robot for operating the wire processing machine. The wire processing machine has a wire supply holding portion, a processing position and a wire guide. The wire supply holding portion is capable of being provided with a wire supply reel on which a synthetic fiber wire is wound. At the processing position, the wire of the wire supply reel provided on the wire supply holding portion is processed to form a winding reel. The wire guide guides the wire to the processing position at the downstream side end portion of the balloon formed by the wire unwound from the wire supply reel provided on the wire supply holding portion. The working robot contains a balloon adjustment device. The balloon adjusting device moves at least one of the supply reel and the yarn guide during the yarn unwinding and reduces the distance between the supply reel and the yarn guide during the yarn unwinding as the yarn is unwound from the supply reel.

藉此，能夠控制從供絲捲筒退繞絲線時形成的氣圈的形狀，因此能夠順暢地進行絲線的退繞。Thereby, the shape of the balloon formed when the yarn is unwound from the yarn supply reel can be controlled, so the yarn can be unwound smoothly.

在前述絲線加工系統中，較佳為以下結構。亦即，前述絲線加工系統具有控制器。前述控制器對前述氣圈調整裝置進行控制，使得隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。In the aforementioned wire processing system, the following structure is preferred. That is, the aforementioned wire processing system has a controller. The aforementioned controller controls the aforementioned balloon adjustment device so that as the progress of unwinding the wire from the aforementioned wire supply reel advances, the distance between the aforementioned wire supply reel during unwinding and the aforementioned wire guide is reduced.

藉此，控制器能夠藉由控制氣圈調整裝置來控制氣圈的形狀。Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

在前述絲線加工系統中，較佳為以下結構。亦即，在前述絲線加工機中設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器。前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。In the aforementioned wire processing system, the following structure is preferred. That is, a plurality of aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of aforementioned wire supply holding parts and the aforementioned wire guide are provided corresponding to the plurality of aforementioned processing positions. The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts.

藉此，能夠使用氣圈調整裝置對複數個供絲保持部進行作業，因此能夠藉由結構的共用化降低成本。Thereby, the balloon adjustment device can be used to operate a plurality of wire feed holding parts, so that the cost can be reduced by sharing the structure.

在前述絲線加工系統中，較佳為以下結構。亦即，前述作業機器人具有捲筒供給裝置，前述捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業。前述行進裝置以及／或者前述升降裝置能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。In the aforementioned wire processing system, the following structure is preferred. That is, the aforementioned working robot has a reel supply device, and the aforementioned reel supply device performs the operation of setting the aforementioned wire supply reel relative to the plurality of aforementioned wire supply holding parts. The aforementioned travel device and/or the aforementioned lifting device can move the aforementioned reel supply device together with the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts.

藉此，由於向絲線加工機供給供絲捲筒的作業機器人也會進行氣圈調整作業，所以能夠藉由結構的共用化來削減成本。This allows the robot that supplies the yarn reel to the yarn processing machine to also perform the balloon adjustment operation, so costs can be reduced by sharing the structure.

在前述絲線加工系統中，較佳為以下結構。亦即，前述作業機器人的前述氣圈調整裝置係執行如下動作：隨著從前述絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一階段性地移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離階段性地減小。In the aforementioned wire processing system, the following structure is preferred. That is, the aforementioned balloon adjustment device of the aforementioned working robot performs the following actions: as the progress of unwinding the wire from the aforementioned wire supply reel during unwinding advances, at least one of the aforementioned wire supply reel during unwinding and the aforementioned wire guide is moved in stages, and the distance between the aforementioned wire supply reel during unwinding and the aforementioned wire guide is reduced in stages.

藉此，能夠隔開時間間隔進行絲線退繞中的供絲捲筒與導絲器的距離調整。因而，作業機器人能夠在距離調整作業與距離調整作業之間進行其他的作業，因此能夠實現高效運用。This allows the distance between the wire supply drum and the wire guide to be adjusted at intervals during the unwinding of the wire. As a result, the robot can perform other operations between the distance adjustment operations, thus achieving efficient use.

根據本發明的第三觀點，提供以下結構的絲線加工系統。亦即，前述絲線加工系統具有絲線加工機以及作業機器人。前述作業機器人係對前述絲線加工機進行作業。前述絲線加工機具有供絲保持部、加工位以及導絲器。前述供絲保持部係能夠設置捲繞有合成纖維絲線的供絲捲筒。在前述加工位，對設置於前述供絲保持部的供絲捲筒的絲線進行加工而形成捲繞捲筒。前述導絲器在從設置於前述供絲保持部的供絲捲筒退繞的絲線所形成的氣圈的下游側端部，向前述加工位引導絲線。相對於前述加工位設置有一對前述供絲保持部，並且相對於前述一對供絲保持部設置有共用的一個前述導絲器。在前述絲線加工機中設置有絲線退繞中供絲捲筒檢測裝置。前述絲線退繞中供絲捲筒檢測裝置檢測正從分別設置於前述一對供絲保持部的兩個供絲捲筒中的哪一個供絲捲筒退繞絲線。前述作業機器人含有氣圈調整裝置。前述氣圈調整裝置隨著從由前述絲線退繞中供絲捲筒檢測裝置檢測到絲線被退繞的絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述供絲捲筒與前述導絲器的距離減小。According to the third viewpoint of the present invention, a wire processing system of the following structure is provided. That is, the wire processing system has a wire processing machine and a working robot. The working robot operates on the wire processing machine. The wire processing machine has a wire supply holding portion, a processing position and a wire guide. The wire supply holding portion is capable of being provided with a wire supply reel on which a synthetic fiber wire is wound. At the processing position, the wire of the wire supply reel provided on the wire supply holding portion is processed to form a winding reel. The wire guide guides the wire to the processing position at the downstream side end portion of the balloon formed by the wire unwound from the wire supply reel provided on the wire supply holding portion. A pair of the aforementioned wire supply holding parts are provided relative to the aforementioned processing position, and a common aforementioned wire guide is provided relative to the aforementioned pair of wire supply holding parts. A wire supply reel detection device during wire unwinding is provided in the aforementioned wire processing machine. The aforementioned wire supply reel detection device during wire unwinding detects which wire supply reel is being unwound from the two wire supply reels respectively provided in the aforementioned pair of wire supply holding parts. The aforementioned working robot includes a balloon adjustment device. The balloon adjusting device moves at least one of the supply reel in the process of unwinding the wire and the wire guide, and reduces the distance between the supply reel and the wire guide, as the wire unwinding progresses from the supply reel in the process of unwinding the wire to the point where the supply reel detecting device in the process of unwinding the wire detects that the wire is unwound.

藉此，能夠控制從供絲捲筒退繞絲線時形成的氣圈的形狀，因此能夠順暢地進行絲線的退繞。藉由適當地切換當前退繞絲線的供絲捲筒和待機側的供絲捲筒，能夠確保向絲線加工機供給絲線的連續性。能夠檢測兩個供絲捲筒中退繞絲線的供絲捲筒，適當地控制在該供絲捲筒中形成的氣圈的形狀。This allows the shape of the balloon formed when the yarn is unwound from the yarn supply reel to be controlled, so that the yarn can be unwound smoothly. By appropriately switching the yarn supply reel currently unwinding the yarn and the yarn supply reel on the standby side, the continuity of the yarn supply to the yarn processing machine can be ensured. The yarn supply reel that unwinds the yarn from the two yarn supply reels can be detected, and the shape of the balloon formed in the yarn supply reel can be appropriately controlled.

在前述絲線加工系統中，較佳為以下結構。亦即，前述絲線加工系統具有控制器。前述控制器根據前述絲線退繞中供絲捲筒檢測裝置的檢測結果，對前述氣圈調整裝置進行控制，使得隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。In the aforementioned wire processing system, the following structure is preferred. That is, the aforementioned wire processing system has a controller. The aforementioned controller controls the aforementioned balloon adjustment device according to the detection result of the aforementioned wire supply reel detection device during the aforementioned wire unwinding, so that as the progress of unwinding the wire from the aforementioned wire supply reel advances, the distance between the aforementioned wire supply reel during the aforementioned wire unwinding and the aforementioned wire guide is reduced.

藉此，控制器能夠藉由控制氣圈調整裝置來控制氣圈的形狀。Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

在前述絲線加工系統中，較佳為以下結構。亦即，在前述絲線加工機中，設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器。前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。In the aforementioned wire processing system, the following structure is preferred. That is, in the aforementioned wire processing machine, a plurality of aforementioned processing positions are provided, and a plurality of aforementioned wire supply holding parts and the aforementioned wire guides are provided corresponding to the plurality of aforementioned processing positions. The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts.

藉此，能夠使用氣圈調整裝置對複數個供絲保持部進行作業，因此能夠藉由結構的共用化來降低成本。Thereby, the balloon adjustment device can be used to operate a plurality of wire supply holding parts, so that the cost can be reduced by sharing the structure.

在前述絲線加工系統中，較佳為以下結構。亦即，前述作業機器人具有捲筒供給裝置。前述捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業。前述行進裝置以及／或者前述升降裝置能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。In the aforementioned wire processing system, the following structure is preferred. That is, the aforementioned working robot has a reel supply device. The aforementioned reel supply device performs the operation of setting the aforementioned wire supply reel relative to the plurality of aforementioned wire supply holding portions. The aforementioned traveling device and/or the aforementioned lifting device can move the aforementioned reel supply device together with the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding portions.

藉此，向絲線加工機供給供絲捲筒的作業機器人也會進行氣圈調整作業，因此能夠藉由結構的共用化來削減成本。This allows the robot that supplies the yarn supply reel to the yarn processing machine to also perform the balloon adjustment operation, thereby reducing costs by sharing the structure.

在前述絲線加工系統中，較佳為如下所示結構。亦即，前述作業機器人的前述氣圈調整裝置執行如下動作：隨著從前述絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一階段性地移動，使前述絲線退繞中的供絲捲筒與前述導絲器的距離階段性地減小。In the aforementioned wire processing system, the structure is preferably as follows. That is, the aforementioned balloon adjustment device of the aforementioned working robot performs the following actions: as the progress of unwinding the wire from the aforementioned wire supply reel during unwinding advances, at least one of the aforementioned wire supply reel during unwinding and the aforementioned wire guide is moved in stages, so that the distance between the aforementioned wire supply reel during unwinding and the aforementioned wire guide is reduced in stages.

藉此，能夠隔開時間間隔進行絲線退繞中的供絲捲筒與導絲器的距離調整。因而，作業機器人能夠在距離調整作業與距離調整作業之間進行其他作業，因此能夠實現高效運用。This allows the distance between the wire supply drum and the wire guide to be adjusted at intervals during the wire unwinding process. As a result, the robot can perform other operations between the distance adjustment operations, thus achieving efficient use.

在前述絲線加工系統中，較佳為：前述供絲保持部的至少前述供絲捲筒的設置部分結構為能夠相對於導絲器接近或者分離。In the aforementioned wire processing system, it is preferred that: at least the arrangement portion of the aforementioned wire supply reel of the aforementioned wire supply holding portion is structured to be able to approach or separate from the wire guide.

藉此，能夠使供絲捲筒順暢地移動。因而，能夠容易地進行絲線退繞中的供絲捲筒與導絲器的距離調整。Thereby, the yarn supply reel can be moved smoothly. Therefore, the distance between the yarn supply reel and the yarn guide can be easily adjusted during the yarn unwinding.

下面參照圖式對本發明的實施形態進行說明。圖1係表示本發明一種實施形態下的假撚加工系統100的整體結構側視圖。The following is a description of the embodiments of the present invention with reference to the drawings. Fig. 1 is a side view showing the overall structure of a false twist processing system 100 according to an embodiment of the present invention.

圖1所示的假撚加工系統(「絲線加工系統」的一例)100具有拉伸假撚加工機1、供絲台車(「作業機器人」的一例)50、搬出台車90以及控制器40。拉伸假撚加工機1為一種絲線加工機。其他絲線加工機，舉例來說還有氣流加工機等。拉伸假撚加工機1藉由對絲線種類之一(合成纖維絲線種類之一)的被稱為POY的半拉伸絲線(部分取向絲線)進行拉伸以及假撚加工，能夠生產被稱為DTY的拉伸假撚加工絲線。POY是Partially Oriented Yarn的簡稱。DTY是Draw Textured Yarn的簡稱。The false curl processing system (an example of a "yarn processing system") 100 shown in FIG1 has a stretch false curl processing machine 1, a yarn supply trolley (an example of a "working robot") 50, a carry-out trolley 90, and a controller 40. The stretch false curl processing machine 1 is a type of yarn processing machine. Other yarn processing machines include, for example, airflow processing machines. The stretch false curl processing machine 1 can produce a stretch false curl processed yarn called DTY by stretching and false curling a semi-stretched yarn (partially oriented yarn) called POY, which is one type of yarn (one type of synthetic fiber yarn). POY is the abbreviation for Partially Oriented Yarn. DTY is the abbreviation for Draw Textured Yarn.

拉伸假撚加工機1具有紗筒架11以及主體部31。主體部31具有複數個加工位(也被稱為「錠子」)35。各個加工位35具有第一餵絲輥21、第二餵絲輥22、第三餵絲輥23、假撚裝置25、第一加熱器26、第二加熱器27以及絡絲機28。在拉伸假撚加工機1中，構成主體部31的複數個加工位35，除了絡絲機28的部位之外，係採用並排配置。關於絡絲機28，複數個加工位35的複數個絡絲機28係排列配置成3層×m列(m為規定的整數)。The stretch false curl processing machine 1 has a yarn tube holder 11 and a main body 31. The main body 31 has a plurality of processing positions (also called "ingots") 35. Each processing position 35 has a first feeding roller 21, a second feeding roller 22, a third feeding roller 23, a false curl device 25, a first heater 26, a second heater 27, and a spinning machine 28. In the stretch false curl processing machine 1, the plurality of processing positions 35 constituting the main body 31 are arranged side by side except for the portion of the spinning machine 28. With regard to the spinning machine 28, the plurality of spinning machines 28 of the plurality of processing positions 35 are arranged in 3 layers × m rows (m is a predetermined integer).

紗筒架11具有複數個梭芯(供絲保持部)12。當從供絲台車50側觀察時，梭芯12係並排配置成4層×n列(n為規定的整數)的矩陣狀。能夠在各個梭芯12設置供絲捲筒5。供絲捲筒5係將POY捲繞於芯管而成的捲筒。供絲捲筒5係藉由在未圖示的紡絲捲繞機的紡絲機中製作POY，並在該紡絲捲繞機的捲繞機中將POY捲繞於芯管而形成。關於紗筒架11的複數個梭芯12，每個加工位35各分配兩個梭芯。The yarn tube rack 11 has a plurality of bobbins (thread supply holding parts) 12. When viewed from the thread supply trolley 50 side, the bobbins 12 are arranged side by side in a matrix of 4 layers × n rows (n is a specified integer). A thread supply reel 5 can be provided on each bobbin 12. The thread supply reel 5 is a reel formed by winding POY around a core tube. The thread supply reel 5 is formed by manufacturing POY in a spinning machine of a spinning winding machine not shown in the figure, and winding POY around a core tube in the winding machine of the spinning winding machine. With respect to the plurality of bobbins 12 of the yarn tube rack 11, two bobbins are allocated to each processing position 35.

在圖7中展示了與某一個加工位35對應的兩個梭芯。如圖7所示，梭芯12按兩個一組設置。屬於同一組的兩個梭芯配置成在水平方向上相鄰。屬於同一組且為一對的兩個梭芯係與一個加工位35相對應而設置。在從安裝於一方的梭芯12的供絲捲筒5朝向一個加工位35退繞絲線3期間，安裝於另一方梭芯12的供絲捲筒5係待機。正退繞絲線3的供絲捲筒5的絲線終端部係與待機側的供絲捲筒5的絲線始端部結合。因而，當從兩個供絲捲筒5中的其中一個供絲捲筒退繞了所有絲線3時，自動從剩餘的供絲捲筒5退繞絲線。將同一組兩個供絲捲筒5中正退繞絲線的一側供絲捲筒5稱作絲線退繞中供絲捲筒5，將剩餘一側的供絲捲筒5稱作待機供絲捲筒5。FIG. 7 shows two bobbins corresponding to a certain processing position 35. As shown in FIG. 7, the bobbins 12 are arranged in groups of two. The two bobbins belonging to the same group are arranged to be adjacent to each other in the horizontal direction. The two bobbins belonging to the same group and forming a pair are arranged corresponding to one processing position 35. While the thread 3 is unwound from the thread supply drum 5 installed on one side of the bobbin 12 toward one processing position 35, the thread supply drum 5 installed on the other side of the bobbin 12 is on standby. The thread terminal end of the thread supply drum 5 that is unwinding the thread 3 is connected to the thread starting end of the thread supply drum 5 on the standby side. Therefore, when all the yarn 3 is unwound from one of the two yarn supply reels 5, the yarn is automatically unwound from the remaining yarn supply reel 5. The yarn supply reel 5 on one side of the two yarn supply reels 5 in the same group that is unwinding the yarn is called the yarn unwinding yarn supply reel 5, and the yarn supply reel 5 on the remaining side is called the standby yarn supply reel 5.

供絲台車50的結構為能夠移動至紗筒架11各梭芯12位置的結構，進行作業將所有絲線被退繞而成為芯管狀態的供絲捲筒5(將該狀態稱為「空筒管」。)從梭芯12取下，並將新的供絲捲筒5設置於梭芯12。空筒管由供絲台車50搬出到拉伸假撚加工機1的機外，新的供絲捲筒5係由供絲台車50從拉伸假撚加工機1的機外搬入。The structure of the yarn supply trolley 50 is a structure that can be moved to the position of each bobbin 12 of the yarn tube rack 11, and the yarn supply reel 5 (this state is called "empty bobbin") in which all the yarns are unwound and become a core tube state is removed from the bobbin 12, and a new yarn supply reel 5 is set on the bobbin 12. The empty bobbin is carried out of the stretch false twist processing machine 1 by the yarn supply trolley 50, and the new yarn supply reel 5 is carried in from the outside of the stretch false twist processing machine 1 by the yarn supply trolley 50.

在比兩個梭芯12靠絲線行進方向下游側的位置係設置有導絲器13。對屬於同一組的兩個梭芯12，配置一個導絲器13。兩個梭芯12均配置成本身的前端係朝向導絲器13。因而，兩個梭芯12的方向不平行。無論從兩個供絲捲筒5的哪一個退繞絲線3，絲線3都通過共同的導絲器13。A thread guide 13 is provided at a position downstream of the two bobbins 12 in the thread travel direction. One thread guide 13 is provided for two bobbins 12 belonging to the same group. Both bobbins 12 are provided with their front ends facing the thread guide 13. Therefore, the directions of the two bobbins 12 are not parallel. Regardless of which of the two thread supply drums 5 the thread 3 is unwound, the thread 3 passes through the common thread guide 13.

導絲器13為從供絲捲筒5退繞的絲線3最先通過的引導部件。因而，絲線3係在供絲捲筒5與導絲器13之間形成氣圈。導絲器13係位於氣圈的下游側端部。The yarn guide 13 is a guide member through which the yarn 3 unwound from the yarn supply reel 5 first passes. Therefore, the yarn 3 forms a balloon between the yarn supply reel 5 and the yarn guide 13. The yarn guide 13 is located at the downstream side end of the balloon.

下文中，有時將由一個導絲器13以及一對梭芯12構成的用於供絲的結構稱為供絲位9。一個供絲位9與一個加工位35對應。在紗筒架11配置有與加工位35相同數量的供絲位9。Hereinafter, the structure for supplying thread formed by a thread guide 13 and a pair of bobbins 12 is sometimes referred to as a thread supply position 9. One thread supply position 9 corresponds to one processing position 35. The thread supply position 9 having the same number as the processing position 35 is configured on the yarn tube frame 11.

如圖8所示，在導絲器13上設置有絲線退繞檢測感測器(「絲線退繞中供絲捲筒檢測裝置」的一例)16。絲線退繞檢測感測器16能夠檢測從屬於同一組的兩個梭芯12上分別安裝一個的兩個供絲捲筒5中的哪個供絲捲筒5退繞絲線。絲線退繞檢測感測器16係與前述控制器40電連接。在圖8中，為了簡化圖式，平行地繪製了一對梭芯12。在後述的圖9中也採用相同方式。As shown in FIG8 , a thread unwinding detection sensor (an example of a “thread unwinding thread supply reel detection device”) 16 is provided on the thread guide 13. The thread unwinding detection sensor 16 can detect which thread supply reel 5 is unwinding the thread among two thread supply reels 5 respectively mounted on two bobbins 12 belonging to the same group. The thread unwinding detection sensor 16 is electrically connected to the aforementioned controller 40. In FIG8 , a pair of bobbins 12 are drawn in parallel for the sake of simplicity. The same method is also adopted in FIG9 described later.

絲線退繞檢測感測器16具有第一檢測部17以及第二檢測部18。第一檢測部17的結構為能夠檢測是否正從分別安裝於屬於同一組的兩個梭芯12上的兩個供絲捲筒5中的其中之一的供絲捲筒5退繞絲線3。第二檢測部18的結構為能夠檢測是否正從前述兩個供絲捲筒5中的另一哥供絲捲筒5退繞絲線3。例如，第一檢測部17以及第二檢測部18分別是光學檢測絲線3的光學感測器。關於絲線退繞檢測感測器16的更詳細內容，可參照日本專利第5873105號公報。關於第一檢測部17以及第二檢測部18，也可使用接觸式的感測器來代替光學感測器。控制器40能夠根據感測器16的檢測結果，得知絲線退繞從兩個供絲捲筒5中的一方切換至另一方，藉此，能夠得知一方變空。控制器40所進行控制的詳細內容將在後文中說明。The thread unwinding detection sensor 16 has a first detection portion 17 and a second detection portion 18. The first detection portion 17 is configured to detect whether the thread 3 is being unwound from one of the two thread supply reels 5 mounted on the two bobbins 12 belonging to the same group. The second detection portion 18 is configured to detect whether the thread 3 is being unwound from the other of the two thread supply reels 5. For example, the first detection portion 17 and the second detection portion 18 are optical sensors that optically detect the thread 3. For more details about the thread unwinding detection sensor 16, refer to Japanese Patent Gazette No. 5873105. Regarding the first detection unit 17 and the second detection unit 18, contact sensors may be used instead of optical sensors. The controller 40 can know that the yarn unwinding is switched from one of the two yarn supply reels 5 to the other based on the detection result of the sensor 16, thereby knowing that one of the two yarn supply reels 5 has become empty. The details of the control performed by the controller 40 will be described later.

作為檢測從屬於同一組的兩個梭芯12上分別安裝一個的兩個供絲捲筒5中的哪個供絲捲筒5退繞絲線的方法，除了前述方法之外，還有以下方法。As a method of detecting which of the two thread supply reels 5 respectively mounted on the two bobbins 12 belonging to the same set has unwound the thread, in addition to the above-mentioned method, there is the following method.

在圖9中係展示了具有檢測同一組的兩個供絲捲筒5的絲線終端部與絲線始端部的結合部K的結合部檢測感測器19的變形例。結合部檢測感測器19與前述控制器40電連接。藉由該結合部檢測感測器19檢測結合部K，能夠檢測正從哪一個供絲捲筒5退繞絲線。具體而言，在從一個供絲捲筒5向另一個供絲捲筒5切換絲線3的退繞時，結合部K係從感測器19脫離。控制器40根據結合部檢測感測器19，能夠判斷退繞絲線的供絲捲筒5是否已切換。FIG9 shows a variation of a junction detection sensor 19 having a junction K for detecting the junction between the terminal end of the wire and the starting end of the wire of two wire supply reels 5 of the same group. The junction detection sensor 19 is electrically connected to the aforementioned controller 40. By detecting the junction K by the junction detection sensor 19, it is possible to detect from which wire supply reel 5 the wire is being unwound. Specifically, when the unwinding of the wire 3 is switched from one wire supply reel 5 to another wire supply reel 5, the junction K is disengaged from the sensor 19. Based on the junction detection sensor 19, the controller 40 can determine whether the wire supply reel 5 of the unwound wire has been switched.

此外，藉由分別直接測定同一組兩個供絲捲筒5的直徑的感測器來確認各供絲捲筒5的直徑變化，能夠檢測正從哪個供絲捲筒5退繞絲線。此外，使用相機拍攝同一組兩個供絲捲筒5並分析兩個供絲捲筒5的圖像，藉此也能夠進行前述檢測。Furthermore, by using a sensor that directly measures the diameter of the same set of two yarn supply reels 5, respectively, to confirm the diameter change of each yarn supply reel 5, it is possible to detect from which yarn supply reel 5 the yarn is being unwound. In addition, the above detection can also be performed by using a camera to capture the same set of two yarn supply reels 5 and analyzing the images of the two yarn supply reels 5.

在紗筒架11上，與梭芯12分別對應地設置有在上下方向上細長的梭芯軸14。各個梭芯軸14由紗筒架11支承，能夠以上下方向的軸為中心旋轉。如圖1所示，在比梭芯12靠上方的位置，在梭芯軸14上設置有旋轉輸入部件15。旋轉輸入部件15的結構為將棒狀部件排列為放射狀。當旋轉輸入部件15旋轉時，梭芯12係借助梭芯軸14旋轉。藉此，能夠在梭芯12的前端朝向導絲器13的姿勢與朝向供絲台車50側的姿勢之間切換梭芯12的姿勢。On the yarn tube frame 11, bobbin shafts 14 that are thin and long in the vertical direction are provided corresponding to the bobbins 12. Each bobbin shaft 14 is supported by the yarn tube frame 11 and can rotate around an axis in the vertical direction. As shown in FIG1 , a rotary input component 15 is provided on the bobbin shaft 14 at a position above the bobbin 12. The structure of the rotary input component 15 is to arrange rod-shaped components in a radial pattern. When the rotary input component 15 rotates, the bobbin 12 rotates with the help of the bobbin shaft 14. Thereby, the posture of the bobbin 12 can be switched between a posture in which the front end of the bobbin 12 is facing the wire guide 13 and a posture in which the front end of the bobbin 12 is facing the wire supply trolley 50 side.

如圖1所示，從導絲器13輸送到下游側的絲線3通過第一餵絲輥21。在第一餵絲輥21與第二餵絲輥22之間，對絲線3施加用於拉伸的適當張力。在第一餵絲輥21與第二餵絲輥22之間的下游側係配置有假撚裝置25。藉由假撚裝置25對絲線3加撚，第一餵絲輥21與假撚裝置25之間的絲線3係成為加撚狀態。As shown in FIG1 , the yarn 3 fed to the downstream side from the yarn guide 13 passes through the first feeding roller 21. Between the first feeding roller 21 and the second feeding roller 22, an appropriate tension is applied to the yarn 3 for stretching. A false twisting device 25 is arranged on the downstream side between the first feeding roller 21 and the second feeding roller 22. The false twisting device 25 twists the yarn 3, and the yarn 3 between the first feeding roller 21 and the false twisting device 25 is in a twisted state.

在第一餵絲輥21與假撚裝置25之間設置有用於熱定形的第一加熱器26。絲線3被第一加熱器26加熱至能夠拉伸的溫度。A first heater 26 for heat setting is provided between the first feeding roller 21 and the false twisting device 25. The yarn 3 is heated by the first heater 26 to a temperature at which it can be stretched.

從假撚裝置25輸送到下游側的絲線3通過第二餵絲輥22。絲線3在第二餵絲輥22與第三餵絲輥23之間處於鬆弛狀態。The thread 3 conveyed to the downstream side from the false twist device 25 passes through the second feeding roller 22. The thread 3 is in a slack state between the second feeding roller 22 and the third feeding roller 23.

在第二餵絲輥22與第三餵絲輥23之間設置有用於熱定形的第二加熱器27。絲線3在鬆弛狀態下由第二加熱器27再次加熱。A second heater 27 for heat setting is provided between the second feeding roller 22 and the third feeding roller 23. The wire 3 is heated again by the second heater 27 in a relaxed state.

通過第三餵絲輥23後的絲線3被輸送到絡絲機28。絡絲機28將所供給的絲線3捲繞於芯管上，形成DTY的捲筒(稱為「捲繞捲筒」)6。變為滿卷的捲繞捲筒6由未圖示的落絲裝置從絡絲機28上取下，並移動到搬出台車90。捲繞捲筒6由搬出台車90搬出到拉伸假撚加工機1的機外。搬出台車90可採用頂棚行進台車結構。The yarn 3 after passing through the third feeding roller 23 is transported to the spinning machine 28. The spinning machine 28 winds the supplied yarn 3 around the core tube to form a DTY reel (referred to as a "winding reel") 6. The fully wound winding reel 6 is removed from the spinning machine 28 by a not-shown doffing device and moved to the unloading trolley 90. The winding reel 6 is carried out of the stretching false twist processing machine 1 by the unloading trolley 90. The unloading trolley 90 can adopt a top-mounted traveling trolley structure.

下面對供絲台車50進行說明。供絲台車50在與拉伸假撚加工機1之間的關係中，相當於機外的作業機器人。供絲台車50從外部對拉伸假撚加工機1的紗筒架11進行供絲捲筒5的設置作業等。Next, the yarn supply trolley 50 will be described. The yarn supply trolley 50 is equivalent to an external working robot in relation to the stretch false curl processing machine 1. The yarn supply trolley 50 performs a setting operation such as setting the yarn supply reel 5 on the yarn creel stand 11 of the stretch false curl processing machine 1 from the outside.

供絲台車50具有行進部件51(「行進裝置」的一部分)、升降部件52(「升降裝置」的一部分)、梭芯旋轉裝置53、旋轉頭54、供絲捲筒設置裝置55(「捲筒供給裝置」的一部分)、空筒管回收裝置56以及供絲捲筒位置調整裝置57(「氣圈調整裝置」的一例)。The yarn supply carriage 50 has a traveling component 51 (a part of the "traveling device"), a lifting component 52 (a part of the "lifting device"), a bobbin rotating device 53, a rotating head 54, a yarn supply reel setting device 55 (a part of the "reel supply device"), an empty bobbin recovery device 56, and a yarn supply reel position adjustment device 57 (an example of a "balloon adjustment device").

行進部件51具有基座部件61以及柱部件62。The traveling member 51 includes a base member 61 and a column member 62 .

基座部件61設置成能夠沿著設置於地面的軌道63的長度方向移動。軌道63的長度方向係與紗筒架11中一組梭芯12水平排列的方向平行。The base member 61 is arranged to be movable along the length direction of a track 63 arranged on the ground. The length direction of the track 63 is parallel to the direction in which a set of bobbins 12 in the bobbin frame 11 are horizontally arranged.

柱部件62係沿著上下方向延伸的細長部件。柱部件62配置成從基座部件61向上方突出。The column member 62 is a thin and long member extending in the vertical direction. The column member 62 is arranged to protrude upward from the base member 61.

升降部件52設置成能夠沿著柱部件62的長度方向升降。在升降部件52上配置有梭芯旋轉裝置53以及後述的旋轉頭54。The lifting member 52 is provided so as to be able to be lifted and lowered along the length direction of the column member 62. The lifting member 52 is provided with a bobbin rotating device 53 and a rotary head 54 described later.

在供絲台車50上設置有未圖示的複數個促動器。藉此，能夠使行進部件51沿著軌道63在水平方向上移動，此外，還可使升降部件52在上下方向上移動。A plurality of actuators (not shown) are provided on the wire feeding carriage 50. Thereby, the traveling member 51 can be moved in the horizontal direction along the rail 63, and the lifting member 52 can be moved in the vertical direction.

在升降部件52的上部安裝有梭芯旋轉裝置53。梭芯旋轉裝置53具有可在與旋轉輸入部件15嚙合的狀態下旋轉的嚙合頭64。The bobbin rotating device 53 is mounted on the upper portion of the lifting member 52. The bobbin rotating device 53 has an engaging head 64 which can rotate in a state of being engaged with the rotation input member 15.

嚙合頭64具有旋轉盤。在旋轉盤的下表面設置有在上下方向上細長的複數個銷。銷在旋轉盤的圓周方向上係等間隔地排列配置。為了使旋轉盤旋轉，在梭芯旋轉裝置53上設置有未圖示的促動器。在銷進入旋轉輸入部件15的棒狀部件之間的狀態下使旋轉盤旋轉時，能夠使旋轉輸入部件15旋轉。結果為能夠使梭芯軸14旋轉，並變更梭芯12的朝向。The engaging head 64 has a rotating disk. A plurality of pins that are elongated in the vertical direction are provided on the lower surface of the rotating disk. The pins are arranged at equal intervals in the circumferential direction of the rotating disk. In order to rotate the rotating disk, an actuator (not shown) is provided on the bobbin rotating device 53. When the rotating disk is rotated in a state where the pins enter between the rod-shaped parts of the rotating input component 15, the rotating input component 15 can be rotated. As a result, the bobbin shaft 14 can be rotated and the direction of the bobbin 12 can be changed.

梭芯旋轉裝置53具有省略圖示的促動器。該促動器係能夠使嚙合頭64向接近紗筒架11的梭芯軸14的方向或者遠離紗筒架11的梭芯軸14的方向移動。因而，能夠僅在需要時使嚙合頭64與旋轉輸入部件15嚙合。The bobbin rotating device 53 has an actuator (not shown). The actuator can move the engagement head 64 toward or away from the bobbin shaft 14 of the bobbin rack 11. Therefore, the engagement head 64 can be engaged with the rotation input member 15 only when necessary.

以從梭芯旋轉裝置53的下表面突出的方式設置有支軸65。旋轉頭54配置成從梭芯旋轉裝置53借助支軸65懸吊。A support shaft 65 is provided so as to protrude from the lower surface of the bobbin rotating device 53. The rotary head 54 is arranged so as to be suspended from the bobbin rotating device 53 via the support shaft 65.

供絲台車50具有省略圖示的促動器。藉由該促動器，能夠以支軸65為中心使旋轉頭54旋轉。The wire feeding carriage 50 has an actuator (not shown). The actuator can rotate the rotary head 54 around the support shaft 65.

在旋轉頭54上安裝有供絲捲筒設置裝置55、空筒管回收裝置56以及供絲捲筒位置調整裝置57。A yarn supply reel setting device 55, an empty bobbin recovery device 56, and a yarn supply reel position adjustment device 57 are installed on the rotary head 54.

供絲捲筒設置裝置55具有能夠滑動移動的交接梭芯68。能夠在該交接梭芯68上掛載並保持用於設置於紗筒架11的梭芯12上的供絲捲筒5。為了使交接梭芯68在長度方向上移動，在供絲捲筒設置裝置55上設置有省略圖示的促動器。The yarn supply drum installation device 55 has a slidable transfer bobbin 68. The yarn supply drum 5 for being mounted on the bobbin 12 of the yarn rack 11 can be mounted and held on the transfer bobbin 68. In order to move the transfer bobbin 68 in the longitudinal direction, an actuator (not shown) is provided on the yarn supply drum installation device 55.

以與供絲台車50的行進路徑相鄰的方式設置有儲料器66。儲料器66能夠保管複數個供絲捲筒5。儲料器66隔著供絲台車50的行進路徑而設置在與紗筒架11相反側。但儲料器66也可以設置在與紗筒架11相同側。A stocker 66 is provided adjacent to the travel path of the yarn supply trolley 50. The stocker 66 can store a plurality of yarn supply reels 5. The stocker 66 is provided on the opposite side of the yarn creel stand 11 across the travel path of the yarn supply trolley 50. However, the stocker 66 may be provided on the same side as the yarn creel stand 11.

藉由使旋轉頭54旋轉，能夠在交接梭芯68朝向儲料器66的狀態與交接梭芯68朝向紗筒架11的狀態之間變更供絲捲筒設置裝置55的朝向。By rotating the rotary head 54, the orientation of the yarn supply bobbin setting device 55 can be changed between a state in which the delivery bobbin 68 faces the stocker 66 and a state in which the delivery bobbin 68 faces the yarn creel 11.

空筒管回收裝置56具有能夠滑動的拉入部件69。該拉入部件69形成時呈直線形細長狀。在俯視圖中，拉入部件69的長度方向與交接梭芯68的長度方向相差90°。在拉入部件69的前端形成有彎曲成朝向上方的鉤掛部。The empty bobbin recovery device 56 has a slidable pull-in component 69. The pull-in component 69 is formed in a straight and elongated shape. In the top view, the length direction of the pull-in component 69 is 90° different from the length direction of the handover bobbin 68. A hook portion bent upward is formed at the front end of the pull-in component 69.

控制器40的結構為具有運算裝置、儲存裝置等的眾所周知的計算機。控制器40管理以及／或者控制拉伸假撚加工機1、供絲台車50以及搬出台車90。另外，控制器40也可以分為拉伸假撚加工機1用、供絲台車50用以及搬出台車90用而分別設置。從針對拉伸假撚加工機1的每個供絲位9設置的絲線退繞檢測感測器向控制器40輸入訊號。藉此，控制器40能夠掌握安裝於各供絲位9的同一組兩個梭芯中的哪一個梭芯12的供絲捲筒5是退繞中的供絲捲筒以及絲線退繞從某一方切換成另一方供絲捲筒5的情況。此外，控制器40藉由得知絲線退繞從某一方切換為另一方供絲捲筒5的情況，能夠掌握某一方供絲捲筒5變空(絲線用盡)的情況。此外，控制器40係能夠根據絲線退繞切換的情況、初始滿卷的供絲捲筒5的直徑及全部絲線長度、絲線退繞速度以及從絲線退繞切換起的經過時間，掌握絲線退繞中的供絲捲筒5的直徑。亦即，控制器40具有掌握絲線退繞中的供絲捲筒5的直徑的絲線退繞中供絲捲筒直徑掌握手段。另外，在該實施例中，絲線退繞中供絲捲筒直徑掌握手段能夠以從滿卷的供絲捲筒5到變空為止的大徑、中徑、小徑這3個階段來掌握絲線退繞中的供絲捲筒5的直徑。大徑、中徑、小徑的大小可以適當設定。在所有供絲位9(換言之，加工位35)中都能夠掌握如上所示的控制器40的掌握事項。The controller 40 is a well-known computer having a computing device, a storage device, etc. The controller 40 manages and/or controls the stretching false curl processing machine 1, the thread supply trolley 50, and the unloading trolley 90. In addition, the controller 40 can also be divided into the stretching false curl processing machine 1, the thread supply trolley 50, and the unloading trolley 90 and set separately. A signal is input to the controller 40 from the thread unwinding detection sensor set for each thread supply position 9 of the stretching false curl processing machine 1. Thereby, the controller 40 can grasp which bobbin 12 of the same group of two bobbins installed in each thread supply position 9 is the thread supply reel 5 in the unwinding state and the situation in which the thread unwinding is switched from one side to the other thread supply reel 5. In addition, the controller 40 can grasp the situation that one of the supply reels 5 becomes empty (the yarn is used up) by knowing the situation that the yarn unwinding is switched from one side to the other supply reel 5. In addition, the controller 40 can grasp the diameter of the supply reel 5 in the yarn unwinding according to the situation of the yarn unwinding switching, the diameter of the initially fully wound supply reel 5 and the total yarn length, the yarn unwinding speed, and the time elapsed from the yarn unwinding switching. That is, the controller 40 has a yarn unwinding yarn supply reel diameter grasping means for grasping the diameter of the supply reel 5 in the yarn unwinding. In addition, in this embodiment, the means for controlling the diameter of the supply reel during the unwinding of the yarn can control the diameter of the supply reel 5 during the unwinding of the yarn in three stages, namely, the large diameter, the middle diameter, and the small diameter from the fully wound supply reel 5 to the empty state. The sizes of the large diameter, the middle diameter, and the small diameter can be appropriately set. The control matters of the controller 40 shown above can be controlled in all the supply positions 9 (in other words, the processing positions 35).

供絲台車50按照控制器40的指令進行動作。供絲台車50所具有的供絲捲筒位置調整裝置57也同樣按照控制器40的指令進行動作。在某一供絲位9處絲線退繞中的供絲捲筒5變空時，控制器40向供絲台車50發出指令，以使供絲台車50趨近該供絲位9。此外，在某一供絲位9處絲線退繞中的供絲捲筒5從大徑變為中徑時或者從中徑變為小徑時，控制器40向供絲台車50發出指令，以使供絲台車50趨近該供絲位9。有時會出現複數個供絲位9在大致相同時期產生絲線退繞中的供絲捲筒5變空、絲線退繞中的供絲捲筒5從大徑變為中徑或者從中徑變為小徑的情況，在這樣的情況下，按照預先設定的優先順序，供絲台車50向優先順序高的供絲位9移動。The wire feeding trolley 50 operates according to the instruction of the controller 40. The wire feeding drum position adjusting device 57 of the wire feeding trolley 50 also operates according to the instruction of the controller 40. When the wire feeding drum 5 during the unwinding of the wire at a certain wire feeding position 9 becomes empty, the controller 40 issues an instruction to the wire feeding trolley 50 so that the wire feeding trolley 50 approaches the wire feeding position 9. In addition, when the wire feeding drum 5 during the unwinding of the wire at a certain wire feeding position 9 changes from a large diameter to a middle diameter or from a middle diameter to a small diameter, the controller 40 issues an instruction to the wire feeding trolley 50 so that the wire feeding trolley 50 approaches the wire feeding position 9. Sometimes, at approximately the same time, the wire supply reel 5 in the process of unwinding the wire may become empty, or the wire supply reel 5 in the process of unwinding the wire may change from a large diameter to a medium diameter, or from a medium diameter to a small diameter. In such a case, the wire supply trolley 50 moves to the wire supply position 9 with a higher priority according to a preset priority order.

已趨近絲線退繞中的供絲捲筒5從大徑變為中徑的供絲位9或者從中徑變為小徑的供絲位9的供絲台車50，在該供絲位9處，藉由供絲捲筒位置調整裝置57使絲線退繞中的供絲捲筒5向導絲器13接近規定距離。The wire feeding trolley 50 has approached the wire feeding position 9 where the wire feeding reel 5 during wire unwinding changes from a large diameter to a middle diameter or from a middle diameter to a small diameter. At the wire feeding position 9, the wire feeding reel position adjusting device 57 makes the wire feeding reel 5 during wire unwinding approach a specified distance to the wire guide 13.

下面對從掛載於紗筒架11的某一梭芯12的絲線退繞中的供絲捲筒5將絲線3全部退繞情況下的供絲台車50的動作進行說明。Next, the operation of the yarn supply carriage 50 when the yarn supply reel 5 unwinds all the yarn 3 from the yarn unwinding of a bobbin 12 hung on the yarn creel 11 will be described.

如圖2所示，在某一供絲位9處絲線3從絲線退繞中的供絲捲筒5全部退繞而成為空筒管5a的情況下，首先，供絲台車50行進至儲料器66並停止。如上所述，能夠藉由控制器40掌握在某一供絲位9處絲線3從絲線退繞中的供絲捲筒5全部退繞而成為空筒管5a的情況。在該狀態下，供絲台車50使旋轉頭54旋轉。藉此，能夠形成供絲捲筒設置裝置55的交接梭芯68朝向儲料器66的狀態。在該狀態下，交接梭芯68移動而接近由儲料器66保持的滿卷的供絲捲筒5，並將該供絲捲筒5從儲料器66取出。藉此，能夠將保管於儲料器66的供絲捲筒5掛載於交接梭芯68上。在掛載了供絲捲筒5的狀態下，交接梭芯68向遠離儲料器66的方向移動。As shown in FIG. 2 , when the yarn 3 is completely unwound from the yarn supply drum 5 in the process of unwinding the yarn at a certain yarn supply position 9 to form an empty bobbin 5a, first, the yarn supply trolley 50 moves to the storage device 66 and stops. As described above, the controller 40 can grasp the situation that the yarn 3 is completely unwound from the yarn supply drum 5 in the process of unwinding the yarn at a certain yarn supply position 9 to form an empty bobbin 5a. In this state, the yarn supply trolley 50 rotates the rotary head 54. Thereby, the state in which the transfer bobbin 68 of the yarn supply drum setting device 55 faces the storage device 66 can be formed. In this state, the delivery bobbin 68 moves to approach the fully wound yarn supply drum 5 held by the stocker 66, and takes the yarn supply drum 5 out of the stocker 66. In this way, the yarn supply drum 5 stored in the stocker 66 can be hung on the delivery bobbin 68. In the state where the yarn supply drum 5 is hung, the delivery bobbin 68 moves in a direction away from the stocker 66.

然後，供絲台車50從控制器40接收指令，沿著軌道63行進，同時根據需要使升降部件52在上下方向上移動。供絲台車50在升降部件52位於產生了空筒管的供絲位9的梭芯12附近的狀態下靜止。Then, the yarn supply trolley 50 receives a command from the controller 40 and moves along the track 63, while moving the lifting member 52 in the vertical direction as needed. The yarn supply trolley 50 is stationary in a state where the lifting member 52 is located near the bobbin 12 of the yarn supply position 9 where an empty bobbin is produced.

幾乎在升降部件52移動的同時，供絲台車50使旋轉頭54旋轉，將空筒管回收裝置56的朝向變更為拉入部件69朝向紗筒架11的狀態。之後，空筒管回收裝置56讓拉入部件69移動而接近紗筒架11。結果為拉入部件69的鉤掛部形成接近梭芯12的根部附近的狀態。在該狀態下，藉由梭芯旋轉裝置53使嚙合頭64與旋轉輸入部件15嚙合並旋轉，如圖3所示，使掛載有空筒管5a狀態下的梭芯12旋轉，能夠形成朝向供絲台車50側的狀態。與此同時，由梭芯12保持的空筒管5a位於比拉入部件69的鉤掛部更接近供絲台車50的一側。Almost simultaneously with the movement of the lifting member 52, the yarn supply trolley 50 rotates the rotary head 54, and changes the direction of the empty bobbin recovery device 56 to a state where the pull-in member 69 faces the yarn tube rack 11. Thereafter, the empty bobbin recovery device 56 moves the pull-in member 69 to approach the yarn tube rack 11. As a result, the hook portion of the pull-in member 69 forms a state close to the root of the bobbin 12. In this state, the bobbin rotating device 53 causes the engaging head 64 to engage and rotate with the rotary input member 15, and as shown in FIG. 3, the bobbin 12 with the empty bobbin 5a mounted thereon is rotated, and can be formed to face the yarn supply trolley 50 side. At the same time, the empty bobbin 5a held by the bobbin 12 is located on a side closer to the thread supply carriage 50 than the hook portion of the pull-in member 69.

然後，空筒管回收裝置56使拉入部件69移動而遠離紗筒架11。結果為拉入部件69的鉤掛部推動空筒管5a，因此能夠將空筒管5a從梭芯12上拔出。藉由拉入而從梭芯12脫離的空筒管5a下落到安裝於旋轉頭54上的承接盤67。Then, the empty bobbin recovery device 56 moves the pull-in member 69 away from the yarn rack 11. As a result, the hook portion of the pull-in member 69 pushes the empty bobbin 5a, so that the empty bobbin 5a can be pulled out from the bobbin 12. The empty bobbin 5a that is pulled out from the bobbin 12 falls to the receiving plate 67 mounted on the rotary head 54.

在空筒管回收裝置56的動作完成之後，供絲台車50使旋轉頭54旋轉。藉此，能夠使供絲捲筒設置裝置55的朝向形成交接梭芯68朝向紗筒架11的狀態。如圖4所示，供絲捲筒設置裝置55使掛載有滿卷的供絲捲筒5的交接梭芯68向接近紗筒架11的方向移動。藉此，能夠將供絲捲筒5掛載於梭芯12上。之後，供絲捲筒設置裝置55使交接梭芯68向遠離紗筒架11的方向移動。藉此，供絲捲筒5從交接梭芯68脫離。After the action of the empty bobbin recovery device 56 is completed, the yarn supply trolley 50 rotates the rotary head 54. Thereby, the yarn supply reel setting device 55 can be oriented so that the transfer bobbin 68 faces the yarn rack 11. As shown in FIG. 4 , the yarn supply reel setting device 55 moves the transfer bobbin 68 on which the fully wound yarn supply reel 5 is hung in a direction close to the yarn rack 11. Thereby, the yarn supply reel 5 can be hung on the bobbin 12. Thereafter, the yarn supply reel setting device 55 moves the transfer bobbin 68 in a direction away from the yarn rack 11. Thereby, the yarn supply reel 5 is separated from the transfer bobbin 68.

在該狀態下，旋轉回轉裝置53係使嚙合頭64與旋轉輸入部件15嚙合並旋轉。藉此，如圖5所示，能夠讓掛載有供絲捲筒5狀態下的梭芯12以朝向導絲器13側的方式旋轉。In this state, the rotating device 53 rotates by engaging the engagement head 64 with the rotation input member 15. Thus, as shown in FIG. 5, the bobbin 12 with the yarn supply reel 5 mounted thereon can be rotated toward the yarn guide 13 side.

至此，由空筒管5a更換為滿卷的供絲捲筒5的作業係完成。之後，供絲台車50在使梭芯旋轉裝置53的嚙合頭64退避之後，行進以將回收到承接盤67的空筒管5a輸送至其他場所。此次設置於梭芯12的滿卷的供絲捲筒5的絲線始端部，藉由適當的方法與正退繞絲線3一側的供絲捲筒5的絲線終端部結合。At this point, the operation of replacing the empty bobbin 5a with the fully wound supply reel 5 is completed. After that, the supply trolley 50 moves to transport the empty bobbin 5a collected in the receiving plate 67 to another place after the engagement head 64 of the bobbin rotating device 53 is retracted. The starting end of the thread of the fully wound supply reel 5 set on the bobbin 12 is connected to the end of the thread of the supply reel 5 on the side of the unwinding thread 3 by an appropriate method.

下面對供絲台車50所具有的供絲捲筒位置調整裝置57進行詳細說明。Next, the wire supply drum position adjusting device 57 provided in the wire supply carriage 50 will be described in detail.

如圖6所示，供絲捲筒位置調整裝置57具有能夠滑動移動的推出裝置70。推出裝置70藉由從紗筒架11的外部推動掛載於梭芯12的供絲捲筒5，能夠使供絲捲筒5沿著梭芯12的長度方向接近導絲器13。As shown in Fig. 6, the yarn supply drum position adjustment device 57 has a push-out device 70 that can slide and move. The push-out device 70 can push the yarn supply drum 5 mounted on the bobbin 12 from the outside of the yarn rack 11, so that the yarn supply drum 5 can approach the yarn guide 13 along the length direction of the bobbin 12.

如圖7所示，推出裝置70具有滑動基座71、引導板72、馬達73、按壓部件74以及齒輪齒條機構75。As shown in FIG. 7 , the ejection device 70 includes a slide base 71 , a guide plate 72 , a motor 73 , a pressing member 74 , and a gear and rack mechanism 75 .

滑動基座71為細長板狀的部件。滑動基座71配置成從旋轉頭54突出。滑動基座71朝向的方向與供絲捲筒設置裝置55中交接梭芯68朝向的方向平行。The slide base 71 is a member in the shape of a thin and long plate. The slide base 71 is arranged so as to protrude from the rotary head 54. The direction in which the slide base 71 faces is parallel to the direction in which the delivery bobbin 68 faces in the yarn supply reel installation device 55.

在旋轉頭54中設置有軌道81。滑動基座71能夠沿著軌道81滑動移動。軌道81的長度方向相對於滑動基座71的長度方向平行。A rail 81 is provided in the rotary head 54. The slide base 71 can slide along the rail 81. The longitudinal direction of the rail 81 is parallel to the longitudinal direction of the slide base 71.

為了使滑動基座71移動，在旋轉頭54中安裝有作為促動器的氣缸82。藉由供給工作流體來驅動氣缸82，能夠使滑動基座71在滑動基座71的前端接近梭芯軸14的位置與滑動基座71的前端從梭芯軸14退避的位置之間移動。作為促動器，並不限定於氣缸，例如能夠使用電動馬達。In order to move the slide base 71, an air cylinder 82 as an actuator is installed in the rotary head 54. By supplying a working fluid to drive the air cylinder 82, the slide base 71 can be moved between a position where the front end of the slide base 71 approaches the bobbin shaft 14 and a position where the front end of the slide base 71 is retracted from the bobbin shaft 14. The actuator is not limited to an air cylinder, and for example, an electric motor can be used.

引導板72固定於滑動基座71的前端部。引導板72與滑動基座71一體地移動。在引導板72上固定有對按壓部件74的移動方向進行引導的軌道83。The guide plate 72 is fixed to the front end of the slide base 71. The guide plate 72 moves integrally with the slide base 71. A rail 83 for guiding the moving direction of the pressing member 74 is fixed to the guide plate 72.

馬達73能夠驅動按壓部件74。馬達73的殼體係固定於引導板72上。在馬達73的輸出軸上固定有小齒輪。The motor 73 can drive the pressing member 74. The housing of the motor 73 is fixed on the guide plate 72. A small gear is fixed on the output shaft of the motor 73.

按壓部件74為L形的部件。按壓部件74能夠沿著軌道83的長度方向滑動移動。按壓部件74的移動方向在俯視下相對於滑動基座71的移動方向傾斜。按壓部件74的移動方向與梭芯12的長度方向實質上平行。按壓部件74的移動方向也可以說成是接近導絲器13的方向。The pressing member 74 is an L-shaped member. The pressing member 74 can slide and move along the length direction of the track 83. The moving direction of the pressing member 74 is inclined relative to the moving direction of the sliding base 71 when viewed from above. The moving direction of the pressing member 74 is substantially parallel to the length direction of the bobbin 12. The moving direction of the pressing member 74 can also be said to be the direction approaching the wire guide 13.

在按壓部件74的基部形成有帶齒的齒條，該齒條呈與軌道83平行的直線狀排列。該齒條與固定於馬達73的輸出軸上的小齒輪係一起構成齒輪齒條機構75。A toothed rack is formed at the base of the pressing member 74, and the rack is arranged in a straight line parallel to the rail 83. The rack and the pinion fixed to the output shaft of the motor 73 together constitute a gear and rack mechanism 75.

按壓部件74的前端部折彎成L形。該折彎的部分能夠與掛載於梭芯12的供絲捲筒5的芯管中遠離導絲器13一側的端面接觸。按壓部件74與芯管接觸的位置係比梭芯12低。The front end of the pressing member 74 is bent into an L shape. The bent portion can contact the end surface of the core tube of the yarn supply reel 5 mounted on the bobbin 12, which is far from the yarn guide 13. The position where the pressing member 74 contacts the core tube is lower than the bobbin 12.

如上所述，控制器40根據新的供絲捲筒5的直徑及全部絲線長度、絲線退繞速度等，推定測量從設置新的供絲捲筒5開始退繞的絲線3的累計長度，並根據該累計長度，推定退繞中的供絲捲筒5的直徑大小。也可以藉由適當的感測器測量退繞中的供絲捲筒5的直徑，並將測量結果發送到控制器40。當供絲捲筒5直徑的推定值小於規定值時，控制器40向供絲台車50發送位置調整請求訊號。As described above, the controller 40 estimates and measures the cumulative length of the yarn 3 unwound from the installation of the new yarn supply reel 5 based on the diameter of the new yarn supply reel 5, the total yarn length, the yarn unwinding speed, etc., and estimates the diameter of the unwound yarn supply reel 5 based on the cumulative length. The diameter of the unwound yarn supply reel 5 may also be measured by an appropriate sensor, and the measurement result is sent to the controller 40. When the estimated value of the diameter of the yarn supply reel 5 is less than a specified value, the controller 40 sends a position adjustment request signal to the yarn supply carriage 50.

接收到位置調整請求訊號的供絲台車50在基於訊號確定的供絲位9的與退繞中的供絲捲筒5對應的位置處，使供絲捲筒位置調整裝置57的推出裝置70動作。具體來說，推出裝置70係驅動氣缸82，使滑動基座71進入紗筒架11。藉此，配置在滑動基座71前端的按壓部件74接近梭芯12的根部。然後，推出裝置70係驅動馬達73，藉由齒輪齒條機構75使按壓部件74移動必要的距離。藉此，按壓部件74的前端部係推動芯管，因此，能夠使供絲捲筒5以相對於梭芯12滑動的方式沿長度方向移動。結果為導絲器13與供絲捲筒5之間的距離減小，因此，能夠穩定地形成導絲器13與供絲捲筒5之間的氣圈。The thread supply trolley 50 that has received the position adjustment request signal operates the push-out device 70 of the thread supply drum position adjustment device 57 at the position of the thread supply position 9 determined based on the signal and corresponding to the thread supply drum 5 being unwound. Specifically, the push-out device 70 drives the cylinder 82 to move the sliding base 71 into the bobbin holder 11. As a result, the pressing member 74 disposed at the front end of the sliding base 71 approaches the root of the bobbin 12. Then, the push-out device 70 drives the motor 73 to move the pressing member 74 a necessary distance through the gear and rack mechanism 75. As a result, the front end of the pressing member 74 pushes the core tube, so that the thread supply drum 5 can be moved in the length direction in a sliding manner relative to the bobbin 12. As a result, the distance between the yarn guide 13 and the yarn supply reel 5 is reduced, so that the balloon between the yarn guide 13 and the yarn supply reel 5 can be stably formed.

當供絲捲筒5的移動完成時，推出裝置70向與前述方向相反的方向驅動馬達73。結果為按壓部件74係向遠離供絲捲筒5的方向移動。在按壓部件74返回原來的位置之後，推出裝置70係驅動氣缸82，使滑動基座71相對於紗筒架11退避。When the movement of the yarn supply reel 5 is completed, the push-out device 70 drives the motor 73 in the direction opposite to the above-mentioned direction. As a result, the pressing member 74 moves away from the yarn supply reel 5. After the pressing member 74 returns to the original position, the push-out device 70 drives the cylinder 82 to make the slide base 71 retreat relative to the yarn rack 11.

一般情況下，在拉伸假撚加工機1的紗筒架11上設置有複數個供絲捲筒5，多根絲線3同時並行地退繞。在本實施形態中，1台供絲台車50調整前述複數個供絲捲筒5的位置。在對象供絲捲筒5的數量較多的情況下，難以使各個供絲捲筒5微細地移動。但是，如果能夠使供絲捲筒5大致階段性地移動，則從供絲捲筒5退繞絲線3會變得更順暢，此外，有望維持退繞絲線3的張力穩定。Generally, a plurality of yarn supply reels 5 are provided on the yarn bobbin stand 11 of the stretch false twist processing machine 1, and a plurality of yarns 3 are unwound simultaneously and in parallel. In the present embodiment, a yarn supply trolley 50 adjusts the positions of the plurality of yarn supply reels 5. When the number of target yarn supply reels 5 is large, it is difficult to move each yarn supply reel 5 finely. However, if the yarn supply reel 5 can be moved roughly in stages, unwinding the yarn 3 from the yarn supply reel 5 will become smoother, and in addition, it is expected that the tension of the unwound yarn 3 will be maintained stable.

雖然未圖示，但供絲捲筒位置調整裝置57具有變更推出裝置70的朝向的反轉裝置。反轉裝置能夠以與滑動基座71的長度方向平行的軸為中心，使推出裝置70旋轉180°。如圖10所示，屬於同一組的兩個梭芯12的朝向互不相同。在圖10中，用點劃線表示了推出裝置70反轉的情景。藉由反轉裝置根據需要反轉推出裝置70的朝向，無論從兩個供絲捲筒5中的哪一個退繞絲線3，都能夠使供絲捲筒5沿著梭芯12移動，實現氣圈的控制。Although not shown, the yarn supply drum position adjustment device 57 has a reversing device for changing the direction of the push-out device 70. The reversing device can rotate the push-out device 70 180° around an axis parallel to the longitudinal direction of the slide base 71. As shown in FIG. 10 , the directions of the two bobbins 12 belonging to the same group are different from each other. In FIG. 10 , the scene of the push-out device 70 being reversed is indicated by dotted lines. By reversing the direction of the push-out device 70 as needed by the reversing device, the yarn supply drum 5 can be moved along the bobbin 12 regardless of which of the two yarn supply drums 5 the yarn 3 is unwound from, thereby achieving control of the balloon.

如上述說明，本實施形態的供絲台車50為對拉伸假撚加工機1進行作業的機外作業機器人。拉伸假撚加工機1具有梭芯12、加工位35以及導絲器13。能夠在梭芯12上設置捲繞有作為POY的絲線3的供絲捲筒5。在加工位35處，對設置於梭芯12的供絲捲筒5的絲線3進行加工而形成捲繞捲筒6。導絲器13將絲線3引導至從設置於梭芯12的供絲捲筒5退繞的絲線3所形成的氣圈的下游側端部。供絲台車50含有供絲捲筒位置調整裝置57。供絲捲筒位置調整裝置57隨著從供絲捲筒5退繞絲線3的進度推進，使供絲捲筒5以及導絲器13中的至少其中之一移動，並使絲線退繞中的供絲捲筒5與導絲器13的距離減小。As described above, the yarn supply trolley 50 of the present embodiment is an off-machine operation robot that operates the stretch false curl processing machine 1. The stretch false curl processing machine 1 has a bobbin 12, a processing position 35, and a yarn guide 13. A yarn supply reel 5 on which a yarn 3 as POY is wound can be provided on the bobbin 12. At the processing position 35, the yarn 3 of the yarn supply reel 5 provided on the bobbin 12 is processed to form a winding reel 6. The yarn guide 13 guides the yarn 3 to the downstream side end portion of the balloon formed by the yarn 3 unwound from the yarn supply reel 5 provided on the bobbin 12. The yarn supply trolley 50 includes a yarn supply reel position adjustment device 57. The yarn supply reel position adjusting device 57 moves at least one of the yarn supply reel 5 and the yarn guide 13 as the yarn 3 is unwound from the yarn supply reel 5, and reduces the distance between the yarn supply reel 5 and the yarn guide 13 during the yarn unwinding.

藉此，由於能夠控制從供絲捲筒5退繞絲線3時形成的氣圈的形狀，所以能夠順暢地進行絲線3的退繞。作為機外機器人的供絲台車50進行作業以控制氣圈，因此，不需要大幅度變更拉伸假撚加工機1的結構。因而，也容易應用於現有的拉伸假捻加工機1。In this way, since the shape of the balloon formed when the yarn 3 is unwound from the yarn supply drum 5 can be controlled, the yarn 3 can be unwound smoothly. The yarn supply trolley 50, which is an external robot, operates to control the balloon, so there is no need to significantly change the structure of the stretch false twist processing machine 1. Therefore, it is also easy to apply to the existing stretch false twist processing machine 1.

本實施形態下的假撚加工系統100具有控制器40。在供絲台車50中，供絲捲筒位置調整裝置57藉由控制器40的控制，隨著從供絲捲筒5退繞絲線3進度推進而使絲線退繞中的供絲捲筒5與導絲器13的距離減小。The false twist processing system 100 in this embodiment has a controller 40. In the yarn supply trolley 50, the yarn supply drum position adjusting device 57 is controlled by the controller 40 to reduce the distance between the yarn supply drum 5 and the yarn guide 13 during the yarn unwinding as the yarn 3 is unwound from the yarn supply drum 5.

藉此，控制器40能夠藉由控制供絲捲筒位置調整裝置57來控制氣圈的形狀。Thereby, the controller 40 can control the shape of the balloon by controlling the yarn supply reel position adjustment device 57.

在本實施形態下的拉伸假撚加工機1中，設置有複數個加工位35，並且與複數個加工位35對應地分別設置有複數個梭芯12以及導絲器13。供絲台車50具有能夠使供絲捲筒位置調整裝置57移動到複數個梭芯12位置的行進部件51以及升降部件52。In the stretching false twist processing machine 1 of this embodiment, a plurality of processing positions 35 are provided, and a plurality of bobbins 12 and a yarn guide 13 are provided corresponding to the plurality of processing positions 35. The yarn supply carriage 50 has a travel member 51 and a lifting member 52 that can move the yarn supply drum position adjustment device 57 to the plurality of bobbins 12 positions.

藉此，供絲台車50能夠使用供絲捲筒位置調整裝置57對複數個梭芯12進行作業，因此能夠藉由構成的共用化來降低成本。Thus, the thread supply carriage 50 can operate on a plurality of bobbins 12 using the thread supply drum position adjusting device 57, and thus the cost can be reduced by sharing the structure.

此外，也能夠採用由與供絲台車50不同的機器人進行前述氣圈調整作業的結構。該機器人相對於拉伸假撚加工機1相當於機外的機器人，僅進行氣圈調整作業。機器人的結構是任意的，例如能夠採用自走式的臂式機器人的結構。機器人藉由用臂的前端推動供絲捲筒5的端面，能夠使供絲捲筒5移動。In addition, a structure in which the balloon adjustment operation is performed by a robot different from the yarn supply trolley 50 can also be adopted. The robot is equivalent to a robot outside the stretching false curl processing machine 1, and only performs the balloon adjustment operation. The structure of the robot is arbitrary, for example, a self-propelled arm-type robot structure can be adopted. The robot can move the yarn supply reel 5 by pushing the end surface of the yarn supply reel 5 with the front end of the arm.

在該結構中，能夠簡化機器人的控制。In this structure, the control of the robot can be simplified.

在本實施形態中，供絲台車50具有供絲捲筒設置裝置55。供絲捲筒設置裝置55進行相對於複數個梭芯12分別設置供絲捲筒5的作業。行進部件51以及升降部件52能夠使供絲捲筒設置裝置55與供絲捲筒位置調整裝置57一起移動到複數個梭芯12的位置。In this embodiment, the yarn supply carriage 50 has a yarn supply drum setting device 55. The yarn supply drum setting device 55 sets the yarn supply drum 5 for each of the plurality of bobbins 12. The travel member 51 and the lifting member 52 can move the yarn supply drum setting device 55 together with the yarn supply drum position adjusting device 57 to the positions of the plurality of bobbins 12.

藉此，由於向拉伸假撚加工機1供給供絲捲筒5的供絲台車50也會進行氣圈調整作業，所以能夠藉由結構的共用化來削減成本。Thus, since the yarn supply carriage 50 that supplies the yarn supply reel 5 to the stretch-twist processing machine 1 also performs the balloon adjustment operation, the cost can be reduced by sharing the structure.

在本實施形態下的拉伸假撚加工機1中，相對於兩個梭芯12共同使用一個導絲器13。供絲台車50能夠使設置於兩個梭芯12的各供絲捲筒5移動。In the stretch false twist processing machine 1 according to the present embodiment, one thread guide 13 is used in common with respect to two bobbins 12. The thread supply carriage 50 can move each thread supply drum 5 provided on the two bobbins 12.

藉此，藉由適當地切換正退繞絲線3的供絲捲筒5以及待機側的供絲捲筒5，能夠確保向拉伸假撚加工機1供給絲線的連續性。無論從兩個供絲捲筒5中的哪一個退繞絲線3，都能夠控制氣圈的形狀而實現絲線3的順暢退繞。Thus, by appropriately switching the yarn supply reel 5 that is unwinding the yarn 3 and the yarn supply reel 5 on the standby side, the continuity of the yarn supply to the stretch false twist processing machine 1 can be ensured. Regardless of which of the two yarn supply reels 5 the yarn 3 is unwound from, the shape of the balloon can be controlled to achieve smooth unwinding of the yarn 3.

在本實施形態下的供絲台車50中，供絲捲筒5相對於梭芯12的位置，能夠在梭芯12的長度方向上變更。在氣圈調整作業中，供絲台車50對供絲捲筒5施加力而使供絲捲筒5相對於梭芯12移動。In the yarn supply trolley 50 of this embodiment, the position of the yarn supply drum 5 relative to the bobbin 12 can be changed in the length direction of the bobbin 12. In the balloon adjustment operation, the yarn supply trolley 50 applies force to the yarn supply drum 5 to move the yarn supply drum 5 relative to the bobbin 12.

藉此，能夠藉由簡單的結構來保持供絲捲筒5並控制氣圈的形狀。Thereby, the yarn supply reel 5 can be held and the shape of the balloon can be controlled by a simple structure.

下面對前述實施形態的變形例進行說明。圖11係展示變形例的立體圖。在本變形例的說明中，對與前述實施形態相同或者類似的部件在圖式中標注相同的符號，有時省略說明。A modification of the above-mentioned embodiment is described below. Fig. 11 is a perspective view showing the modification. In the description of this modification, the same or similar components as those of the above-mentioned embodiment are marked with the same symbols in the drawings, and the description is sometimes omitted.

在圖11所示的變形例中，梭芯12x的結構為能夠相對於梭芯軸14在梭芯12x的長度方向(換言之，接近或者遠離導絲器13的方向)上滑動。為了掛載一個供絲捲筒5，兩個梭芯12x隔開適當的間隔平行地配置。各個梭芯12x從支承供絲捲筒5的部分隔著梭芯軸14延伸到相反側。在梭芯12x中與支承供絲捲筒5的部分相反側的端部上固定有傳遞部件84。傳遞部件84形成為板狀。推出裝置70的按壓部件74係能夠與傳遞部件84接觸。In the variation shown in FIG. 11 , the bobbin 12x is structured so as to be able to slide in the length direction of the bobbin 12x (in other words, the direction approaching or moving away from the yarn guide 13) relative to the bobbin shaft 14. In order to mount a yarn supply drum 5, two bobbins 12x are arranged in parallel with appropriate intervals. Each bobbin 12x extends from the portion supporting the yarn supply drum 5 to the opposite side across the bobbin shaft 14. A transmission component 84 is fixed to the end of the bobbin 12x on the opposite side of the portion supporting the yarn supply drum 5. The transmission component 84 is formed in a plate shape. The pressing component 74 of the ejection device 70 is able to contact the transmission component 84.

在本變形例中，推出裝置70的按壓部件74代替直接推動供絲捲筒5而推動傳遞部件84。結果為梭芯12x的含有供絲捲筒5的設置部分在內的整體移動。因而，能夠使供絲捲筒5與梭芯12x一起向接近導絲器13的方向滑動。也可以僅梭芯12x中設置了供絲捲筒5的一部分滑動。In this modification, the pressing member 74 of the ejection device 70 pushes the transmission member 84 instead of directly pushing the yarn supply reel 5. As a result, the entire bobbin 12x including the portion where the yarn supply reel 5 is installed moves. Therefore, the yarn supply reel 5 can slide together with the bobbin 12x in a direction approaching the yarn guide 13. Alternatively, only a portion of the bobbin 12x where the yarn supply reel 5 is installed can slide.

以上對本發明的較佳實施形態以及變形例進行了說明，但前述結構例如也可以變更為以下結構。變更可以單獨進行，也可以複數個變更任意組合進行。The preferred embodiments and modifications of the present invention have been described above, but the aforementioned structure may be modified into the following structure, for example. The modification may be performed individually or in any combination of multiple modifications.

紗筒架11並不限定於相對於兩個梭芯12、12x具有一個導絲器13的結構，也可以採用相對於一個梭芯12具有一個導絲器13的結構。在圖11的變形例中也相同。The yarn tube frame 11 is not limited to the structure having one thread guide 13 for two bobbin cores 12 and 12x, and may also have one thread guide 13 for one bobbin core 12. The same is true in the modified example of FIG. 11.

此外，也可以在紗筒架11中變更導絲器13的位置。例如，也可以採用以下結構：供絲台車50對導絲器13施加力，使導絲器13向接近供絲捲筒5的方向移動。例如，可以考慮代替推出裝置70而設置使用與拉入部件69類似的部件將導絲器13向供絲台車50側拉入的裝置(「氣圈調整裝置」的一例)。也可以採用以下結構：隨著供絲捲筒5直徑的減小而使供絲捲筒5與導絲器13兩者均移動。但是，在變更導絲器13的位置的情況下，當退繞中的供絲捲筒5從一方的供絲捲筒5切換成另一方的供絲捲筒5時，需要使導絲器13的位置返回初始位置(使導絲器13向遠離供絲捲筒5的方向移動)。In addition, the position of the yarn guide 13 may be changed in the yarn drum holder 11. For example, the following structure may be adopted: the yarn supply trolley 50 applies force to the yarn guide 13 to move the yarn guide 13 in a direction close to the yarn supply drum 5. For example, it is conceivable to replace the push-out device 70 with a device (an example of a "balloon adjustment device") that uses a component similar to the pulling component 69 to pull the yarn guide 13 to the side of the yarn supply trolley 50. The following structure may also be adopted: as the diameter of the yarn supply drum 5 decreases, both the yarn supply drum 5 and the yarn guide 13 are moved. However, when the position of the yarn guide 13 is changed, when the yarn supply reel 5 being unwound is switched from one yarn supply reel 5 to the other yarn supply reel 5, the position of the yarn guide 13 needs to be returned to the initial position (the yarn guide 13 needs to be moved away from the yarn supply reel 5).

供絲捲筒5的直徑也可以代替根據退繞的絲線3的長度推定，而使用適當的感測器來實際檢測。The diameter of the yarn supply reel 5 may be actually detected using an appropriate sensor instead of being estimated based on the length of the unwound yarn 3.

供絲台車50也可以相對於紗筒架11設置多台。A plurality of yarn supply trolleys 50 may be provided relative to the yarn tube rack 11.

在前述實施例以及變形例中，供絲台車50具有供絲捲筒位置調整裝置57，但也可以採用將供絲捲筒位置調整裝置57與供絲台車50分開的結構。亦即，也可以分別設置具有供絲捲筒位置調整裝置57的作業機器人(本發明的「作業機器人」)與不具有供絲捲筒位置調整裝置57的作為供絲台車50的作業機器人。在該情況下，也可以複數個設置各作業機器人的其中之一或者兩者。In the above-mentioned embodiment and modification, the wire supply trolley 50 has the wire supply drum position adjusting device 57, but a structure may be adopted in which the wire supply drum position adjusting device 57 is separated from the wire supply trolley 50. That is, a working robot having the wire supply drum position adjusting device 57 (the "working robot" of the present invention) and a working robot as the wire supply trolley 50 without the wire supply drum position adjusting device 57 may be separately provided. In this case, one or both of the working robots may be provided in plural.

具有供絲捲筒位置調整裝置57的作業機器人，亦即具有氣圈調整裝置的作業機器人可以與供絲台車50同樣地能夠移動，也可以固定設置。在固定設置的情況下，與每個供絲位9對應地設置，或者與複數個供絲位9為一組的每組對應地設置。在與每個供絲位9對應地設置的情況下，可以相對於一組梭芯12設置一個作業機器人，也可以相對於一組梭芯12的各個梭芯12分別設置一個作業機器人。在與複數個供絲位9為一組的每組對應地設置的情況下，例如，只需使氣圈調整裝置能夠升降，並能夠移動到配置在紗筒架11的上下方向的複數個供絲位9的梭芯12的各位置即可。The working robot with the yarn supply drum position adjustment device 57, that is, the working robot with the balloon adjustment device, can be movable like the yarn supply trolley 50, or can be fixedly installed. In the case of fixed installation, it is installed corresponding to each yarn supply position 9, or corresponding to each group of a plurality of yarn supply positions 9. In the case of installing corresponding to each yarn supply position 9, one working robot can be installed relative to a group of bobbins 12, or one working robot can be installed relative to each bobbin 12 of a group of bobbins 12. When the balloon adjusting device is provided corresponding to each group of a plurality of yarn supply positions 9, for example, it is only necessary to enable the balloon adjusting device to be raised and lowered and to be moved to each position of the bobbin 12 of the plurality of yarn supply positions 9 arranged in the vertical direction of the yarn tube frame 11.

假撚機的結構並不限定於圖1的拉伸假撚加工機1，能夠進行各種變更。The structure of the false twist machine is not limited to the stretch false twist machine 1 of FIG. 1 , and various modifications are possible.

1:拉伸假撚加工機 3:絲線 5:供絲捲筒 5a:空筒管 6:捲繞捲筒 9:供絲位 11:紗筒架 12:梭芯 12x:梭芯 13:導絲器 14:梭芯軸 15:旋轉輸入部件 16:絲線退繞檢測感測器 17:第一檢測部 18:第二檢測部 19:結合部檢測感測器 21:第一餵絲輥 22:第二餵絲輥 23:第三餵絲輥 25:假撚裝置 26:第一加熱器 27:第二加熱器 28:絡絲機 31:主體部 35:加工位 40:控制器 50:供絲台車 51:行進部件 52:升降部件 53:梭芯旋轉裝置 54:旋轉頭 55:供絲捲筒設置裝置 56:空筒管回收裝置 57:供絲捲筒位置調整裝置 61:基座部件 62:柱部件 63:軌道 64:嚙合頭 65:支軸 66:儲料器 67:承接盤 68:交接梭芯 69:拉入部件 70:推出裝置 71:滑動基座 72:引導板 73:馬達 74:按壓部件 75:齒輪齒條機構 81:軌道 82:氣缸 83:軌道 84:傳遞部件 90:搬出台車 100:假撚加工系統 K:結合部 1: Stretch false twist processing machine 3: Thread 5: Thread supply reel 5a: Empty bobbin 6: Winding reel 9: Thread supply position 11: Yarn tube rack 12: Bobbin 12x: Bobbin 13: Thread guide 14: Bobbin shaft 15: Rotary input component 16: Thread unwinding detection sensor 17: First detection unit 18: Second detection unit 19: Joint detection sensor 21: First feeding roller 22: Second feeding roller 23: Third feeding roller 25: False twist device 26: First heater 27: Second heater 28: Spooling machine 31: Main body 35: Processing position 40: Controller 50: Spooling trolley 51: Traveling parts 52: Lifting parts 53: Bobbin rotating device 54: Rotating head 55: Spooling drum setting device 56: Empty bobbin recovery device 57: Spooling drum position adjustment device 61: Base parts 62: Column parts 63: Track 64: Engagement head 65: Support shaft 66: Storage device 67: Receiver plate 68: Handover bobbin 69: Pull-in parts 70: Push-out device 71: Sliding base 72: Guide plate 73: Motor 74: Pressing parts 75: Gear and rack mechanism 81: Track 82: Cylinder 83: Track 84: Transmission components 90: Carriage removal 100: False twist processing system K: Joint part

[圖1]係展示本發明一種實施形態下的假撚加工系統的整體結構側視圖。 [圖2]係展示供絲台車從儲料器取出供絲捲筒情景的側視圖。 [圖3]係展示供絲台車從梭芯取下空筒管情景的側視圖。 [圖4]係展示供絲台車將供絲捲筒掛載於梭芯情景的側視圖。 [圖5]係展示完成供絲台車向梭芯設置供絲捲筒情景的側視圖。 [圖6]係展示在供絲捲筒直徑減小情況下供絲台車推動供絲捲筒接近導絲器情景的側視圖。 [圖7]係展示推出裝置結構的立體圖。 [圖8]係展示沿著絲線路徑展開的拉伸假撚加工機的示意圖。 [圖9]係展示檢測從兩個供絲捲筒中的哪一個供絲捲筒退繞絲線的結構變形例的示意圖。 [圖10]係詳細展示藉由推出裝置推動供絲捲筒情景的放大立體圖。 [圖11]係展示使供絲捲筒移動的結構變形例的立體圖。 [Figure 1] is a side view showing the overall structure of a false twist processing system in one embodiment of the present invention. [Figure 2] is a side view showing a scene in which a wire supply trolley takes out a wire supply drum from a storage device. [Figure 3] is a side view showing a scene in which a wire supply trolley takes out an empty bobbin from a bobbin. [Figure 4] is a side view showing a scene in which a wire supply trolley hangs a wire supply drum on a bobbin. [Figure 5] is a side view showing a scene in which a wire supply trolley has completed setting a wire supply drum on a bobbin. [Figure 6] is a side view showing a scene in which a wire supply trolley pushes a wire supply drum close to a wire guide when the diameter of the wire supply drum is reduced. [Figure 7] is a perspective view showing the structure of a push-out device. [Fig. 8] is a schematic diagram showing a stretching false twist processing machine unfolded along the yarn path. [Fig. 9] is a schematic diagram showing a structural modification example for detecting which of two yarn supply reels the yarn is unwound from. [Fig. 10] is an enlarged three-dimensional diagram showing in detail the scene of pushing the yarn supply reel by the push-out device. [Fig. 11] is a three-dimensional diagram showing a structural modification example for moving the yarn supply reel.

1:拉伸假撚加工機 1: Stretch false curl processing machine

3:絲線 3: Silk thread

5:供絲捲筒 5: Supply yarn reel

9:供絲位 9: Wire supply position

11:紗筒架 11: Yarn tube rack

12:梭芯 12: Bobbin

13:導絲器 13: Wire guide

14:梭芯軸 14: Bobbin shaft

15:旋轉輸入部件 15: Rotary input component

31:主體部 31: Main body

35:加工位 35: Processing position

50:供絲台車 50: Wire feeding trolley

51:行進部件 51: Traveling parts

52:升降部件 52: Lifting parts

53:梭芯旋轉裝置 53: Bobbin rotation device

54:旋轉頭 54: Rotating head

55:供絲捲筒設置裝置 55: Thread supply reel installation device

56:空筒管回收裝置 56: Empty bobbin recovery device

57:供絲捲筒位置調整裝置 57: Silk supply reel position adjustment device

61:基座部件 61: Base components

62:柱部件 62: Column components

63:軌道 63:Track

64:嚙合頭 64: Close the head

65:支軸 65: Axle

66:儲料器 66: Storage device

67:承接盤 67: Takeover

68:交接梭芯 68: Transferring the bobbin

69:拉入部件 69: Pull in components

70:推出裝置 70: Ejection device

100:假撚加工系統 100: False twist processing system

Claims (15)

一種作業機器人，對絲線加工機進行作業，前述絲線加工機具有：供絲保持部，能夠設置捲繞有合成纖維絲線的供絲捲筒；加工位，對設置於前述供絲保持部上的供絲捲筒的絲線進行加工而形成捲繞捲筒；以及導絲器，在從設置於前述供絲保持部上的供絲捲筒退繞的絲線所形成的氣圈的下游側端部向前述加工位引導絲線； 前述作業機器人含有氣圈調整裝置，前述氣圈調整裝置隨著從前述供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。 A working robot operates a wire processing machine, wherein the wire processing machine has: a wire supply holding part capable of being provided with a wire supply reel wound with synthetic fiber wire; a processing position for processing the wire of the wire supply reel arranged on the wire supply holding part to form a winding reel; and a wire guide for guiding the wire to the processing position at the downstream side end of the balloon formed by the wire unwound from the wire supply reel arranged on the wire supply holding part; The aforementioned working robot includes a balloon adjusting device, and the aforementioned balloon adjusting device moves at least one of the aforementioned supply reel and the aforementioned wire guide during the unwinding of the aforementioned wire as the wire is unwound from the aforementioned supply reel, and reduces the distance between the aforementioned supply reel and the aforementioned wire guide during the unwinding of the aforementioned wire. 如請求項1所記載之作業機器人，其中前述氣圈調整裝置藉由控制器的控制，隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。A working robot as described in claim 1, wherein the balloon adjustment device is controlled by a controller to reduce the distance between the wire supply reel and the wire guide during the unwinding of the wire as the unwinding of the wire from the wire supply reel progresses. 如請求項1或2所記載之作業機器人，其中在前述絲線加工機中，設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器； 前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。 The working robot as described in claim 1 or 2, wherein a plurality of the aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of the aforementioned wire supply holding parts and the aforementioned wire guides are provided corresponding to the plurality of the aforementioned processing positions; The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts. 如請求項3所記載之作業機器人，其中前述作業機器人具有捲筒供給裝置，前述捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業，前述行進裝置以及／或者前述升降裝置係能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。A working robot as described in claim 3, wherein the working robot has a reel supply device, and the reel supply device performs the operation of setting the reel relative to the plurality of wire supply holding portions, respectively, and the travel device and/or the lifting device are capable of moving the reel supply device together with the balloon adjustment device to the positions of the plurality of wire supply holding portions. 一種絲線加工系統，具有絲線加工機以及對前述絲線加工機進行作業的作業機器人，前述絲線加工機具有：供絲保持部，能夠設置捲繞有合成纖維絲線的供絲捲筒；加工位，對設置於前述供絲保持部上的供絲捲筒的絲線進行加工而形成捲繞捲筒；以及導絲器，在從設置於前述供絲保持部上的供絲捲筒退繞的絲線所形成的氣圈的下游側端部向前述加工位引導絲線； 前述作業機器人含有氣圈調整裝置，前述氣圈調整裝置隨著從前述供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。 A wire processing system comprises a wire processing machine and a working robot for operating the wire processing machine, wherein the wire processing machine comprises: a wire supply holding part capable of being provided with a wire supply reel wound with synthetic fiber wire; a processing position for processing the wire of the wire supply reel arranged on the wire supply holding part to form a winding reel; and a wire guide for guiding the wire to the processing position at the downstream side end of the balloon formed by the wire unwound from the wire supply reel arranged on the wire supply holding part; The aforementioned working robot includes a balloon adjusting device, and the aforementioned balloon adjusting device moves at least one of the aforementioned supply reel and the aforementioned wire guide during the unwinding of the aforementioned wire as the wire is unwound from the aforementioned supply reel, and reduces the distance between the aforementioned supply reel and the aforementioned wire guide during the unwinding of the aforementioned wire. 如請求項5所記載之絲線加工系統，其中前述絲線加工系統具有控制器； 前述控制器對前述氣圈調整裝置進行控制，使得隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。 A wire processing system as described in claim 5, wherein the wire processing system has a controller; The controller controls the balloon adjustment device so that as the unwinding of the wire from the wire supply reel progresses, the distance between the wire supply reel during the unwinding of the wire and the wire guide decreases. 如請求項5或6所記載之絲線加工系統，其中在前述絲線加工機中設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器； 前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。 A wire processing system as described in claim 5 or 6, wherein a plurality of the aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of the aforementioned wire supply holding parts and the aforementioned wire guides are provided corresponding to the plurality of the aforementioned processing positions; The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts. 如請求項7所記載之絲線加工系統，其中前述作業機器人具有捲筒供給裝置，前述捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業，前述行進裝置以及／或者前述升降裝置係能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。A wire processing system as described in claim 7, wherein the aforementioned working robot has a reel supply device, and the aforementioned reel supply device performs the operation of setting the aforementioned wire supply reel relative to the plurality of aforementioned wire supply holding portions, and the aforementioned traveling device and/or the aforementioned lifting device is capable of moving the aforementioned reel supply device together with the aforementioned balloon adjustment device to the positions of the plurality of aforementioned wire supply holding portions. 如請求項5至8中任一項所記載之絲線加工系統，其中前述作業機器人的前述氣圈調整裝置執行如下動作：隨著從前述絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一階段性地移動，並使前述絲線退繞中的供絲捲筒與前述導絲器的距離階段性地減小。A wire processing system as described in any one of claims 5 to 8, wherein the balloon adjustment device of the working robot performs the following actions: as the unwinding of the wire from the wire supply reel during unwinding progresses, at least one of the wire supply reel during unwinding and the wire guide is moved in stages, and the distance between the wire supply reel during unwinding and the wire guide is reduced in stages. 一種絲線加工系統，具有絲線加工機以及對前述絲線加工機進行作業的作業機器人，前述絲線加工機具有：供絲保持部，能夠設置捲繞有合成纖維絲線的供絲捲筒；加工位，對設置於前述供絲保持部上的供絲捲筒的絲線進行加工而形成捲繞捲筒；以及導絲器，在從設置於前述供絲保持部上的供絲捲筒退繞的絲線所形成的氣圈的下游側端部向前述加工位引導絲線，前述供絲保持部相對於前述加工位設置有一對，並且相對於前述一對供絲保持部設置有共用的一個前述導絲器，此外還設置有絲線退繞中供絲捲筒檢測裝置，前述絲線退繞中供絲捲筒檢測裝置檢測正從分別設置於前述一對供絲保持部上的兩個供絲捲筒中的哪一個供絲捲筒退繞絲線； 前述作業機器人含有氣圈調整裝置，前述氣圈調整裝置隨著從由前述絲線退繞中供絲捲筒檢測裝置檢測到絲線被退繞的絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一移動，並使前述供絲捲筒與前述導絲器的距離減小。 A wire processing system includes a wire processing machine and a working robot for operating the wire processing machine, wherein the wire processing machine includes: a wire supply holding portion capable of being provided with a wire supply drum wound with synthetic fiber wire; a processing position for processing the wire of the wire supply drum arranged on the wire supply holding portion to form a winding drum; and a wire guide for guiding the wire to form air formed by the wire unwound from the wire supply drum arranged on the wire supply holding portion. The downstream side end of the coil guides the wire toward the aforementioned processing position. The aforementioned wire supply holding part is provided in a pair relative to the aforementioned processing position, and a common aforementioned wire guide is provided relative to the aforementioned pair of wire supply holding parts. In addition, a wire supply reel detection device during wire unwinding is provided. The aforementioned wire supply reel detection device during wire unwinding detects which wire supply reel of the two wire supply reels respectively provided on the aforementioned pair of wire supply holding parts is being unwound from. The aforementioned working robot includes a balloon adjusting device, and the aforementioned balloon adjusting device moves at least one of the aforementioned supply reel in the process of unwinding the wire and the aforementioned wire guide, and reduces the distance between the aforementioned supply reel and the aforementioned wire guide as the wire unwinding progresses from the supply reel in the process of unwinding the wire to the progress of the wire unwinding detection device detecting that the wire is unwound. 如請求項10所記載之絲線加工系統，其中前述絲線加工系統具有控制器； 前述控制器根據前述絲線退繞中供絲捲筒檢測裝置的檢測結果，對前述氣圈調整裝置進行控制，使得隨著從前述供絲捲筒退繞絲線的進度推進而使前述絲線退繞中的供絲捲筒與前述導絲器的距離減小。 A wire processing system as recited in claim 10, wherein the wire processing system comprises a controller; The controller controls the balloon adjustment device according to the detection result of the wire supply reel detection device during the wire unwinding, so that the distance between the wire supply reel during the wire unwinding and the wire guide is reduced as the wire unwinding progresses. 如請求項10或11所記載之絲線加工系統，其中在前述絲線加工機中，設置有複數個前述加工位，並且與複數個前述加工位對應地分別設置有複數個前述供絲保持部以及前述導絲器； 前述作業機器人具有能夠使前述氣圈調整裝置移動到複數個前述供絲保持部的位置的行進裝置以及／或者升降裝置。 A wire processing system as described in claim 10 or 11, wherein a plurality of the aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of the aforementioned wire supply holding parts and the aforementioned wire guides are provided corresponding to the plurality of the aforementioned processing positions; The aforementioned working robot has a travel device and/or a lifting device capable of moving the aforementioned balloon adjustment device to the position of the plurality of aforementioned wire supply holding parts. 如請求項12所記載之絲線加工系統，其中前述作業機器人具有捲筒供給裝置，前述捲筒供給裝置相對於複數個前述供絲保持部分別進行設置前述供絲捲筒的作業，前述行進裝置以及／或者前述升降裝置係能夠使前述捲筒供給裝置與前述氣圈調整裝置一起移動到複數個前述供絲保持部的位置。A wire processing system as described in claim 12, wherein the aforementioned working robot has a reel supply device, and the aforementioned reel supply device performs the operation of setting the aforementioned wire supply reel relative to the plurality of aforementioned wire supply holding portions, and the aforementioned traveling device and/or the aforementioned lifting device is capable of moving the aforementioned reel supply device together with the aforementioned balloon adjustment device to the positions of the plurality of aforementioned wire supply holding portions. 如請求項11至13中任一項所記載之絲線加工系統，其中前述作業機器人的前述氣圈調整裝置執行如下動作：隨著從前述絲線退繞中的供絲捲筒退繞絲線的進度推進，使前述絲線退繞中的供絲捲筒和前述導絲器中的至少其中之一階段性地移動，使前述絲線退繞中的供絲捲筒與前述導絲器的距離階段性地減小。A wire processing system as described in any one of claim 11 to 13, wherein the balloon adjustment device of the working robot performs the following action: as the unwinding of the wire from the wire supply reel during unwinding progresses, at least one of the wire supply reel during unwinding and the wire guide is moved in stages, so that the distance between the wire supply reel during unwinding and the wire guide is reduced in stages. 如請求項5至14中任一項所記載之絲線加工系統，其中前述供絲保持部的至少前述供絲捲筒的設置部分結構為能夠相對於前述導絲器接近或者分離。A wire processing system as recited in any one of claims 5 to 14, wherein at least a portion of the wire supply reel of the wire supply holding portion is structured to be able to approach or separate from the wire guide.