TW201816209A - Coupling device and spinning pulling device - Google Patents

Abstract

Provided is a coupling device in which a coupled state is achieved by inserting a male coupler into a female coupler, wherein the operation required to detach the male coupler from the female coupler is simplified. The female coupler (74) comprises: an outer cylindrical member (91); an inner cylindrical member (92) which is provided inside the outer cylindrical member (91) so as to be capable of relative movement in the axial direction with respect to the outer cylindrical member (91), and which is pressed in by the male coupler (73) when the male coupler (73) is inserted; and a spring (93) which impels the inner cylindrical member (92) from the base side to the tip side of the female coupler (74). As a result of a drive unit moving the female coupler (74) to a coupled position, the male coupler pushes the inner cylindrical member (92) towards the base side against the impelling force of the spring (93), thus achieving a coupled state, the coupled state is maintained by maintaining the female coupler (74) at the coupled position, and the coupled state is released by returning the female coupler (74) to the initial position thereof.

Description

Coupling device and spinning traction equipment

[0001] The present invention relates to a coupling device and a spinning traction device.

[0002] For example, Patent Document 1 discloses a coupling device in which an air plug and an air socket are connected to each other by inserting an air plug into the air socket. The air socket includes a socket shell, a cylindrical sleeve disposed outside the socket shell, a lock spring biasing the sleeve toward the tip side of the air socket, and a lock ball provided in the socket shell. When the sleeve is moved toward the proximal end side against the biasing force of the lock spring, the lock ball is retracted toward the recess formed on the inner peripheral surface of the sleeve and becomes a free state. In this way, the locking ball is brought into a free state by operating the sleeve, so that the air plug can be inserted into or removed from the air socket. [0003] [Patent Document 1] Japanese Shikai Hei 5-59090

[Problems to be Solved by the Invention] [0004] In the coupling device of Patent Document 1, as described above, an air plug (hereinafter, referred to as a "male connector") and an air socket (hereinafter, referred to as a "female connector" ”) It is necessary to move the sleeve of the female connector during disassembly. Therefore, for example, if the male and female connectors are moved to and from the robot, it is not only the movement of the male or female connector in the axial direction, but also the movement of the sleeve . In this case, the structure and motion control of the manipulator become very complicated, which causes the cost of the manipulator to increase, and the time required for disassembling and assembling the male connector and the female connector may become longer. [0005] The present invention has been made in view of the above-mentioned problems, and an object thereof is to remove a male connector and a female connector from a coupling device that is in a connected state by inserting a male connector relatively into a female connector. The required actions are simplistic. [Means for Solving the Problems] [0006] The coupling device of the present invention is connected to a female connector by relatively inserting it into a female connector, and is characterized in that it includes a driving unit and The movable connector of at least one of the male connector and the female connector is moved between an initial position where the male connector is not connected to the other connector and a connected connection position, and the male connector and the female connector are moved. The connector is detachable, and the female connector includes an outer cylinder member extending in the axial direction, and the outer cylinder member is provided inside the outer cylinder member so as to be relatively movable in the axial direction with respect to the outer cylinder member. When inserted, the inner tube member extending in the axial direction is pushed by the male connector, and the spring urges the inner tube member from the base end side to the tip end side of the female connector, and the drive unit Is to move the movable connector toward the connection position so that the male connector resists the urging force of the spring and pushes the inner cylinder member toward the base end side to become The connection state is maintained by maintaining the movable connector at the connection position, and the connection state is released by returning the movable connector to the initial position. [0007] In the present invention, the driving unit moves the movable connector (male connector or female connector) between the initial position and the connection position, so that the male connector and the female connector are connected. Status, or the way the connection status is released. Therefore, it is not necessary to move the sleeve of the female connector separately when disassembling the male connector and the female connector, and it is possible to simplify the operations required for the removal and installation of the male and female connectors. [0008] Moreover, in the coupling device of the present invention, when the movable connector is located at the connection position, it is preferable that the convex connector can squeeze the inner tube member toward the base end side. [0009] With such a space, even if the movable connector cannot be accurately stopped at the connection position due to the assembly error of the device, the operation error of the driving part, etc., the convex connector squeezes the inner cylinder member into It is possible to avoid the excessive force from being applied to each connector or the drive part even more at the base end side than assumed. [0010] In the coupling device of the present invention, a stepped portion having an inner diameter on the front end side larger than the inner diameter on the base end side is formed on the inner peripheral surface of the inner cylinder member, and the top end of the male connector is formed. By making contact with the stepped portion, it is preferable that the male connector can squeeze the inner tube member toward the base end side. [0011] In this way, by contacting the top end of the male connector with the step portion, the inner tube member can be easily and surely squeezed in by the male connector. [0012] In the coupling device of the present invention, the inner cylinder member is provided with a lock ball that can protrude from the inner peripheral surface of the inner cylinder member toward the inside in the radial direction, and is formed on the outer peripheral surface of the male connector. There is a recessed engaging portion that can be engaged with the locking ball. In the connected state, the locking ball protrudes from the inner peripheral surface of the inner cylinder member toward the inside in the radial direction, and is preferably engaged with the engaging portion. [0013] In the present invention, although the driving portion maintains the connection state by connecting the movable connector to the connection position, if a high internal pressure acts during the connection state, the inner cylinder member will resist the force of the spring toward the base by the internal pressure. The end-to-side movement may unintentionally release the connection status. Here, as described above, when the lock ball is engaged with the engaging portion in the connected state, the inner cylinder member can be prevented from moving even when a high internal pressure acts, and the connected state can be reliably maintained. [0014] In the coupling device according to the present invention, the inner peripheral surface of the outer cylinder member is formed with a recessed recessed portion in which at least a part of the lock ball can be retracted, and is formed on the base more than the retracted portion. When the convex connector does not push the inner cylinder member toward the base end side, the protruding portion protruding toward the inner side in the radial direction from the retracted portion on the end side, at least a part of the lock ball is retracted toward the retracted portion. If the male connector is pushed into the base member toward the base end side, it is preferable that the locking ball is squeezed inward in the radial direction by the protrusion and is engaged with the engaging portion. . [0015] According to this structure, the locking ball can be automatically engaged with the engaging portion when the male connector is pushed into the male connector and the male connector and the female connector are brought into a connected state. [0016] In the coupling device of the present invention, when a fluid flows inside the male connector and the female connector in the connected state, the inner diameter of the connector located at the upstream end in the direction of the fluid flow becomes The downstream diameter of the connector is preferably less than the inner diameter. [0017] It is assumed that the inner diameter of the connector located at the upstream end is larger than the inner diameter of the connector located at the downstream end. At the interface between the two connectors, the flow path will narrow sharply and pressure loss will easily occur. Here, as described above, by reducing the inner diameter of the connector at the upstream end to the inner diameter of the connector at the downstream end, the pressure loss can be suppressed. [0018] The spinning traction device of the present invention includes a spinning traction device and a suction holding member capable of sucking and holding the yarn by the negative pressure generated by the supply of compressed fluid, and the suction holding member A yarn gripping manipulator that performs a spinning operation on the spinning traction device and a compressed fluid supply unit that supplies a compressed fluid to the spinning manipulator while sucking and holding the yarn; compression from the compressed fluid supply unit to the suction holding member The fluid supply path includes an equipment-side supply pipe extending from the compressed fluid supply unit to the spinning traction device, and a robot-side supply pipe connected to the suction holding member, the robot-side supply pipe, and the robot-side supply pipe. Any of the above-mentioned coupling devices is provided between the equipment-side supply pipes. [0019] In the present invention, since any of the coupling devices described above is provided between the robot-side supply pipe and the equipment-side supply pipe, the robot-side supply pipe and the equipment-side supply pipe can be easily disassembled. [0020] A spinning traction device of the present invention includes a spinning traction device and a suction holding member capable of sucking and holding a yarn, and the yarn drawing and holding is performed by the suction holding member, and the spinning drawing device is carried out. The raw head manipulator for threading operation, and a yarn waste portion for discarding the yarn sucked by the suction holding member; and a yarn discharge path from the suction holding member to the yarn waste portion has a connection to the suction The robot-side discharge pipe of the holding member and the equipment-side discharge pipe extending from the spinning traction device to the yarn discarding section are provided between the robot-side discharge pipe and the equipment-side discharge pipe. A coupling device. [0021] In the present invention, since any of the above-mentioned coupling devices are provided between the robot-side discharge pipe and the equipment-side discharge pipe, the robot-side discharge pipe and the equipment-side discharge pipe can be easily disassembled. [0022] Furthermore, in the spinning traction device of the present invention, it is preferable to provide the aforementioned driving section in the aforementioned green manipulator. [0023] In this case, the robot-side supply pipe and the equipment-side supply pipe can be disassembled or assembled, or the robot-side discharge pipe and the equipment-side discharge pipe can be removed.

[0025] Preferred embodiments of the present invention will be described below. [0026] (Overall Structure of Spinning and Drawing Equipment) FIG. 1 is a schematic configuration diagram of a spinning and drawing device according to the present embodiment. The spinning traction device 1 according to this embodiment includes a plurality of spinning traction devices 2 arranged in one horizontal direction, and a spinning manipulator 3 that performs a spinning operation on the plurality of spinning traction devices 2 to control each spinning. Traction device 2, centralized control device 4 for the operation of the raw manipulator 3, a compressed air supply unit 5 that supplies compressed air (an example of a compressed fluid) to the raw manipulator 3, and discards the wires from the raw manipulator 3. Waste wire box 6. In the present embodiment, each of the spinning traction devices 2 provided in the spinning traction device 1 is provided with one raw manipulator 3, one compressed air supply unit 5, and one waste box 6. In addition, in FIG. 1, in order to prevent the figure from becoming complicated, the illustration of the wires is omitted. In the following description, a direction in which the plurality of spinning traction devices 2 are arranged is defined as a left-right direction, and a direction that is horizontal and orthogonal to the left-right direction is defined as a front-rear direction. [0027] (Spinning Traction Device) 详情 The details of the spinning traction device 2 will be described. FIG. 2 is a front view of the spinning traction device 2 and the raw manipulator 3, and FIG. 3 is a side view of the spinning traction device 2 and the raw manipulator 3. 4 is a block diagram showing the electrical configuration of the spinning traction device 1. [0028] The spinning traction device 2 winds a plurality of yarns Y spun from a spinning device (not shown), and winds each of the yarns Y on a plurality of bobbins B to form a plurality of packages P. More specifically, the spinning traction device 2 uses the first godet roller 11 and the second godet roller 12 to convey a plurality of yarns Y spun from a spinning device (not shown) to the winding unit 13 and uses the winding unit 13. 13 A plurality of yarns Y are wound around a plurality of bobbins B to form a plurality of packages P. [0029] The first godet roller 11 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above the front end portion of the winding unit 13. The first godet roller 11 is rotationally driven by a first godet roller motor 111 (see FIG. 4). [0030] The second godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first godet roller 11. The second godet roller 12 is rotationally driven by a second godet roller motor 112 (see FIG. 4). The second godet roller 12 is movably supported on the guide rail 14. The guide rail 14 extends obliquely so as to be positioned upward as it goes rearward. The second godet roller 12 is configured to be movable along the guide rail 14 by a cylinder 113 (see FIG. 4). Thereby, the winding position of the second godet roller 12 when winding the yarn Y (refer to the solid line in FIG. 3) and the starting position of the second godet roller 11 (see the solid line in FIG. 3) when starting the head (see (Dotted line in Figure 3). [0031] The spinning traction device 2 further includes an aspirator 15 and a yarn restriction guide 16. The sucker 15 sucks and holds the plurality of yarns Y spun from the spinning device in advance before the heading robot 3 performs the heading operation. The suction device 15 extends in the left-right direction, and a suction port 15a for suctioning the yarn Y is formed at a right end portion thereof. In order to locate the suction port 15 a near the plurality of wires Y, the suction device 15 is arranged slightly above the first godet roller 11. [0032] The yarn restriction guide 16 is arranged between the first godet roller 11 and the suction device 15 in the vertical direction. The wire restriction guide 16 is, for example, a well-known comb-shaped wire guide, and when a plurality of wires Y are suspended, an interval between adjacent wires Y is prescribed. The yarn restriction guide 16 is configured to be movable by the cylinder 114 (see FIG. 4) in the left-right direction (the axial direction of the first godet roller 11). Accordingly, the yarn restriction guide 16 can move in the left-right direction between a protruding position protruding from the tip end portion of the first godet roller 11 and a retracted position converging within a range where the first godet roller 11 is arranged. [0033] The winding unit 13 includes a plurality of fulcrum thread guides 21, a plurality of traverse thread guides 22, a turntable 23, two bobbin holders 24, and a contact roller 25. [0034] The plurality of fulcrum yarn guides 21 are separately provided for the plurality of wires Y, and are arranged in the front-rear direction. The plurality of traverse guides 22 are provided separately for the plurality of wires Y, and are arranged in the front-rear direction. The plurality of traverse guides 22 are driven by a common traverse motor 116 (see FIG. 4) and reciprocate in the front-rear direction. Accordingly, the yarn Y suspended on the traverse guide 22 is traversed with the fulcrum guide 21 as a center. [0035] The turntable 23 is a disc-shaped member whose axial direction is substantially parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor 117 (see FIG. 4). The axial directions of the two bobbin holders 24 are substantially parallel to the front-rear direction, and are rotatably supported on the upper and lower ends of the turntable 23. On each bobbin holder 24, a plurality of bobbins B separately provided for the plurality of wires Y are arranged in the front-rear direction. Each of the two bobbin holders 24 is rotationally driven by a separate winding motor 118 (see FIG. 4). [0036] When the bobbin holder 24 on the upper side is rotationally driven, the yarn Y reciprocated by the traverse guide 22 is wound onto the bobbin B to form a package P. When the package P becomes full, the vertical position of the two bobbin holders 24 is changed by rotating the turntable 23. Thereby, the bobbin holder 24 previously located on the lower side is moved to the upper side, and the yarn Y can be wound on the bobbin B attached to the bobbin holder 24 to form the package P. Then, the bobbin holder 24 previously located on the upper side is moved to the lower side, and the package P is recovered by a package recovery device (not shown). [0037] The contact roller 25 is a roller whose axial direction is substantially parallel to the front-rear direction, and is disposed immediately above the upper bobbin holder 24. The contact roller 25 contacts the surfaces of the plurality of packages P supported on the upper bobbin holder 24 to apply contact pressure to the surfaces of the packages P being wound, and combs the shape of the packages P. [0038] (Head robot) 手 The head robot 3 will be described below. The head robot 3 includes a main body portion 31, a robot arm 32, and a head unit 33. [0039] The main body portion 31 is configured in a substantially rectangular parallelepiped shape, and a robot control device 102 (see FIG. 4) and the like for controlling the operations of the robot arm 32 and the head unit 33 are mounted therein. The main body portion 31 is suspended from two guide rails 35 and can move in the left-right direction of the two guide rails 35. The two guide rails 35 are arranged at intervals in front of the plurality of spinning traction devices 2 in the front-rear direction, and extend across the plurality of spinning traction devices 2 in the left-right direction. That is, the raw-head manipulator 3 is configured to be movable in the left-right direction in front of the plurality of spinning traction devices 2. [0040] Four wheels 36 are provided on the upper end portion of the main body portion 31. Each of the four wheels 36 is disposed on the upper surface of each guide rail 35. The four wheels 36 are rotationally driven by the moving motor 121 (see FIG. 4). When the four wheels 36 are rotated, the main body 31 moves along the two guide rails 35 in the left-right direction. In addition, in order to grasp the position of the green manipulator 3 in the left-right direction, the green manipulator 3 is provided with an encoder 123 (see FIG. 4) that detects the position of the green manipulator 3 in the left-right direction. [0041] The robot arm 32 is mounted on the lower surface of the main body portion 31. The robot arm 32 includes a plurality of arms 32 a and a plurality of joint portions 32 b that connect the arms 32 a to each other. An arm motor 122 (see FIG. 4) is built in each joint portion 32 b. When the arm motor 122 is driven, the arm 32 a swings about the joint portion 32 b as a center. Thereby, the robot arm 32 can be moved three-dimensionally. [0042] The head unit 33 is mounted on the distal end portion of the robot arm 32. The head unit 33 is provided with a suction pipe 37 for sucking and holding the yarn Y and a cutter 38 for cutting the yarn Y. [0043] FIG. 5 is a sectional view of the suction tube 37. The suction pipe 37 includes a suction pipe 37a extending in a straight line and a compressed air pipe 37b integrally connected to a halfway portion of the suction pipe 37a. One end of the suction pipe 37a is a suction port 37c for suctioning the yarn Y, and the other end of the suction pipe 37a is connected to a manipulator-side waste wire hose 82. One end of the compressed air pipe 37b communicates with the suction pipe 37a through the through hole 37d, and the other end of the compressed air pipe 37b is connected to a manipulator-side compressed air hose 72. The through hole 37d is formed obliquely with respect to the suction pipe 37a so that it may be located on the other end side of the suction pipe 37a as it approaches the suction pipe 37a. [0044] In the suction pipe 37 configured as described above, as indicated by arrows in FIG. 5, the compressed air flowing from the compressed air pipe 37 b into the suction pipe 37 a flows from one end side to the other end side of the suction pipe 37 a. This airflow generates a negative pressure at the suction port 37c, and the yarn Y can be sucked from the suction port 37c. The yarn Y sucked from the suction port 37c is discharged by the air in the suction pipe 37a to the robot-side waste wire hose 82 as it is. The heading robot 3 performs the heading operation while sucking and holding the yarn Y with the suction pipe 37. [0045] In addition, the raw-head manipulator 3 includes a robot-side connection unit 34 constituting a part of a coupling device described later. The robot-side connection unit 34 will be described later. [0046] (Compressed Air Supply Path and Waste Silk Path) The spinning traction device 1 is provided with a suction pipe 37 indicated by a two-dot chain line in FIG. 1 from the compressed air supply unit 5 to the head manipulator 3. A compressed air supply path 7 for supplying compressed air and a waste wire path 8 for discarding the yarn Y from the suction pipe 37 to the waste wire box 6 are indicated by a one-dot chain line in FIG. 1. [0047] The compressed air supply path 7 is divided into a device-side compressed air hose 71 extending from the compressed air supply unit 5 to the plurality of spinning traction devices 2 and a manipulator-side compressed air disposed on the raw-head manipulator 3. With hose 72. Similarly, the waste silk path 8 is divided into a plant-side waste silk hose 81 extending from a plurality of spinning drawing devices 2 to the waste silk box 6 and a manipulator-side waste silk hose disposed on the green manipulator 3. 82. In addition, the equipment-side compressed air hose 71 and the robot-side compressed air hose 72 are detached, and the equipment-side waste silk hose 81 and the robot-side waste silk hose 82 are detached by the equipment. This is performed by a coupling device 9 including a side connection unit 40 and a robot side connection unit 34. The coupling device 9 will be described in detail later. [0048] The equipment-side compressed air hose 71 is composed of a main hose 71a connected to the compressed air supply unit 5 and a plurality of sub hoses 71b branched from the main hose 71a to the plurality of spinning traction devices 2. A device-side connection unit 40 is provided at the downstream end of each auxiliary hose 71b, and a robot-side connection unit 34 is provided at the upstream end of the robot-side compressed air hose 72. Further, an on-off valve 75 that can be controlled by the centralized control device 4 is provided in the middle of each of the sub hoses 71b. [0049] The equipment-side waste silk hose 81 is composed of a main hose 81a connected to the waste silk box 6 and a plurality of auxiliary hoses 81b branched from the main hose 81a to the plurality of spinning traction devices 2. An equipment-side connection unit 40 is provided on the upstream end of each of the auxiliary hoses 81b, and a robot-side connection unit 34 is provided on the downstream end of the robot-side waste wire hose 82. [0050] When the robot-side connection unit 34 provided on the raw-head manipulator 3 is connected to one of the equipment-side connection units 40 provided in each spinning traction device 2 (detailed meaning is between the connectors described later) At the time of connection), the equipment-side compressed air hose 71 is connected to the robot-side compressed air hose 72, and the equipment-side waste silk hose 81 is connected to the robot-side waste silk hose 82. Accordingly, not only the compressed air can be supplied to the suction pipe 37 from the compressed air supply unit 5, but also the yarn Y can be discarded from the suction pipe 37 to the waste wire box 6. In addition, each spinning traction device 2 is further provided with a connection sensor 76 that detects that each device-side connection unit 40 has become connected to the robot-side connection unit 34. [0051] (Coupling Device) Next, the coupling device 9 will be described. As shown in FIG. 1, the coupling device 9 includes a device-side connection unit 40 and a robot-side connection unit 34. A plurality of device-side connection units 40 are provided corresponding to the spinning traction devices 2. Each equipment-side connection unit 40 is arranged near each spinning traction device 2. More specifically, each equipment-side connection unit 40 is fixed to the guide rail 35 above the winding unit 13 of each spinning traction device 2 in a state of being disposed between the front and rear two guide rails 35. The robot-side connection unit 34 is attached to the upper surface of the main body portion 31 of the head robot 3 below the equipment-side connection unit 40 (see FIG. 3). [0052] FIG. 6 is a side view of the coupling device 9. The equipment-side connection unit 40 is provided with a male connector 73 connected to the equipment-side compressed air hose 71 and a male connector 83 connected to the equipment-side waste wire hose 81. On the other hand, the robot-side connection unit 34 is provided with a female connector 74 connected to the robot-side compressed air hose 72 and a female connector 84 connected to the robot-side waste wire hose 82. Furthermore, the male connector 73 and the female connector 74 are connected, and the equipment-side compressed air hose 71 and the robot-side compressed air hose 72 are connected. Furthermore, the male connector 83 and the female connector 84 are connected to connect the equipment-side waste wire hose 81 and the robot-side waste wire hose 82. [0053] The device-side connection unit 40 includes two fixing members 41 respectively fixed to the guide rail 35, and a plate-shaped fixing base 42 provided substantially horizontally across the two fixing members 41 and fixed to the fixing members 41. A plate-shaped movable base 43 disposed substantially horizontally below the fixed base 42, two guide tubes 44 mounted on the movable base 43, and two male connectors 73 and 83 fixed on the movable base 43. As described in detail later, by mounting the male connectors 73 and 83 on the movable base 43, it is possible to correct the positional deviation between the connectors. [0054] The male connectors 73 and 83 are fixed in a state where they are inserted into a mounting hole (not shown) formed in the movable base 43 so that the respective axial directions are substantially parallel to the vertical direction. The portions of the male connectors 73 and 83 that protrude from the movable base 43 to below are portions that are inserted into the female connectors 74 and 84 and connected, respectively. The protruding connectors 73 and 83 protrude upward from the fixed base 42 to connect the equipment-side compressed air hose 71 (sub-hose 71b) and the equipment-side waste wire hose 81 (sub-hose 81b), respectively. section. [0055] The robot-side connection unit 34 includes a plate-like base member 51 fixed to the upper surface of the main body portion 31 of the raw manipulator 3, and two rod-shaped guide members 52 extending from the base member 51 to the upper side can be moved along the The two sliding members 53 nested on the two guide members 52 so as to move in the vertical direction are plate-shaped first support members 54 fixed to the two sliding members 53 substantially horizontally. The first support members 54 extend from the first support members 54 to the top. The two pin members 55 are a plate-shaped second support member 56 fixed to the two pin members 55 substantially horizontally, and a cylinder 57 attached to the lower surface of the first support member 54. [0056] The female connectors 74 and 84 are fixed in a state where they are inserted into mounting holes (not shown) formed in the second support member 56 so that the respective axial directions are substantially parallel to the vertical direction. The portions of the female connectors 74 and 84 that protrude upward from the second support member 56 are portions that are inserted into the male connectors 73 and 83 and connected, respectively. The portions of the female connectors 74 and 84 that protrude from the second support member 56 to the lower side are portions that connect the robot-side compressed air hose 72 and the robot-side waste wire hose 82, respectively. [0057] In a state where the male connector 73 and the female connector 74 are opposed to each other, and the male connector 83 and the female connector 84 are opposed to each other, if the first support member 54 is moved upward by the cylinder 57, Then, the female connectors 74 and 84 fixed to the second support member 56 and the first support member 54 move integrally upward, and the male connectors 73 and 83 are oppositely inserted into the female connectors 74 and 84. As a result, the male connector 73 is connected to the female connector 74 while the male connector 83 is connected to the female connector 84. In addition, by inserting and guiding the pin member 55 into the guide tube 44, it is possible to suppress the female connectors 74 and 84 from tilting with respect to the vertical direction. 005 [0058] (Position deviation correction function) The position deviation correction function of the device-side connection unit 40 will be described below. When the axis of the male connector 73 (83) and the axis of the female connector 74 (84) are the same, the male connector 73 (83) and the female connector 74 (84) can be connected without any problem. . However, when the stop position of the raw robot 3 is deviated from the original position due to, for example, an error in the encoder 123, the axis of the male connector 73 (83) and the axis of the female connector 74 (84) are horizontal. The direction is deviated, and there is a concern that the connection between the male connector 73 (83) and the female connector 74 (84) may cause obstacles. In order to connect the male connector 73 (83) and the female connector 74 (84) even in such a case, the device-side connection unit 40 has a position deviation correction function for correcting the above-mentioned deviation. [0059] FIG. 7 is a bottom view of the device-side connection unit 40, and FIG. 8 is a view taken along the line VII-VII of FIG. 7. As described above, the device-side connection unit 40 includes the fixed base 42 provided substantially horizontally across the two fixing members 41 and the movable base 43 provided substantially horizontally below the fixed base 42. Both the fixed base 42 and the movable base 43 are rectangular in plan view. The male connectors 73 and 83 are fixed to the movable base 43. [0060] Two anchor bolts 45 and two retaining bolts 46 are fixed to the fixed base 42. The two anchor bolts 45 are respectively disposed in two corner portions of the rectangular fixed base 42 that are opposite to each other. The two retaining bolts 46 are respectively disposed in two corner portions that are diagonally opposite to each other in the rectangular fixing base 42 and are two corner portions in which the positioning bolts 45 are not provided. That is, the two holding bolts 46 are provided on both sides with a line L connecting the two positioning bolts 45 in a plan view. [0061] The positioning bolt 45 is provided to extend from the fixed base 42 and has a shaft portion 45a screwed to the fixed base 42 and a positioning portion 45b provided below the shaft portion 45a. The positioning portion 45b is formed in a conical shape having a larger diameter as it goes downward. The movable base 43 is formed with a positioning hole 43 a having a diameter larger than the diameter of the shaft portion 45 a and smaller than the maximum diameter of the positioning portion 45 b, and a positioning bolt 45 is inserted. A tapered surface 43b is formed on the lower end portion of the inner peripheral surface of the positioning hole 43a along the outer shape of the positioning portion 45b. With this structure, the movable base 43 is held by the positioning bolt 45 in a state where it is positioned by the positioning portion 45 b of the positioning bolt 45. [0062] The retaining bolt 46 is provided extending from the fixed base 42 to the lower side, and has a shaft portion 46a screwed to the fixed base 42 and a holding portion 46b provided below the shaft portion 46a. The holding portion 46b is formed in a disc shape having a larger diameter than the shaft portion 46a. The holding portion 46b is provided in a state where a holding washer 47 having an outer diameter larger than the diameter of the holding portion 46b is placed. The movable base 43 is formed with a holding hole 43c having a diameter larger than that of the shaft portion 46a and smaller than the outer diameter of the holding washer 47, and into which the holding bolt 46 is inserted. With this structure, the movable base 43 is held by the holding bolt 46 via the holding washer 47. [0063] Further, the device-side connection unit 40 is provided with two springs 48 that bias the movable base 43 downward. The two springs 48 are arranged near the holding bolt 46 in the front-rear direction in a line with the holding bolt 46. That is, in a plan view, two springs 48 are provided on both sides with a line L connecting the two positioning bolts 45. [0064] The fixed base 42 and the movable base 43 are formed with receiving holes 42a and 43d for receiving the spring 48, respectively. The upper surface of the receiving hole 42a and the lower surface of the receiving hole 43d are closed by a cover member 49, respectively. The springs 48 received in the receiving holes 42 a and 43 d are not fixed to the upper and lower cover members 49. The diameter of the receiving hole 42a is substantially the same as the diameter of the spring 48, and the relative movement of the fixed base 42 and the spring 48 in the horizontal direction is restricted. On the other hand, the diameter of the receiving hole 43d is larger than the diameter of the spring 48, allowing the movable base 43 and the spring 48 to move relatively in the horizontal direction. [0065] A resin-made sheet member 50 is provided between the fixed base 42 and the movable base 43. The sheet member 50 is preferably a material having a lower coefficient of friction than the fixed base 42 and the movable base 43 as long as it uses, for example, ultra-high molecular weight polyethylene (UHMW), polyoxymethylene (POM), polyamide (PA6 / nylon 6), polytetrafluoroethylene (PTFE / Teflon) can be used. Alternatively, you can use a friction coefficient of 0. A non-ferrous metal material of 5 or less constitutes the sheet member 50. In addition, holes for inserting the positioning bolts 45, the retaining bolts 46, the springs 48, and the like in the sheet members 50 are formed at appropriate places. [0066] As shown in FIG. 8 (a), in a standby state in which the male connectors 73 and 83 are not connected to the female connectors 74 and 84, the movable base 43 contacts with its own weight and the urging force generated by the spring 48. The positioning bolt 45 is engaged (the tapered surface 43b is engaged with the positioning portion 45b), and the positioning state is determined. At this time, the movable base 43 is held by not only the two positioning bolts 45 but also the two retaining bolts 46 (retaining washers 47), so that the positioning state can be stably maintained. In addition, by urging the movable base 43 with the two springs 48, it is possible to suppress a part of the movable base 43 from being lifted from the positioning bolt 45 and the retaining bolt 46 (the retaining washer 47), and it is possible to suppress the tilt with respect to the horizontal direction. [0067] FIG. 8 (b) shows a state in which the male connectors 73, 83 and the axial deviation of the male connectors 73, 83 and the female connectors 74, 84 are corrected by moving the distance d in the horizontal direction. When the female connectors 74 and 84 are moved upward, as shown in FIG. 8 (b), the female connectors 74 and 84 are in contact with the male connectors 73 and 83 from below, and the male connectors 73 and 83 are moved upward. As a result, the movable base 43 to which the male connectors 73 and 83 are fixed also moves upward, and the engagement between the movable base 43 and the positioning bolt 45 is released. As a result, the movable base 43 becomes a movable state in which the movable base 43 can move in the horizontal direction within a difference between the diameter of the shaft portion 45 a of the positioning bolt 45 and the inner diameter of the positioning hole 43 a of the movable base 43. Therefore, even if the axial centers of the male connector 73 (83) and the female connector 74 (84) deviate in the horizontal direction, the displacement can be corrected by moving the male connector 73 (83) in the horizontal direction. The male connector 73 (83) can be connected to the female connector 74 (84). In addition, in order not to prevent the male connectors 73 and 83 and the guide tube 44 fixed to the movable base 43 from moving in the horizontal direction when the movable base 43 is in a movable state, a convex male connector 73 is formed on the fixed base 42, 83 and a cutout 42b cut around the guide tube 44. [0068] (Specific Structure of Connector) Next, a specific structure that can be connected as long as the male connector 73 (83) is relatively inserted into the female connector 74 (84) will be described. In addition, although the size and shape are slightly different, the male connector 83 is basically the same structure as the male connector 73, and the female connector 74 is basically the same structure as the female connector 84. Therefore, specific structures of the male connector 73 and the female connector 74 will be described below. [0069] FIG. 9 is a cross-sectional view of a male connector 73 and a female connector 74, and FIG. 10 is a cross-sectional view showing a disassembly operation of the male connector 73 and the female connector 74. In addition, in FIGS. 9 and 10, illustration of each hose connected to each connector is omitted. [0070] The male connector 73 is fixed to the movable base 43 of the device-side connection unit 40 and is formed in a cylindrical shape. An annular groove 73 a into which the O-ring 80 is fitted and an annular groove-shaped engaging portion 73 b capable of engaging a lock ball 94 described later are formed on the outer peripheral surface of the male connector 73. [0071] The female connector 74 includes an outer tube member 91 fixed to the second support member 56 of the robot-side connection unit 34, an inner tube member 92 provided inside the outer tube member 91, and the inner tube member 92 is connected in a concave manner. A spring 93 that biases the distal end side of the device 74, and a plurality of lock balls 94 provided in the inner cylinder member 92. The inner tube member 92 has a large-diameter portion 92a on the front end side, a small-diameter portion 92b on the base end side having an inner diameter smaller than the large-diameter portion 92a, and a stepped portion 92c formed at the boundary between the large-diameter portion 92a and the small-diameter portion 92b. The male connector 73 can be inserted into the large-diameter portion 92a, but cannot be inserted into the small-diameter portion 92b. That is, when the male connector 73 is inserted into the large-diameter portion 92a, the tip of the male connector 73 comes into contact with the stepped portion 92c, and the inner tube member 92 can be pushed into the base end side by the male connector 73. [0072] A plurality of receiving holes 92d are formed in the large-diameter portion 92a of the inner tube member 92 in the circumferential direction, and the lock ball 94 is received in each receiving hole 92d. In addition, the lock ball 94 accommodated in the accommodation hole 92d is configured such that at least a portion thereof can protrude from the accommodation hole 92d to a radially inner side and a radially outer side. Further, on the inner peripheral surface of the outer cylinder member 91, a concave recessed portion 91a whose end portion is cut into a ring shape is formed, and on the side closer to the base end portion than the recessed portion 91a, an inner peripheral surface is formed so as to face the recessed portion 91a. A projection 91b protruding radially inward. When the inner tube member 92 is not pushed into the base end side, at least a part of the lock ball 94 can be retracted to the retreat portion 91a. [0073] Detach and attach operations of the male connector 73 and the female connector 74 will be described. When the male connector 73 and the female connector 74 are detached, it is sufficient to drive the cylinder 57 of the robot-side connection unit 34 to move the female connector 74 in the vertical direction. The position of the female connector 74 in the standby state in which the male connector 73 and the female connector 74 are not connected as shown in FIG. 10 (a) is hereinafter referred to as the initial position, and the male connector as shown in FIG. 10 (c) The position of the female connector 74 in the connected state where the connector 73 is connected to the female connector 74 is referred to as a connection position. [0074] When the male connector 73 and the female connector 74 are connected, the cylinder 57 of the robot-side connection unit 34 is driven to move the female connector 74 from the initial position to the top. As a result, the male connector 73 is relatively inserted into the female connector 74. As shown in FIG. 10 (b), in a state where the tip of the male connector 73 is in contact with the stepped portion 92 c of the inner cylinder member 92, the engaging portion 73 b of the male connector 73 comes to the position facing the lock ball 94. position. If the female connector 74 is further moved to the upper connection position as shown in FIG. 10 (c) from this state, the male connector 73 pushes the inner tube member 92 into the female connection against the biasing force of the spring 93. The proximal end side of the device 74 is connected. At this time, the locking ball 94 is pushed out to the inside in the radial direction by the inner peripheral surface of the protruding portion 91b, whereby the locking ball 94 is engaged with the engaging portion 73b of the male connector 73, and becomes the male connector 73 and the inner portion. The tube member 92 is engaged. The O-ring 80 is used to maintain the airtight state. [0075] In addition, the inner diameter of the male connector 73 and the inner diameter of the small diameter portion 92b of the female connector 74 are made substantially the same (for example, 1 inch), so that the male connector 73 and the female connector are not connected in the connected state. A step is generated at the boundary of the connector 74. Moreover, as is clear from FIG. 10 (c), when the female connector 74 is located at the connection position, the spring 93 is not fully contracted, ensuring that the male connector 73 can continue to squeeze the inner cylinder member 92 into the female connector 74. Space on the base side. [0076] Among the conventional coupling devices, the locking ball is operated by operating a sleeve provided on the female connector, but since the male connector does not contact the sleeve, it is necessary to insert the male connector with the male connector. The action in the female connector separately operates the sleeve separately. On the other hand, in the present embodiment, as described above, the inner cylinder member 92 is provided with the locking ball 94. When the male connector 73 is relatively inserted into the female connector 74, the inner cylinder member 92 is pushed in and the locking ball is locked. 94 action structure. Therefore, as long as the male connector 73 is oppositely inserted into or pulled out from the female connector 74, the male connector 73 and the female connector 74 can be detached and attached. [0077] When the male connector 73 and the female connector 74 are in a connected state, the cylinder 57 maintains the female connector 74 in the connected position during the heading operation. Accordingly, the state where the inner tube member 92 is in contact with the male connector 73 is maintained by the urging force of the spring 93, and the connection state between the male connector 73 and the female connector 74 is maintained. [0078] When the connection state between the male connector 73 and the female connector 74 is released, the cylinder 57 is driven to move the female connector 74 from the connection position to the lower side. As a result, as shown in FIG. 10 (b), the outer tube member 91 moves relatively downward relative to the inner tube member 92, and the retreat portion 91 a of the outer tube member 91 comes to a position facing the lock ball 94. In this way, the lock ball 94 is pulled out from the engaging portion 73b of the male connector 73, retracts to the retreating portion 91a, and releases the engagement between the male connector 73 and the inner tube member 92. When the female connector 74 is returned to the lower initial position as shown in FIG. 10A from this state, the connection state between the male connector 73 and the female connector 74 is released. [0079] Here, as described above, in the present embodiment, the female connector 74 is maintained at the connected position by the cylinder 57 to maintain the connected state. Therefore, the connected state can be basically maintained even without the lock ball 94. However, as already explained, since the compressed air flows through the male connector 73 and the female connector 74 in the connected state, a high internal pressure (for example, 1. 0MPa). Therefore, if the lock ball 94 is not assumed, there is a concern that the inner cylinder member 92 moves away from the male connector 73 to the base end side of the female connector 74 so that the connection state is released. On the other hand, if the lock ball 94 is provided, the male connector 73 is engaged with the inner cylinder member 92 when the connection state is established, so that the inner cylinder member 92 does not leave the convex type even when a high internal pressure is applied. The connector 73 is moved to the base end side of the female connector 74, and the connection state is stably maintained. In addition, since the male connector 83 and the female connector 84 provided in the waste wire path 8 do not exert a particularly high internal pressure, the female connector 84 may not be provided with the lock ball 94. [0080] (Electrical Structure of Spinning Traction Equipment) The electrical structure of the spinning traction equipment 1 will be described below. As shown in FIG. 1, the spinning traction device 1 includes a centralized control device 4 for controlling the entire device. The centralized control device 4 includes an operation unit 4 a for the operator to perform various settings, and a display unit 4 b that displays a screen for drawing auxiliary settings and a screen for states of each part. Further, as shown in FIG. 4, a winding control device 101 is provided in each of the spinning traction devices 2, and the winding control device 101 controls the operation of each driving section provided in the spinning traction device 2. A robot control device 102 is provided in the raw robot 3, and the robot control device 102 controls operations of the driving units provided in the raw robot 3. [0081] The centralized control device 4 can be connected to each of the winding control device 101 and the robot control device 102 by performing wireless or wired communication. In addition, a detection signal from an encoder 123 provided in the raw robot 3 and a detection signal from a connection sensor 76 provided corresponding to each spinning traction device 2 are input to the centralized control device 4. In addition, the centralized control device 4 controls the opening and closing of the on-off valve 75 provided in each of the auxiliary hoses 71 b of the facility-side compressed air hose 71. [0082] (A series of movements related to the heading operation) When heading is required at a spinning traction device 2, the winding control device 101 of the spinning traction device 2 is conveyed to the centralized control device 4 to indicate that there is a heading requirement. signal of. In this way, in order to enable the spinning traction device 2 to restart the winding of the yarn Y, the spinning manipulator 3 is caused to perform a spinning operation on the spinning traction device 2. When the heading robot 3 is not performing heading work, each on-off valve 75 is closed. [0083] FIG. 11 is a flowchart showing a series of operations related to the heading operation. The centralized control device 4 moves the spindle manipulator 3 to the front of the predetermined spinning traction device 2 which is an object for the spindle operation (step S1). At this time, the manipulator control device 102 controls the moving motor 121 while referring to the detection signal of the encoder 123, so that the manipulator-side connection unit 34 provided on the raw manipulator 3 and the spinning traction same as the predetermined The device-side connection unit 40 provided correspondingly to the device 2 stops the head robot 3. [0084] When the movement of the raw-head manipulator 3 to the predetermined spinning traction device 2 ends, the robot control device 102 drives the cylinder 57 provided in the robot-side connection unit 34 to drive the female connectors 74 and 84 from The initial position is raised to the connected position (step S2). As a result, the predetermined male connector 73 and the female connector 74 corresponding to the predetermined spinning traction device 2 become connected, while the predetermined male connector 83 and the female connector corresponding to the predetermined spinning traction device 2 become connected. 84 becomes connected. [0085] When a signal indicating that the predetermined male connector 73 and the female connector 74 are connected is sent from the connection sensor 76 corresponding to the predetermined male connector 73 (step S3), the centralized control device 4 Next, the on-off valve 75 corresponding to the predetermined male connector 73 is opened (step S4). In this way, the suction from the compressed air supply unit 5 through the equipment-side compressed air hose 71, the male connector 73, the female connector 74, and the robot-side compressed air hose 72 to the raw robot 3 is communicated. The compressed air supply path 7 of the tube 37. In addition, since there is no on-off valve in the equipment-side waste silk hose 81, as long as the predetermined male connector 83 and the female connector 84 are connected, the suction pipe 37 is connected to the robot-side waste silk hose 82. , The female connector 84, the male connector 83, and the equipment-side waste wire hose 81 reach the waste wire path 8 of the waste wire box 6. [0086] In this way, a negative pressure is generated at the suction port 37c of the suction pipe 37 of the raw manipulator 3. When the suction pipe 37 is used to suck and hold the wire Y, the robot control device 102 is appropriately driven by The heading unit 33 and the arm motor 122 perform a heading operation on a predetermined spinning traction device 2 (step S5). When the heading operation is completed, after the on-off valve 75 is closed by the centralized control device 4 (step S6), the robot control device 102 drives the cylinder 57 to lower the female connectors 74 and 84 from the connection position to the initial position (step S7) ). Thereby, the predetermined connection state of the male connector 73 and the female connector 74 is released, and at the same time the predetermined connection state of the male connector 83 and the female connector 84 is released. Then, the winding of the yarn Y at the predetermined spinning traction device 2 is restarted (step S8). [Effects] (1) In the coupling device 9 of the present embodiment, the cylinder 57 (driving section) moves the movable connector, that is, the female connector 74 (84) between the initial position and the connection position, so that The male connector 73 (83) and the female connector 74 (84) are configured such that the connected state is released, and the connected state is released. Therefore, when disassembling the male connector 73 (83) and the female connector 74 (84), it is not necessary to move the sleeve of the female connector separately, as is known in the art, so that the male connector 73 (83) and The action required for disassembling the female connector 74 (84) is simplified. [0088] Furthermore, for the coupling device 9 of this embodiment, it is ensured that when the female connector 74 (84) is located at the connection position, the male connector 73 (83) may return the inner cylinder member 92 to the female connector 74 (84). ) The space squeezed into the base side. This space is ensured, even if the female connector 74 (84) cannot be stopped at the connection position correctly because of the assembly error of the device and the operation error of the cylinder 57, etc., and the male connector 73 (83) moves the inner cylinder. The member 92 is squeezed into the base end side of the female connector 74 (84) which is more concave than assumed, and an excessive force can still be avoided from being applied to the male connector 73 (83), the female connector 74 (84), the cylinder 57 and the like. [0089] Furthermore, in the coupling device 9 of this embodiment, a stepped portion 92c having a larger inner diameter on the front end side than the inner diameter on the base end side is formed on the inner peripheral surface of the inner cylinder member 92, and the male connector is formed. The top end of 73 (83) is configured to be in contact with the stepped portion 92c so that the male connector 73 (83) can push the inner tube member 92 toward the base end side. In this way, the top end of the male connector 73 (83) is in contact with the stepped portion 92c, so that the inner tube member 92 can be easily and surely squeezed in by the male connector 73 (83). [0090] In the coupling device 9 of the present embodiment, the inner cylinder member 92 is provided with a locking ball 94 that can protrude from the inner peripheral surface of the inner cylinder member 92 toward the inside in the radial direction, and a male connector 73 ( 83) On the outer peripheral surface, a concave engaging portion 73b capable of engaging with the locking ball 94 is formed. In the connected state, the locking ball 94 protrudes from the inner peripheral surface of the inner tube member 92 toward the inside in the radial direction and engages with the engaging portion. 73b snaps. In this embodiment, although the female connector 74 (84) is maintained at the connection position by the cylinder 57 to maintain the connection state, if a high internal pressure is applied during the connection state, the inner cylinder member is caused by the internal pressure. 92 resists the biasing force of the spring 93 and moves toward the base end side of the female connector 74 (84), and the connection state may be unintentionally released. Here, as described above, the lock ball 94 is engaged with the engaging portion 73b in the connected state, so that the inner tube member 92 can be prevented from moving even when a high internal pressure acts, and the connected state can be reliably maintained. That is, this configuration is particularly effective for the male connector 73 and the female connector 74 which are provided in the compressed air supply path 7 having a high internal pressure. [0091] In the coupling device 9 of the present embodiment, a recessed recessed portion 91a in which at least a part of the lock ball 94 can be retracted is formed on the inner peripheral surface of the outer cylinder member 91, and the recessed portion 91 is formed in the recessed portion 91 a When the protruding portion 9lb is more proximal and the inner peripheral surface protrudes inward in the radial direction than the retreat portion 91a, when the male connector 73 (83) does not squeeze the inner cylinder member 92 toward the proximal end side, at least the locking ball 94 is locked. Partly retreat toward the retreat portion 9la. When the male connector 73 (83) is pushed into the base end member 92 toward the base end side, the lock ball 94 is pushed out inward in the radial direction by the protruding portion 91b and engaged with the engagement部 73b. 73b. Therefore, when the male connector 73 (83) pushes the inner cylinder member 92 into the process of putting the male connector 73 (83) and the female connector 74 (84) into a connected state, the locking ball 94 can be automatically engaged. In the engaging portion 73b. [0092] In the coupling device 9 of this embodiment, the inner diameter of the male connector 73 (or the female connector 84) located at the upstream end in the direction of fluid flow is a female connector 74 (located at the downstream end) Or the inside diameter of the male connector 83). Therefore, the flow path does not narrow sharply at the interface between the two connectors, and pressure loss can be suppressed. In particular, although the waste thread also flows inside the male connector 83 and the female connector 84 provided in the waste fiber path 8, the inner diameter of the female connector 84 at the upstream end is formed by the convex connector at the downstream end. Below the inner diameter of the type connector 83, it is possible to prevent the waste wire from being caught at the interface between the two connectors. [0093] Furthermore, in the spinning traction device 1 of this embodiment, the robot-side pressure-reduction hose 72 (robot-side supply pipe) and the equipment-side pressure-reduction hose 71 (device-side supply pipe) are used. Since the coupling device 9 is provided in between, the robot-side pressure-relief hose 72 and the equipment-side pressure-relief hose 71 can be easily removed and attached. [0094] Furthermore, in the spinning traction device 1 of this embodiment, the robot-side waste silk thread hose 82 (robot-side discharge pipe) and the equipment-side waste silk hose 81 (device-side discharge pipe) Since the coupling device 9 is provided in between, the robot-side waste thread hose 82 and the equipment-side waste thread hose 81 can be easily attached and detached. [0095] In the spinning traction device 1 of this embodiment, since the cylinder 57 is provided in the green manipulator 3, the manipulator 3 can be used to perform the manipulator-side air pressure hose 72 and the equipment. Removal and installation of the side pressure air hose 71, or removal and installation of the robot side waste silk thread 82 and the equipment side waste silk thread 81. [0096] (Other Embodiments) Although the embodiments of the present invention have been described above, the manner in which the present invention can be applied is not limited to the above-mentioned embodiments, and can be, as illustrated below, within the scope not departing from the spirit of the present invention. Apply appropriate changes. [0097] For example, in the above embodiment, the connection portions provided on the device side are male connectors 73 and 83, and the connection portions provided on the robot side are female connectors 74 and 84. However, the connection portion provided on the device side may be a female connector, and the connection portion provided on the robot side may be a male connector. [0098] In the above embodiment, the male connector 73 (83) and the female connector 74 (84) are detached and attached by moving the female connector 74 (84) on the robot side. However, the male connectors 73 (83) and the female connectors 74 (84) may be detached and attached by moving the male connectors 73 and 83 on the device side. [0099] In the above embodiment, the female connector 74 (84) on the robot side is moved upward to connect the male connector 73 (83) and the female connector 74 (84). However, the male connector 73 (83) and the female connector 74 (84) may be connected by moving the male connector 73 (83) on the device side downward. Alternatively, the male connector 73 (83) may be moved upward and the female connector 74 (84) may be moved downward at the same time. [0100] In the above embodiment, the device-side connection unit 40 is disposed above the robot-side connection unit 34, so that the device-side connection unit 40 has a position deviation correction function. However, the robot-side connection unit 34 may be disposed above the equipment-side connection unit 40 so that the robot-side connection unit 34 has a position deviation correction function. [0101] Further, in the above embodiment, the positioning bolt 45 functions as a positioning member. However, the specific form of the positioning member is not limited to bolts. For example, the positioning member may be fixed to the fixed base 42 by welding or the like. [0102] Further, in the above-mentioned embodiment, in order to improve the sliding property of the movable base 43, a sheet member 50 is provided between the fixed base 42 and the movable base 43. However, instead of providing the sheet member 50, the lower surface of the fixed base 42 or the upper surface of the movable base 43 may be coated with a material having a small coefficient of friction or processed to improve sliding properties. However, in the case where the sliding property is reduced due to abrasion or the like, if the sheet member 50 is provided separately as in the above embodiment, it is only necessary to replace the sheet member 50, which is preferable. [0103] In the above embodiment, the female connectors 74 and 84 on the robot side are attached to the common second support member 56. However, it is not necessary to attach the female connectors 74 and 84 to a common member, and the female connectors 74 and 84 may be separately moved. [0104] Furthermore, in the above embodiment, the device-side connection unit 40 is fixed to the guide rail 35 for the raw manipulator 3, but the place where the device-side connection unit 40 is fixed is not limited to this. [0105] Furthermore, in the above-mentioned embodiment, one for each of the spinning traction devices 2 provided in the spinning traction device 1, the compressed air supply section 5 and the waste yarn box 6. However, a compressed air supply unit 5 or a waste box 6 may be provided for each spinning traction device 2, or a compressed air supply unit 5 or a waste box 6 may be provided for each predetermined number of the spinning traction devices 2. [0106] Furthermore, in the above-mentioned embodiment, one spinning manipulator 3 is provided for all the spinning traction devices 2 provided in the spinning traction device 1. However, the head robot 3 may be provided for each predetermined number of the spinning traction devices 2. [0107] In addition, the series of operations related to the heading operation in the above-mentioned embodiment are all performed automatically by the heading robot 3 and the centralized control device 4. However, the operator may be caused to perform a part of the operation. For example, the operator can detach the male connector 73 (83) and the female connector 74 (84), or the operator can open and close the on-off valve 75. [0108] In the above-described embodiment, the on-off valve 75 is provided on the upstream side of the male connector 73. However, instead of providing the on-off valve 75, a built-in valve-type female connector 74 may be used, and a structure that automatically opens the valve upon connection may be adopted. [0109] Also, the control objects of the centralized control device 4 and the control objects of the robot control device 102 are not limited to the objects described in the above embodiment. For example, the centralized control device 4 may be configured to control the specific operation of the head robot 3. In addition, the robot control device 102 may control the on-off valve 75 or receive a detection signal from the connection sensor 76. [0110] In the above-mentioned embodiment, the “equipment-side supply pipe”, “robotic-side supply pipe”, “equipment-side discharge pipe”, and “robotic-side discharge pipe” of the present invention are each constituted by a hose. However, these pipes may be constituted by a metal pipeline or the like instead of a hose. [0111] Furthermore, in the above embodiment, the raw robot 3 is a suspension type that is suspended from the guide rail 35, but the raw robot 3 is not limited to the suspension type. For example, the raw robot 3 may be configured to walk on the ground. [0112] In the above embodiment, when the male connector 73 (83) and the female connector 74 (84) are connected, the female connector 74 (84) is opposed to the male connector 73 ( 83) Contact to move the movable base 43 from the positioning state to the movable state. However, the movable base 43 may be changed from the positioning state to the movable state by inserting the pin member 55 shown in FIG. 6 while contacting the guide tube 44. In this way, by contacting the pin member 55 with the guide tube 44, the movable base 43 is brought into a movable state, and deviation correction can be performed more stably.

[0113]

1‧‧‧ Spinning traction equipment

2‧‧‧ spinning traction device

3‧‧‧ raw head robot

4‧‧‧ centralized control device (control device)

4a‧‧‧Operation Department

4b‧‧‧Display

5‧‧‧Compressed air supply unit (compressed fluid supply unit)

6‧‧‧ Waste wire box (filament yarn waste department)

7‧‧‧Compressed air supply path (supply path for compressed fluid)

8‧‧‧ Waste wire path (thread exit path)

9‧‧‧ coupling device

11‧‧‧The first godet

12‧‧‧Second godet roller

13‧‧‧ Winding unit

14‧‧‧rail

15‧‧‧Aspirator

15a‧‧‧attraction

16‧‧‧ Silk Limiter

21‧‧‧ Fulcrum Guide

22‧‧‧ Traverse Guide

23‧‧‧ turntable

24‧‧‧ bobbin holder

25‧‧‧contact roller

31‧‧‧Main body

32‧‧‧ robotic arm

32a‧‧‧arm

32b‧‧‧Joint

33‧‧‧Head of life unit

34‧‧‧ Robot side connection unit

35‧‧‧rail

36‧‧‧ Wheel

37‧‧‧ Suction tube

37a‧‧‧Suction tube (suction holding member)

37b‧‧‧Compressed air tube

37c‧‧‧Attraction

37d‧‧‧through hole

38‧‧‧Cutter

40‧‧‧Equipment-side connection unit

41‧‧‧Fixed components

42‧‧‧Fixed base

42a‧‧‧Containment hole

43‧‧‧Movable base

43a‧‧‧ Positioning hole

43b‧‧‧ tapered surface

43c‧‧‧holding hole

43d‧‧‧Containment hole

44‧‧‧Guide

45‧‧‧locating bolt

45a‧‧‧Shaft

45b‧‧‧Positioning Department

46‧‧‧ retaining bolt

46a‧‧‧Shaft

46b‧‧‧holding department

47‧‧‧Retaining washer

48‧‧‧spring

49‧‧‧ cover member

50‧‧‧ sheet member

51‧‧‧ base member

52‧‧‧Guide members

53‧‧‧ sliding member

54‧‧‧ the first supporting member

55‧‧‧pin member

56‧‧‧ 2nd support member (support member)

57‧‧‧Cylinder (Driver)

71‧‧‧Hose for compressed air on the equipment side (supply pipe on the equipment side)

71a‧‧‧Main Hose (Supervisor)

71b‧‧‧Sub-hose (branch)

72‧‧‧ Robot-side compressed air hose (robot-side supply pipe)

73‧‧‧ male connector

73a‧‧‧Circular groove

73b‧‧‧ Engagement Department

74‧‧‧ female connector (movable connector)

75‧‧‧Open and close valve

76‧‧‧Connect the sensor (detection section)

80‧‧‧O-ring

81‧‧‧Hose for equipment waste wire (equipment side discharge pipe)

81a‧‧‧Main hose

81b‧‧‧Sub hose

82‧‧‧Hose for robot waste wire

83‧‧‧ male connector

84‧‧‧ female connector (movable connector)

91‧‧‧ Outer tube member

91a‧‧‧Retreat

91b‧‧‧ protrusion

92‧‧‧Inner tube member

92a‧‧‧large diameter section

92b‧‧‧ Trail

92c‧‧‧Step Department

92d‧‧‧containment hole

93‧‧‧Spring

94‧‧‧ lock ball

101‧‧‧ Winding control device

102‧‧‧ Manipulator control device (control section)

111‧‧‧The first godet motor

Y‧‧‧silk thread

[0024] FIG. 1 is a schematic structural view of a spinning traction device according to this embodiment; FIG. 2 is a front view of a spinning traction device and a raw manipulator; FIG. 3 is a side view of the spinning traction device and a raw manipulator. Views; FIG. 4 is a block diagram showing the electrical structure of the spinning traction equipment; FIG. 5 is a cross-sectional view of the suction tube; FIG. 6 is a side view of the coupling device; FIG. 7 is a bottom view of the supporting unit; -Ⅷ A sectional view of a cross section; Fig. 9 is a cross-sectional view of a male connector and a female connector; Figs. 10 (a) to (c) are cross-sectional views showing a disassembly operation of the male connector and the female connector; Fig. 11 is A flowchart showing a series of operations related to the jacking operation.

Claims (9)

A coupling device is connected by inserting a male connector relatively into a female connector, and is characterized in that: It is provided with a drive unit by at least one of the male connector and the female connector. One movable connector is moved between an initial position where the other connector is not connected and a connected connection position, and the male connector and the female connector are disassembled, and the female connector has: An outer tube member extending in the axial direction, and the outer tube member is provided inside the outer tube member so as to be relatively movable in the axial direction, and is squeezed by the male connector when the male connector is inserted. The inner cylinder member extending in the axial direction and the spring urging the inner cylinder member from the base end side to the tip end side of the female connector, the driving part is connected by moving the movable connector toward the The position is moved so that the male connector resists the urging force of the spring to squeeze the inner cylinder member toward the base end side. It becomes the connected state by the movable connector will be maintained at the connection position, so that the connection state is maintained by the movable connector to return to the initial position, so that the connected state is released. For example, the coupling device of the scope of patent application, wherein is ensured: when the movable connector is located at the connection position, the convex connector can squeeze the inner tube member toward the base end side. For example, the coupling device according to item 1 or 2 of the patent application, wherein: a stepped portion having an inner diameter on the front end side larger than the inner diameter on the base end side is formed on the inner peripheral surface of the inner cylinder member, The top end of the male connector is in contact with the stepped portion, so that the male connector can squeeze the inner tube member toward the base end side. For example, the coupling device according to any one of claims 1 to 3, wherein the inner cylinder member is provided with a locking ball that can protrude from the inner peripheral surface of the inner cylinder member toward the inner side in the radial direction, and The outer peripheral surface of the type connector is formed with a concave engaging portion capable of engaging with the lock ball. 时 In the connected state, the lock ball protrudes from the inner peripheral surface of the inner cylinder member toward the inside in the radial direction, and engages with the card. The joint is engaged. The coupling device according to item 4 of the patent application, wherein: an inner peripheral surface of the outer cylinder member is formed with: a recessed recessed portion where at least a part of the lock ball can be retracted, and is formed more than the retracted portion A protruding portion that is closer to the base end side and has an inner peripheral surface protruding inward in the radial direction than the retreat portion. At least a part of the lock ball when the male connector is not pushed into the base end side by the male connector Retreat toward the retreat, If the male connector is pushed into the base end side, the lock ball is squeezed inward in the radial direction by the protrusion and is engaged with the engagement unit. For example, in the coupling device according to any one of claims 1 to 5, when the internal fluid of the male connector and the female connector in the aforementioned connection state flows, the connection is located at the upstream end in the direction of fluid flow. The inner diameter of the connector is equal to or smaller than the inner diameter of the connector at the downstream end. A spinning traction device includes a spinning traction device and a suction holding member capable of sucking and holding a yarn by a negative pressure generated by the supply of a compressed fluid, and holding the yarn by the suction holding member. A spinning manipulator that performs spinning operations by the spinning traction device, and a compressed fluid supply unit that supplies compressed fluid to the spinning manipulator; and a supply path of the compressed fluid from the compressed fluid supply unit to the suction holding member, : An equipment-side supply pipe extending from the compressed fluid supply unit to the spinning traction device, and a robot-side supply pipe connected to the suction holding member, between the robot-side supply pipe and the equipment-side supply pipe There is a coupling device such as any one of claims 1 to 6 in the scope of patent application. A spinning traction device includes: a spinning traction device and a suction holding member capable of sucking and holding a yarn, while holding the yarn by the suction holding member, and performing a spinning operation on the spinning traction device; A robot arm and a yarn waste portion for discarding the yarn attracted by the suction holding member, The yarn discharge path from the suction holding member to the yarn waste portion includes: 排出 discharge by a robot side connected to the suction holding member A tube and a device-side discharge pipe extending from the spinning traction device to the yarn waste section, 任 Between the robot-side discharge pipe and the device-side discharge pipe, any of the items 1 to 6 of the scope of patent application is provided. One coupling device. For example, the spinning traction equipment according to item 7 or 8 of the scope of the patent application, wherein: 设有 the aforementioned head manipulator is provided with the aforementioned driving section.