CN109195893A - Work robot and the fiber for having Work robot are mechanical - Google Patents
Work robot and the fiber for having Work robot are mechanical Download PDFInfo
- Publication number
- CN109195893A CN109195893A CN201880002183.7A CN201880002183A CN109195893A CN 109195893 A CN109195893 A CN 109195893A CN 201880002183 A CN201880002183 A CN 201880002183A CN 109195893 A CN109195893 A CN 109195893A
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- China
- Prior art keywords
- mentioned
- terminal
- silk thread
- maintaining part
- work robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
- B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D13/00—Complete machines for producing artificial threads
- D01D13/02—Elements of machines in combination
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D7/00—Collecting the newly-spun products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/50—Auxiliary process performed during handling process
- B65H2301/53—Auxiliary process performed during handling process for acting on performance of handling machine
- B65H2301/532—Modifying characteristics of surface of parts in contact with handled material
- B65H2301/5321—Removing electrostatic charge generated at said surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
- B65H2701/313—Synthetic polymer threads
- B65H2701/3132—Synthetic polymer threads extruded from spinnerets
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
- Forwarding And Storing Of Filamentary Material (AREA)
- Guides For Winding Or Rewinding, Or Guides For Filamentary Materials (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The hanging wire robot (3) for carrying out hanging wire operation to traction device (2) has: robot body (31)；It is linked to the mechanical arm (32) of robot body (31)；It is installed on mechanical arm (32) and keeps the suction nozzle (37) of silk thread；Robot controller (102)；And the terminal (55d) contacted with the ground line (54) of ground connection, it is formed with the conductive path (60) for not extending to terminal (55d) via robot controller (102) since suction nozzle (37), suction nozzle (37) and terminal (55d) being connected, suction nozzle (37) connect to be grounded via conductive path (60) and terminal (55d) with ground line (54).Therefore, it will can promptly be removed because with due to the contact of silk thread (Y) in the electrostatic that suction nozzle (37) generate, and be able to suppress charge and flowed towards robot controller (102) and generate adverse effect.
Description
Technical field
The present invention relates to the Work robot for carrying out predetermined operation relevant to silk thread to silk thread processing unit and have
The fiber of Work robot is mechanical.
Background technique
As an example of silk thread processing unit, disclosing in patent document 1 will be from the spun a plurality of Filament winding of spinning machine
The spinning traction device of package is formed in multiple bobbins.In detail, spinning traction device has: the 1st, the 2nd godet, more
A traversing fulcrum filar guide, multiple traverse motion threadguides etc..A plurality of silk thread is hung on the 1st, the 2nd godet, and further lodge in
Each traversing fulcrum filar guide.Lodge is byed to roll up while moving back and forth by traverse motion threadguide in the silk thread of traversing fulcrum filar guide
It is around in bobbin.
In patent document 1, by operator carry out by spun a plurality of silk thread lodge in the extension of spinning traction device
Silk operation.Specifically, being hung on the 1st, the 2nd godet using a plurality of silk thread of suction gun attracting holding, and by a plurality of silk thread.Into one
Step, by a plurality of silk thread difference lodge in each of multiple traversing fulcrum filar guides.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2015-78455 bulletin
Summary of the invention
Problems to be solved by the invention
In contrast, from improving production efficiency, cutting down the viewpoints such as cost, research equipment replaces applicant of the present invention
Operator carries out the hanging wire robot of operation as described above relevant to silk thread.For example, hanging wire robot has setting
There is the arm for the maintaining part for attracting silk thread, by silk thread lodge in godet etc. and acting the arm lightheartedly.
However, consideration can be such that maintaining part charges because maintaining part is with thread contact in hanging wire robot as described above
To generate electrostatic.Especially in the spinning traction device as patent document 1, above-mentioned maintaining part attracts to be connected from device for spinning
The silk thread exported continuously, therefore be easy to accumulate a large amount of charge in maintaining part.If the control system of the charge towards robot flows,
Then worry that adverse effect can be generated to control system.
It is an object of the invention to promptly remove the electrostatic generated in maintaining part and inhibit the electrostatic to control unit
It influences.
Means for solving the problems
The Work robot of 1st invention is the working rig that scheduled operation relevant to silk thread is carried out to silk thread processing unit
Device people, which is characterized in that have: robot body；Arm is linked to above-mentioned robot body；Maintaining part is installed on said arm
Portion, and keep silk thread；Control unit；And the 1st terminal, the 1st ground member contact with ground connection, above-mentioned Work robot are formed with
Conductive path, the conductive path do not extend to above-mentioned 1st terminal via above-mentioned control unit since above-mentioned maintaining part, make above-mentioned
Maintaining part is connected with above-mentioned 1st terminal, and above-mentioned maintaining part is via above-mentioned conductive path and above-mentioned 1st terminal and above-mentioned 1st ground connection
Component is connected and is grounded.
According to the present invention, in the Work robot for carrying out scheduled operation relevant to silk thread to silk thread processing unit,
It is formed with conductive path, which does not extend to the 1st terminal since the maintaining part for keeping silk thread via control unit, makes
Maintaining part is connected with the 1st terminal.That is, maintaining part is not connected in series at least with control unit.Maintaining part via the conductive path and
1st terminal connect with the 1st grounded parts and is grounded.Thus, it is possible to quiet by being generated due to the contact with silk thread in maintaining part
Electricity promptly removes, and is able to suppress charge and flows towards control unit and generate adverse effect.
The Work robot of 2nd invention is characterized in that, in above-mentioned 1st invention, above-mentioned conductive path includes from above-mentioned
The wiring that maintaining part extends, above-mentioned wiring and above-mentioned control unit insulate.
The wiring that conductive path is included extends from maintaining part, and wiring and control unit insulate, and therefore, can prevent from keeping
The charge that portion generates flows directly into control unit from wiring.
The Work robot of 3rd invention is characterized in that in above-mentioned 2nd invention, at least part of above-mentioned wiring is set
It is placed in above-mentioned robot body, above-mentioned wiring insulate with above-mentioned control unit by insulator.
Even if in the case where the grounding path as maintaining part and a part of wiring are set to robot body, due to
Wiring insulate with the control unit in robot body by insulator, therefore is able to suppress the charge generated in maintaining part towards control
Portion's flowing processed.
The Work robot of 4th invention is characterized in that, in above-mentioned 3rd invention, above-mentioned insulator is matched along above-mentioned
Line extends and the insulation coating of the above-mentioned wiring of covering.
Since the insulation coating that extends along wiring covers wiring, can by as the grounding path of maintaining part extremely
The grounding path of at least part of wiring and control unit reliably insulate.
The Work robot of 5th invention is characterized in that, in any invention in the above-mentioned 1st~the 4th, above-mentioned maintaining part
It is grounded by the grounding path different from the grounding path of above-mentioned control unit.
In the present invention, maintaining part is grounded by the grounding path different from the grounding path of control unit, therefore can
The charge generated in maintaining part is reliably prevented to flow towards control unit.
The Work robot of 6th invention is characterized in that, in above-mentioned 5th invention, has the 2nd terminal, the 2nd terminal with
Different from above-mentioned 1st grounded parts, the 2nd ground member contact that is grounded, the conductive frame of above-mentioned robot body
The grounding parts of frame, above-mentioned control unit are connected via said frame with above-mentioned 2nd terminal.
The grounding parts of control unit are connected with the 2nd terminal via the frame of the electric conductivity of robot body and are grounded, another
Aspect, maintaining part are grounded via the conductive path except frame.Thus, it is possible to be reliably prevented the charge generated in maintaining part
It is flowed towards control unit.
The Work robot of 7th invention is characterized in that, in any invention in the above-mentioned 1st~the 4th, above-mentioned maintaining part
And above-mentioned control unit is all connected with above-mentioned 1st terminal, connect and is grounded with above-mentioned 1st grounded parts.
Even if in the case where maintaining part and control unit both sides connect and are grounded with the 1st grounded parts, due to making to keep
The conductive path of portion and the conducting of the 1st terminal is able to suppress and directly flows in the charge that maintaining part generates not via control unit
Enter control unit.
The Work robot of 8th invention is characterized in that, in any invention in the above-mentioned 1st~the 7th, has traveling
Portion, the travel section make above-mentioned robot body along the guide rail row extended in the orientation of multiple above-mentioned silk thread processing units
Into above-mentioned 1st terminal is set to above-mentioned travel section.
Work robot of the invention is advanced between multiple silk thread processing units along guide rail, and is becoming manipulating object
Silk thread processing unit before stop and carry out operation.In this configuration, the traveling with guide rail contact is set due to the 1st terminal
Therefore portion by being arranged the 1st grounded parts at or near guide rail, can readily insure that the grounding path of maintaining part.
The Work robot of 9th invention is characterized in that, in above-mentioned 8th invention, is provided with along above-mentioned guide rail above-mentioned
1st grounded parts is set to above-mentioned 1st terminal and above-mentioned 1st ground member contact of above-mentioned travel section.
In the present invention, the 1st grounded parts is arranged along guide rail, therefore can make the 1st terminal and the 1st grounded parts always
Contact can make the charge generated in maintaining part reliably escape.
The Work robot of 10th invention is characterized in that in above-mentioned 8th or the 9th invention, above-mentioned travel section has
At least with the contact surface of above-mentioned guide rail at insulating properties wheel, the position except the above-mentioned wheel of above-mentioned travel section is set
It is equipped with the 1st terminal.
When travel section wheel there is insulating properties with the contact surface of guide rail contact in the case where, in the electricity that maintaining part generates
Lotus can not escape via wheel towards guide rail.Even if in this case, according to the present invention, travel section is arranged in the 1st terminal
Position except wheel, therefore the charge generated in maintaining part can be made to escape via the 1st terminal towards the 1st grounded parts.
The Work robot of 11st invention is characterized in that, in above-mentioned 10th invention, above-mentioned guide rail configuration is in above-mentioned machine
Above the mobile space of device human agent, above-mentioned robot body is advanced with the state suspended in midair from above-mentioned guide rail.
In the case where being formed as wheel with insulating properties and structure that robot body suspends in midair from guide rail, and on the ground
The case where traveling, is compared and is difficult to be grounded.Even if in this case, according to the present invention, maintaining part is via conductive path and
1 terminal and connect with the 1st grounded parts, therefore can ensure grounding path.
The Work robot of 12nd invention is characterized in that, in above-mentioned 8th invention, above-mentioned 1st grounded parts is by leading
The above-mentioned guide rail that conductive component is formed is set to above-mentioned 1st terminal and above-mentioned guide rail contact of above-mentioned travel section.
In the present invention, be formed as being that the 1st grounded parts, the 1st terminal and guide rail connect by the guide rail that electroconductive component is formed
The structure of touching, therefore the charge generated in maintaining part can be made reliably to escape.
The Work robot of 13rd invention is characterized in that, in above-mentioned 12nd invention, above-mentioned travel section has by conductor
The wheel of formation, above-mentioned 1st terminal is above-mentioned wheel.
In the case where wheel is formed by conductor, the electricity generated in maintaining part can be made via the wheel and conductive path
Lotus escapes from wheel towards guide rail.
The Work robot of 14th invention is characterized in that in above-mentioned 1st invention, having extension component, the extension
Part extends from above-mentioned maintaining part towards above-mentioned 1st grounded parts, and above-mentioned conductive path includes the wiring extended from above-mentioned maintaining part, on
At least part for stating wiring is configured along above-mentioned extension component.
In the present invention, wiring is configured along the extension component extended from maintaining part towards the 1st grounded parts, therefore can be borrowed
The route left from the robot body for being provided with control unit is helped to ensure the grounding path of maintaining part.
The Work robot of 15th invention is characterized in that, in above-mentioned 14th invention, above-mentioned extension component and above-mentioned
At least part of wiring passes through in the inside of above-mentioned arm, and above-mentioned wiring and above-mentioned control unit insulate by insulator.
In the present invention, extension component and wiring passes through in the inside of arm and wiring and control unit are by insulator
And it insulate.Therefore, it is able to suppress the charge generated in maintaining part and flows into control unit, and these components and arm can be prevented dry
It relates to, the freedom degree of the movement of arm improves.
The Work robot of 16th invention is characterized in that, in above-mentioned 14th or the 15th invention, above-mentioned maintaining part tool
There is the suction unit for attracting silk thread, above-mentioned extension component is the hose for being connected to above-mentioned suction unit.
In the present invention, hose extends from suction unit towards the 1st grounded parts, therefore, by connect along the hose towards the 1st
The mode that ground component extends configures wiring, and wiring can be made around robot body.Thus, it is possible to make the grounding path of maintaining part
It is reliably left from the grounding path of the control unit in robot body.
The Work robot of 17th invention is characterized in that, in above-mentioned 16th invention, above-mentioned hose and fixed configurations
Fluid piping connection is equipped in the end of above-mentioned hose and above-mentioned suction unit opposite side for the soft of above-mentioned 1st terminal setting
Pipe side connector is provided with above-mentioned 1st grounding parts in the piping side connector of above-mentioned fluid piping connecting with above-mentioned hose side connector
Part.
According to the present invention, when hose side connector is assemblied in piping side connector, while the ground connection road of maintaining part is ensured
Diameter, therefore the labour for ensuring grounding path, time can be saved.Also, for ensuring that the construction of grounding path becomes simple.
The Work robot of 18th invention is characterized in that, in any invention in the above-mentioned 1st~the 17th, above-mentioned conduction
Path includes the wiring extended from above-mentioned maintaining part, and above-mentioned wiring has flexibility or is set to flexible component.
In the case where there is wiring flexible or wiring to be set to flexible component, when the operation in robot
When middle maintaining part is mobile, wiring can follow the movement of maintaining part.
The Work robot of 19th invention is characterized in that, in any invention in the above-mentioned 1st~the 18th, above-mentioned silk thread
Processing unit has to the tractive unit drawn from the spun silk thread in spinning portion of device for spinning, and above-mentioned control unit is in above-mentioned guarantor
Holding portion continuously attracts capture in the state of the above-mentioned spun silk thread in spinning portion, and above-mentioned maintaining part is made to carry out above-mentioned scheduled work
Industry.
In the case where silk thread processing unit has to the tractive unit drawn from the spun silk thread of device for spinning, due to
Silk thread is continuously spun from device for spinning, therefore, during control unit makes maintaining part carry out scheduled operation, maintaining part and silk
Line continuously rubs, and thus the carried charge of maintaining part tends to get bigger.Even if in this case, in the present invention, maintaining part
It is not connected in series at least, therefore the electrostatic generated in maintaining part can promptly be removed, and electricity can be prevented with control unit
Lotus is flowed towards control unit and generates adverse effect.
The Work robot of 20th invention is characterized in that, above-mentioned predetermined in any invention in the above-mentioned 1st~the 19th
Operation be the silk thread lodge that will be kept by above-mentioned maintaining part in the hanging wire operation of above-mentioned silk thread processing unit.
Work robot of the invention is the hanging wire robot carried out towards the hanging wire operation of silk thread processing unit.In hanging wire
When, it needs to keep silk thread mobile while keeping silk thread using maintaining part, therefore be easy due to the contact with silk thread in maintaining part
Generate charge.Thus, especially in such a configuration, from the viewpoint of protecting control unit, make maintaining part and control unit extremely
It is few not to be connected in series, so as to be useful by the way that the electrostatic generated in maintaining part promptly removes.
The fiber of 21st invention is mechanical to be characterized in that having: silk thread processing unit；Grounded parts is set to above-mentioned silk
It line processing unit and is grounded；And Work robot, scheduled work relevant to silk thread is carried out to above-mentioned silk thread processing unit
Industry, above-mentioned Work robot have: robot body；Arm is linked to above-mentioned robot body；Maintaining part is installed on above-mentioned
Arm, and keep silk thread；Control unit；And terminal, with above-mentioned ground member contact, above-mentioned Work robot is formed with conductive path
Diameter, the conductive path do not extend to above-mentioned terminal via above-mentioned control unit since above-mentioned maintaining part, make above-mentioned maintaining part with
Above-mentioned terminal conducting, above-mentioned maintaining part connect with above-mentioned grounded parts via above-mentioned conductive path and above-mentioned terminal and are grounded.
In the fiber machinery for having silk thread processing unit, grounded parts and Work robot, the guarantor of Work robot
It holds portion not to be grounded via control unit, therefore the electrostatic generated in maintaining part can promptly be removed, and be able to suppress electricity
Lotus is flowed towards control unit and generates adverse effect.Thus, it is possible to realize the steady running of fiber machinery.
Detailed description of the invention
Fig. 1 is the brief configuration figure of spun yarn taking-off apparatus involved in present embodiment.
Fig. 2 is the block diagram for showing the electrical structure of spun yarn taking-off apparatus.
Fig. 3 is the main view of traction device and hanging wire robot.
Fig. 4 is the side view of traction device and hanging wire robot.
Fig. 5 is the main view of hanging wire robot.
Fig. 6 is the cross-sectional view of the suction nozzle of hanging wire robot.
Fig. 7 is the figure of the travel section for showing hanging wire robot and its structure on periphery.
Fig. 8 is the enlarged drawing of the travel section of hanging wire robot.
Fig. 9 is the brief description figure of the grounding path of suction nozzle and the grounding path of robot controller.
Figure 10 is the flow chart for showing a series of processing relevant to hanging wire operation.
Figure 11 is the main view of hanging wire robot involved in variation.
Figure 12 is the side view of hanging wire robot involved in other variations.
Figure 13 is the side view of hanging wire robot involved in another other variations.
Figure 14 is the enlarged drawing of the travel section of hanging wire robot involved in another other variations.
Figure 15 is the brief description figure of the grounding path of suction nozzle and the grounding path of robot controller.
Figure 16 is the enlarged drawing of the travel section of hanging wire robot involved in another other variations.
Figure 17 is the main view of traction device involved in another other variations and hanging wire robot.
Specific embodiment
In the following, embodiments of the present invention will be described by referring to Fig.1~Figure 10.
(brief configuration of spun yarn taking-off apparatus)
Fig. 1 is the letter for being observed from the front spun yarn taking-off apparatus 1 involved in present embodiment (fiber of the invention is mechanical)
Figure.Spun yarn taking-off apparatus 1 has traction device 2 (silk thread processing unit of the invention), (operation of the invention of hanging wire robot 3
Robot), central control device 4 etc..Hereinafter, as shown in Figure 1, the direction that multiple traction devices 2 are arranged is set as right and left
To.Also, in Fig. 1, the direction vertical with paper is set as front-rear direction, it will be orthogonal with left and right directions and front-rear direction
Direction is set as up and down direction.
Multiple traction devices 2 arrange in left-right direction, spin respectively to the spinning portion 5 of the device for spinning from configuration above
Silk thread Y drawn, and be wound in multiple mound bobbins B and formed package P.The configuration of hanging wire robot 3 is filled in multiple tractions
2 front is set, and is moved in left-right direction, hanging wire operation (scheduled operation of the invention) is carried out to traction device 2.Concentrate control
Device 4 processed and the coiling control device 101 of aftermentioned traction device 2 and the robot controller 102 of hanging wire robot 3
(control unit of the invention) electrical connection (referring to Fig. 2), and communicated with these control devices.
(electrical structure of spun yarn taking-off apparatus)
In the following, being illustrated using electrical structure of the Fig. 2 to spun yarn taking-off apparatus 1.Fig. 2 is to show spun yarn taking-off apparatus 1
Electrical structure block diagram.Spun yarn taking-off apparatus 1 has the central control device 4 for carrying out the control of equipment entirety.Each
Traction device 2 is provided with coiling control device 101, and coiling control device 101 is to the dynamic of each driving portion for being set to traction device 2
It is controlled.Also, hanging wire robot 3 is provided with robot controller 102,102 pairs of robot controller settings
It is controlled in the movement of each driving portion of hanging wire robot 3.Central control device 4 and each coiling control device 101 and machine
Device people control device 102 passes through wireless or wired connect in a manner of it can communicate.
(traction device)
In the following, being illustrated using structure of the Fig. 3 and Fig. 4 to traction device 2.Fig. 3 is traction device 2 and hanging wire machine
The main view of device people 3.Fig. 4 is the side view of traction device 2 and hanging wire robot 3.
As shown in Figure 3 and 4, traction device 2 has: for spinning to from the spinning portion 5 (referring to Fig.1) of device for spinning
The tractive unit 10 that is drawn of silk thread Y；And it is formed for the silk thread Y after being drawn to be wound in multiple mound bobbins B
The winder unit 13 of P is wrapped.
There is tractive unit 10 the 1st godet 11, the 2nd godet 12, aspirator device 15, silk thread to limit filar guide 16.
1st godet 11 is the axial and substantially parallel roller of left and right directions, and is configured in the front end of winder unit 13
Top.1st godet 11 is driven by the 1st seal wire roller motor 111 (referring to Fig. 2) rotation.2nd godet 12 is axial direction and right and left
To substantially parallel roller, configure in the position compared to the 1st godet 11 against the top and rearward.2nd godet 12 is by the 2nd seal wire
Roller motor 112 (referring to Fig. 2) rotation driving.
2nd godet 12 can be moved by the bearing of guide rail 14.Guide rail 14 obliquely extends upward and towards the rear.2nd
Godet 12 is configured to move by cylinder body (not shown) along guide rail 14.The 2nd godet 12 can carry out silk as a result,
It is moved between winding position when the winding of line Y and hanging wire position when configuring close to the 1st godet 11 and carry out hanging wire operation.
In Fig. 4, the 2nd godet 12 when positioned at winding position is indicated by the solid line, the list of the 2nd godet 12 when positioned at hanging wire position
Chain-dotted line indicates.
Aspirator device 15 is for before the hanging wire operation executed by hanging wire robot 3, in advance spin to from device for spinning
A plurality of silk thread Y carry out attracting holding component.Aspirator device 15 is configured in the top of the 1st godet 11.
Silk thread limitation filar guide 16 is configured in the up-down direction between the 1st godet 11 and aspirator device 15.Silk thread limitation
Filar guide 16 is, for example, the filar guide of well known comb teeth-shaped, be for when being wrapping with a plurality of silk thread Y by adjacent silk thread Y each other
Interval be defined as the component of scheduled value.Silk thread limitation filar guide 16 is configured to by cylinder body (not shown) in right and left
To movement.Silk thread limitation filar guide 16 can be outstanding prominent in the front end compared to the 1st godet 11 in the lateral direction as a result,
It is moved between out position and the retreating position being converged in the range of the 1st godet 11 is configured.
Winder unit 13 has multiple fulcrum filar guides 21,23,2 multiple traverse motion threadguides 22, turntable coil holders 24
With contact roller 25.
Multiple fulcrum filar guides 21 are provided independently from relative to a plurality of silk thread Y phase, and are arranged in front-rear direction.Multiple traversings
Filar guide 22 is provided independently from relative to a plurality of silk thread Y phase, and is arranged in front-rear direction.Multiple traverse motion threadguides 22 are by common
Traversing motors 116 (referring to Fig. 2) driving, moves back and forth in front-rear direction.Be hung on as a result, the silk thread Y of traverse motion threadguide 22 with
Fulcrum filar guide 21 is center traversing.
Turntable 23 is the axial and substantially parallel disk-shaped component of front-rear direction.Turntable 23 is by 117 (reference of turntable motor
Fig. 2) rotation driving.2 coil holders 24 are axial substantially parallel with front-rear direction respectively, and are rotatably freely supported in turntable
23 upper end and lower end.In each coil holder 24, it is equipped with side by side in front-rear direction independent relative to a plurality of silk thread Y phase
Multiple mound bobbins B of ground setting.Also, 2 coil holders 24 are respectively by individual collecting motor 118 (referring to Fig. 2) rotation
Driving.
Contact roller 25 be in axial direction and the substantially parallel roller of front-rear direction, and configuration upside coil holder 24 it is tight on
Side.Contact roller 25 with the surface of the multiple package P supported by the coil holder 24 of upside and contacting to the package P in winding
Surface assign contact pressure, so as to adjust package P shape.
In the winder unit 13 with above such structure, if the coil holder 24 of upside is driven in rotation, borrow
The silk thread Y of 22 traversing of traverse motion threadguide is helped to be wound in mound bobbins B, to form package P.Also, expire the feelings of cylinder in package P
Under condition, by rotating turntable 23, the upper and lower location swap of 2 coil holders 24.It is located at the bobbin branch of downside originally as a result,
Frame 24 is moved to upside, can wind silk thread Y towards the mound bobbins B for being assemblied in the coil holder 24 and form package P.Also,
The coil holder 24 for being equipped with the package P of full cylinder is moved to downside, and the not shown package recyclable device recycling of P is wrapped.
(hanging wire robot)
In the following, being illustrated using structure of Fig. 5~Fig. 8 to hanging wire robot 3.Fig. 5 is the main view of hanging wire robot 3
Enlarged drawing.Fig. 6 is the cross-sectional view of aftermentioned suction nozzle 37 (maintaining part of the invention).Fig. 7 be show aftermentioned travel section 34 and
The figure of the structure on its periphery.Fig. 8 is the enlarged drawing of travel section 34.
Hanging wire robot 3 is the device for multiple traction devices 2 to be carried out with hanging wire operation.Firstly, being filled in multiple tractions
It sets 2 front and is 2 tracks 35 (guide rail of the invention) that top extends configured with the orientation along traction device 2
(referring to Fig.1).2 tracks 35 are supported (referring to Fig.1) by pillar 40 from ceiling.Hanging wire robot 3 is by from 2 tracks
35 suspentions, and be configured to advance along 2 tracks 35.If issuing hanging wire request signal, hanging wire from a certain traction device 2
Robot 3 is moved to the front of the traction device 2, and the tractive unit 10 and winder unit 13 to the traction device 2 carry out hanging wire
Operation.
As shown in figure 5, hanging wire robot 3 mainly has: robot body 31；It is mounted on the lower part of robot body 31
Mechanical arm 32 (arm of the invention)；It is mounted on the hanging wire unit 33 of the front end of mechanical arm 32；And it is arranged in robot master
The travel section 34 on the top of body.Robot body 31 is the component of approximately cuboid shape, has metal frame 41 and receives
Hold the shell 42 etc. of frame 41.In the inside of robot body 31 equipped with for controlling the dynamic of mechanical arm 32, hanging wire unit 33
Robot controller 102 of work etc..Robot controller 102 is for controlling aftermentioned hanging wire unit 33, mobile motor
121, the device of arm motor 122 etc..
Mechanical arm 32 is the component for acting hanging wire unit 33 dimensionally, is mounted on the lower part of robot body 31.
Mechanical arm 32 has multiple arm 32a and multiple joint portion 32b that arm 32a is connected to each other.Arm horse is built-in in each joint portion 32b
Up to 122 (referring to Fig. 2), if arm motor 122 is driven, arm 32a is rotated centered on joint portion 32b.32 energy of mechanical arm as a result,
It is enough dimensionally to act.
Hanging wire unit 33 is the component for keeping silk thread Y etc. in hanging wire operation, is mounted on the front end of mechanical arm 32.
Hanging wire unit 33 includes the suction nozzle 37 for attract to silk thread Y capture；And the cutter 38 for cutting off silk thread Y.
Suction nozzle 37 includes the suction tube 37a linearly extended as shown in Figure 6；And it is integrally attached to suction tube
The air-pressure tube 37b of the midway portion of 37a.Suction port 37c (this for attracting silk thread Y is formed in the one end of suction tube 37a
The suction unit of invention), the other end of suction tube 37a be connected with waste silk line hose 82 (extension component of the invention and
Hose).Also, the one end of air-pressure tube 37b is connected to via intercommunicating pore 37d with suction tube 37a, in the another of air-pressure tube 37b
End is connected with pneumatics hose 72.Waste silk line hose 82 and pneumatics hose 72 have flexibility, can follow suction nozzle
37 movement and act.Intercommunicating pore 37d is formed obliquely relative to suction tube 37a, is formed as then getting over nearer it is to suction tube 37a
It is the another side positioned at suction tube 37a.
Also, the conducting wire 63 (wiring of the invention) be connected with suction nozzle 37 is provided in the front end of suction tube 37a.Conducting wire
63 be flexible electroconductive component, and is covered with the insulation coating 64 (insulator of the invention) extended along conducting wire 63.
Insulation coating 64 is, for example, the insulating part being made of PVC etc..The details of conducting wire 63 is aftermentioned.
Pneumatics hose 72 and waste silk line hose 82 are such as shown in (a) of Fig. 5 and Fig. 7 in the outer of robot body 31
Side extends towards the direction different from mechanical arm 32, near the travel section 34 for reaching the top of robot body 31.Such as Fig. 7
(a) shown in, pneumatics hose 72 and the end of suction port 37c opposite side are provided with connector 73.Equally, it is used in waste silk line
Hose 82 is provided with connector 83 (hose side connector of the invention) with the end of suction port 37c opposite side.Connector 73,83
It is supported from below by bearing part 75, bearing part 75 is for example supported by cylinder body (not shown) from below.Cylinder body is formed to
The structure driven along the vertical direction.Also, in the top of connector 73,83, piping 71 fixedly is used configured with pneumatics and is given up
Silk thread 81 (fluid pipings of the invention) of piping are provided with connector 74 in piping 71 in pneumatics, are piped in waste silk line
Connector 84 (piping side connector of the invention) is provided on 81.Connector 74,84 is by configuring the pedestal between 2 tracks 35
70 bearings.Connector 73 is configured to load and unload relative to connector 74, and connector 83 is formed to relative to connector 84
Handling.According to this structure, it is driven by cylinder body, bearing part 75 moves upward, and connector 73,83 assembles respectively
In connector 74,84.
It is flowed as shown in solid arrow in Fig. 6 with hose 72 towards the compressed air that suction nozzle 37 supplies by pneumatics.I.e.,
Compressed air is flowed when flowing into suction tube 37a from air-pressure tube 37b from the one end of suction tube 37a towards another side.By this
The flowing of compressed air generates negative pressure in suction port 37c and generates attraction (referring to the arrow of the dotted line of Fig. 6), fills from spinning
Spun silk thread Y is set continuously to be attracted from suction port 37c.From the silk thread Y that suction port 37c is attracted by suction tube 37a
Air flowing and be discharged towards waste silk line hose 82.
Travel section 34 is the component for making robot body 31 advance along 2 tracks 35.It is double in such as Fig. 5 of travel section 34
The top of robot body 31 is set shown in chain-dotted line.As shown in (a) of Fig. 7, (b), travel section 34 has for example by rubber
Equal formation, 4 wheels 36 with insulating properties.Every 2 sides to be contacted with the upper surface of each track 35 in 4 wheels 36
Formula configuration, robot body 31 are suspended in midair by 4 wheels 36 from 2 tracks 35.In other words, 2 track configurations are in machine
Above the mobile space of human agent 31.Also, 4 wheels 36 are driven by mobile motor 121 (referring to Fig. 2) rotation.Pass through 4 vehicles
Wheel 36 is driven in rotation, and robot body 31 advances in left and right directions along 2 tracks 35.
Also, as shown in figure 8, be provided in travel section 34 respectively with 2 trolley wires 51,52 for being arranged along track 35
And 4 terminals of 53 (the 2nd grounded parts of the invention) of ground line, ground line 54 (the 1st grounded parts of the invention) contact
55.Each terminal 55 has the brush 56 contacted respectively with corresponding trolley wire 51,52 or ground line 53,54 and to brush 56
The spring 57 of force.Terminal 55a, 55b are the terminals of power supply, are contacted respectively with trolley wire 51,52.As a result, to hanging wire machine
People 3 supplies electric power.The details of ground line 53,54 and terminal 55c, 55d are aftermentioned.
(about the electrostatic generated in suction nozzle)
According to above such structure, hanging wire robot 3 can advance between multiple traction devices 2, and to multiple tractions
The tractive unit 10 and winder unit 13 of device 2 carry out hanging wire operation.Herein, in hanging wire operation, silk thread Y is by from suction port
37c attracts, and as a result, by the friction between suction port 37c and silk thread Y, suction nozzle 37 charges and generates electrostatic.Silk thread Y is by from spinning
Silk portion 5 is continuously spun, and accordingly, there exist following misgivings: silk thread Y is continuously attracted in hanging wire operation, the band of suction nozzle 37
Electricity passage at any time and increasing, which is easy accumulation, an a large amount of charge, charge flow towards robot controller 102 and
Generate the adverse effects such as malfunction.Therefore, in the present embodiment, hanging wire robot 3 has the knot for suction nozzle 37 to be grounded
Structure so that the electrostatic that will be generated in suction nozzle 37 removes, and makes charge not flow and generate towards robot controller 102
Adverse effect.Hereinafter, the grounding path of grounding path and robot controller 102 to suction nozzle 37 is illustrated.
(grounding path of robot controller)
Firstly, being illustrated to the grounding path of robot controller 102.Fig. 9 be suction nozzle 37 grounding path and
The brief description figure of the grounding path of robot controller 102.In Fig. 9, structure solid line relevant to grounding path shows
Out, structure in addition to this is shown with double dot dash line.
As shown in figure 9, robot controller 102 is by 62 (this hair of ground line for being set to robot controller 102
Bright grounding parts), the frame 41 of robot body 31, be set to travel section 34 (referring to Fig. 8 etc.) terminal 55c it is (of the invention
2nd terminal), ground line 53 and be grounded.Ground line 62 and the frame 41 of robot body 31 are connected.Also, as shown in figure 8,
Frame 41 extends to the top of robot body 31, is connected with configuration in the terminal 55c of the adjacent upper part of robot body 31.End
Sub- 55c is contacted with ground line 53, and ground line 53 extends to ground along track 35 and pillar 40 etc. and is grounded.In this way, energy
Enough ensure the grounding path of robot controller 102.
(grounding path of suction nozzle)
In the following, being illustrated to the grounding path of suction nozzle 37.As shown in figure 9, suction nozzle 37 by conducting wire 63, be set to traveling
The terminal 55d (the 1st terminal of the invention and terminal) in portion 34 (referring to Fig. 8 etc.), 54 are grounded and is grounded.From suction nozzle 37 to
Terminal 55d is formed with the conductive path 60 for suction nozzle 37 being connected with terminal 55d via robot controller 102.At this
In embodiment, conductive path 60 is made of conducting wire 63.As previously described, conducting wire 63 is flexible electroconductive component, and
It is covered by insulation coating 64.As shown in Fig. 5 and Fig. 9, conducting wire 63 extends since suction nozzle 37, matches along waste silk line hose 82
It sets, exits into the inside of robot body 31 from waste silk line hose 82 in midway, and in the inside of robot body 31
By reaching travel section 34.I.e., a part of conducting wire 63 is set to robot body 31.Herein, conducting wire 63 is by insulation coating
64 coverings (referring to Fig. 6), therefore conducting wire 63 and robot body 31 and robot controller 102 insulate.Also, such as Fig. 8
And shown in Fig. 9, conducting wire 63 is connect with terminal 55d, and terminal 55d is contacted with ground line 54.Ground line 54 along track 35 and
Pillar 40 etc. extends to ground and is grounded.In this way, suction nozzle 37 is connect via conducting wire 63 and terminal 55d with ground line 54,
It is grounded by the grounding path different from the grounding path of robot controller.
(a series of processing relevant to hanging wire operation)
In the following, robot controller 102 is carried out using Figure 10, it is relevant to hanging wire operation it is a series of handle into
Row explanation.If needing to carry out hanging wire in a certain traction device 2, from the coiling control device 101 of the traction device 2 towards concentration
Control device 4 sends hanging wire request signal.Central control device 4 sends a signal to robot controller 102 to carry out needle
Hanging wire operation to the traction device 2.
If driving movement firstly, robot controller 102 receives hanging wire request signal from central control device 4
Motor 121 and so that hanging wire robot 3 is moved to the front (S201) of the traction device 2 for needing to carry out hanging wire operation.In the following, machine
102 drivig cylinder of people's control device rises connector 73,83 together with bearing part 75 and connects respectively with connector 74,84
Meet (S202).
In the following, in the state that suction nozzle 37 continuously attracts and captures silk thread Y spun from device for spinning, robot control dress
It sets 102 and suitably drives hanging wire unit 33, arm motor 122, keep suction nozzle 37 mobile relative to robot body 31, carry out for pre-
The hanging wire operation (S203) of the tractive unit 10 and winder unit 13 of fixed traction device 2.After hanging wire operation, robot control
102 drivig cylinder of device processed, declines connector 73,83 together with bearing part 75, releases it between connector 74,84
It connects (S204).Finally, robot controller 102 sends the signal that hanging wire is disposed towards central control device 4.Then,
Central control device 4 sends the signal for starting again at Filament winding towards coiling control device 101, thus starts again at and is filled by traction
Set the winding (S205) of the silk thread Y of 2 progress.
As above, to traction device 2 carry out hanging wire operation hanging wire robot 3 in, keep silk thread Y suction nozzle 37 not via
Robot controller 102 and connect and be grounded with ground line 54 via conducting wire 63 and terminal 55d.Also, conducting wire 63 with
Robot controller 102 is insulated by insulation coating 64.Therefore, can by because with generated in suction nozzle 37 due to the contact of silk thread Y
Electrostatic promptly removes, and be able to suppress charge flowed towards robot controller 102 and this case that generate adverse effect.
Also, the conducting wire 63 and the grounding path of robot controller 102 extended from suction nozzle 37 is insulated, therefore can
Prevent the charge generated in suction nozzle 37 from directly being flowed from conducting wire 63 towards robot controller 102.Even if in particular, as suction
In the case that the conducting wire 63 of the grounding path of mouth 37 is set to robot body 31, due to the insulation coating extended along conducting wire 63
64 covering conducting wires 63, therefore conducting wire 63 and the grounding path of robot controller 102 can be made reliably to insulate.
Also, suction nozzle 37 is grounded by the grounding path different from the grounding path of robot controller 102, because
This is reliably prevented from the charge generated in suction nozzle 37 and flows towards robot controller 102.
Also, the ground line 62 of robot controller 102 is arranged to the frame of the electric conductivity via robot body 31
41 and be connected with terminal 55c, on the other hand, suction nozzle 37 is grounded via the conducting wire 63 except frame 41.Thus, it is possible to reliable
Ground prevents the charge generated in suction nozzle 37 from flowing towards robot controller 102.
Also, hanging wire robot 3 advances along track 35 between multiple traction devices 2 and in pair as hanging wire operation
The front of the traction device 2 of elephant stops and carries out hanging wire operation.In this configuration, due in the travel section 34 contacted with track 35
It is provided with terminal 55d, therefore, by that can readily insure that suction nozzle 37 in track 35 or the earthy component of setting near it
Grounding path.
Also, since ground line 54 is arranged along track 35, terminal 55d can be made to contact always with ground line 54,
The charge generated in suction nozzle 37 can be made reliably to escape.
Also, wheel 36, the contact surface that is contacted with track 35 there is insulating properties, therefore, in the charge that suction nozzle 37 generates
It can not escape via wheel 36 towards track 35.Even if in this case, due to the position except wheel 36 be provided with
The terminal 55d that conducting wire 63 is connected, therefore the charge generated in suction nozzle 37 can be made to escape via terminal 55d towards ground line 54.
Also, since there is wheel 36 insulating properties and robot body 31 to be formed as the structure suspended in midair from track 35, because
This, is difficult to be grounded compared with the case where advancing on the ground.Even if in this case, since suction nozzle 37 is via conducting wire 63
And terminal 55d and connect with ground line 54, therefore can ensure grounding path.
Also, since conducting wire 63 has flexibility, conducting wire 63 can follow the movement of suction nozzle 37.In hanging wire operation
When, it needs to make silk thread Y movement while keeping silk thread Y using suction nozzle 37, therefore conducting wire 63 can follow the shifting of suction nozzle 37
Dynamic structure is useful.
Also, since silk thread Y is continuously spun from the spinning portion 5 of device for spinning, suction nozzle 37 and silk thread Y are continuous
Ground friction, thus the carried charge of suction nozzle tends to get bigger.Even if the electrostatic that in this case, can will be also generated in suction nozzle 37
It promptly removes, prevents charge from flowing towards robot controller 102 and generating adverse effect.
Also, when carrying out hanging wire operation, need to keep silk thread Y mobile while keeping silk thread Y using suction nozzle 37, because
This, generates charge due to being easy the contact because between silk thread on suction nozzle 37.Thus, especially in such a configuration, make
The way that the charge that suction nozzle 37 generates promptly is escaped is useful from the viewpoint of protecting robot controller 102.
In the following, being illustrated to the variation after change is applied with for above embodiment.But about with above-mentioned reality
The part that mode has same structure is applied, identical label is marked and the description thereof is omitted as appropriate.
(1) in the above-described embodiment, robot controller 102 is connect via the frame 41 of robot body 31
Ground, but be also configured to connect robot controller 102 and extending to terminal 55c by making conducting wire for being covered with coating etc.
Ground.
(2) in embodiment so far, ground line 54 extends to ground, but has in track 35 and pillar 40
In the case where electric conductivity, in order to enable the charge for being accumulated in suction nozzle 37 is easy escape, pillar 40 or connection can also be formed as
It is grounded in the other component of pillar 40, and is grounded 54 and is connected with track 35.Also, ground line 53 and track 35 can also be made
Conducting.
(3) conducting wire 63 can also not along robot body 31 inside but be arranged along outside.For example, can also
To be formed are as follows: shell 42 is formed by insulants such as plastics, and as shown in figure 11, in hanging wire robot 3a, conducting wire 63 is along shell
Body 42 configures.In addition, in the variation, conducting wire 63 can also and not covered with insulation coating.In this case, 42 phase of shell
When in insulator of the invention.
(4) conducting wire 63 can not also be arranged along robot body 31.For example, as shown in figure 12, in hanging wire robot
In 3b, conducting wire 63 is configured along waste silk line hose 82, and extends to connector 83.It is provided with and leads in the front end of connector 83
Electrical terminal 85 is connected with conducting wire 63.In this case, terminal 85 is equivalent to the 1st terminal of the invention.Also, coupling
Near device 84, such as 81 are piped along waste silk line and is provided with the ground line 86 being grounded.In this case, 86 phases are grounded
When in the 1st grounded parts of the invention.In above structure, (the above-mentioned step of connector 84 is assemblied in connector 83
S202 while), 86 conducting of terminal 85 and ground line, it is ensured that the grounding path of suction nozzle 37.In this way, since conducting wire 63 is along towards connecing
The waste silk line that ground wire 86 extends is configured with hose 82, therefore can be by from the robot being arranged for robot controller 102
The route that main body 31 is left ensures the grounding path of suction nozzle 37.It i.e., can be by conducting wire 63 in a manner of around robot body 31
Configuration, can be such that the grounding path of suction nozzle 37 and the grounding path of robot controller 102 reliably leaves.Also, joining
The grounding path for ensuring suction nozzle 37 while device 83 is assemblied in connector 84 is connect, therefore the labor for ensuring grounding path can be saved
Power, time.Also, for ensuring that the construction of grounding path becomes simple.In addition, in the variation, conducting wire 63 is along waste silk
Line is configured with hose 82, but also may be formed so that conducting wire 63 is configured along pneumatics hose 72, and end is provided on connector 73
Son 85, is provided with ground line 86 near connector 74.
(5) the further variation as above-mentioned (4) in hanging wire robot 3c, also may be constructed as shown in figure 13
Pass through for conducting wire 63 and waste silk line hose 82 in the inside of mechanical arm 32.In addition, conducting wire 63 it is same as present embodiment by
The coating 64 (referring to Fig. 6) that insulate covers.In this case, conducting wire 63 and robot controller 102 can be made to insulate, and can
Prevent conducting wire 63 and waste silk line hose 82 and the interference between mechanical arm 32 or traction device 2, the movement of mechanical arm 32
Freedom degree get higher.
(6) in embodiment so far, suction nozzle 37 passes through different grounding paths from robot controller 102
It is grounded, but it is not limited to this.I.e., it also may be formed so that conducting wire 63 is connected to the grounding path of robot controller 102
Midway portion, the grounding path of suction nozzle 37 and the grounding path of robot controller 102 converge halfway as a result,.Specifically
It says, as shown in Figure 14 and Figure 15, in hanging wire robot 3d, conducting wire 63 is electrically connected with the frame 41 of robot body 31.Frame
Frame 41 is electrically connected with terminal 55c, and terminal 55c is contacted with ground line 53.I.e., conducting wire 63 and frame 41 in the variation, are utilized
A part formed suction nozzle 37 is connected with terminal 55c via robot controller 102 conductive path 60a.As a result,
Suction nozzle 37 is connected with terminal 55c with 102 both sides of robot controller, and via terminal 55c with ground line 53 connect and by
Ground connection.Even if in this case, being able to suppress since conductive path 60a is not via robot controller 102
Robot controller 102 is flowed directly into the charge that suction nozzle 37 generates.In addition, in the variation, terminal 55c is equivalent to this
" the 1st terminal " of invention.Ground line 53 is equivalent to " the 1st grounded parts " of the invention.
(7) wheel can also pass through a part of the conductive grounding path for forming suction nozzle 37.For example, such as Figure 16
Shown, in hanging wire robot 3e, wheel 90 can be formed by conductors such as metals, and be connected with conducting wire 63.In this case, rail
Road 35 is grounded via pillar 40, and is connected with wheel 90.I.e., in the variation, wheel 90 is equivalent to the 1st end of the invention
Son, track 35 are equivalent to the 1st grounded parts of the invention.Thus, it is possible to keep suction nozzle 37 reliably grounded, can make in suction nozzle 37
The charge of generation is escaped from wheel 90 towards track 35.
(8) traction device 2 also can have grounded parts.For example, in Figure 17, in the winder unit 13 of traction device 2
Outside grounded parts 92 is installed.Hanging wire robot 3f has the terminal 91 be connected with conducting wire 63, and terminal 91 is formed as and connects
The structure that ground component 92 contacts.Suction nozzle 37 can also be grounded every time in the mobile destination of hanging wire robot 3f like this.
In addition, grounded parts 92 can also and be not mounted to traction device 2, as long as being set to the position that terminal 91 can contact.
Including the variation, by the grounding path of the suction nozzle 37 as ensuring so far, it can be realized spinning traction and set
Standby 1 steady running.
(9) also can use the component other than conducting wire 63 ensures the grounding path of suction nozzle 37.For example, in above-mentioned (4)
In variation, the Wiring pattern that can also be formed as the conducting formed along waste silk line with hose 82 extends to connector 83
Structure.In this case, waste silk line hose 82 can also follow the movement of suction nozzle 37.
(10) hanging wire robot 3 can also might not have travel section 34, such as can also be formed as being fixed on
Mechanical arm 32 is driven in the state of one position, and the structure of hanging wire operation is carried out for one or more traction device 2.
(11) in the above embodiment, the tractive unit 10 and winder unit 13 that are directed to traction device 2 are hung
The hanging wire robot 3 of silk operation is illustrated, but the present invention is not limited thereto, can be applied to carry out silk thread processing unit
The various Work robots of scheduled operation relevant to silk thread.I.e., hanging wire robot can also for spinning into
Device other than the traction device of row traction carries out hanging wire operation.Alternatively, the job content of Work robot be also possible to it is above-mentioned
Hanging wire operation other than operation.For example, it is also possible to be filled in the winding for the false twist processing machine for carrying out false twisting processing to silk thread
It sets and apply towards in the automatic hanging wire device of the hanging wire of rolling tube the present invention (referring to Japanese Unexamined Patent Publication 2013-23385 bulletin).
In detail, automatic hanging wire device has suction nozzle, cutter, silk thread configuration arm, silk thread by pressure arm, silk thread retaining arm etc..Suction nozzle
It is installed in the frame of false twisting processing hammer, keeps the midway portion of the silk thread conveyed towards rolling tube.Cutter will be kept by suction nozzle
Silk thread cutting.Silk thread after being cut off by cutter is configured to opposed with rolling tube by silk thread configuration arm.Silk thread will be with by pressure arm
The opposed silk thread of rolling tube presses on rolling tube and makes its abutting.Silk thread retaining arm is installed on silk thread configuration arm, and silk thread is pressed from both sides
It holds and is kept in the silk thread retaining arm and silk thread by between pressure arm.Silk thread configuration arm etc. is driven by motor etc..It is above-mentioned from
Dynamic hanging wire device on one side in silk thread by silk thread is clamped and kept between pressure arm and silk thread retaining arm, on one side using silk thread by pressure arm and
It is close to silk thread with rolling tube.By rotating rolling tube in this state, the hanging wire towards rolling tube is carried out.Keeping silk thread
Period, the contact by with silk thread charge and silk thread retaining arm etc. being capable of accumulated charge.The automatic hanging wire device can also have
Standby control unit, it is effective that the way in the path of charge escape is made around control unit setting.In addition, winding device is equivalent to this hair
Bright silk thread processing unit.Automatic hanging wire device is equivalent to Work robot of the invention.Silk thread retaining arm is equivalent to the present invention
Maintaining part.Silk thread configuration arm is equivalent to arm of the invention.Hanging wire towards rolling tube is equivalent to scheduled operation of the invention.
(12) alternatively, can also be fallen for by filament wound in the supply etc. that the winding device of bobbin carries out new bobbin
Using the present invention in silk device (referring to Japanese Unexamined Patent Publication 2015-147674 bulletin).In detail, it falls silk device to have: have
Keep the Cylinder feeder mechanism of the suction tube of filament；And control unit.Control unit controls Cylinder feeder mechanism, towards volume
After winding apparatus supplies new bobbin, filament is captured using suction tube, and filament is guided to winding device, filament wound is existed
" packet header silk winding operation " around bobbin.On suction tube, being accumulated during capturing filament by electrostatic has charge,
The way in the path for therefore making charge escape around control unit setting is effective.In addition, winding device be equivalent to it is of the invention
Silk thread processing unit.It falls silk device and is equivalent to Work robot of the invention.Suction tube be equivalent to maintaining part of the invention and
Arm.Packet header silk winding operation is equivalent to scheduled operation of the invention.
It (13) alternatively, can also be in the connector platform for carrying out connector movement for the electrospinning unit for generating filament and being wound
Using the present invention in vehicle (referring to Japanese Unexamined Patent Publication 2015-199559 bulletin).In detail, adapter trolley has: carrying out connector
Piecing devices；Keep carrying out the suction tube of the side in 2 silk threads of connector；Keep the suction nozzle of another party；And control
Portion.Control unit butt joint device in the electrospinning unit after silk thread is cut off is controlled, and will be kept by suction tube and suction nozzle
2 silk thread doubling twistings and carry out connector movement.In the adapter trolley, the path of charge escape is made around control unit setting
Way be effective.In addition, electrospinning unit is equivalent to silk thread processing unit of the invention.Adapter trolley is equivalent to of the invention
Work robot.Suction tube is equivalent to maintaining part and arm of the invention.It is also the same for suction nozzle.Connector movement is equivalent to this
The scheduled operation of invention.
Description of symbols
1: spun yarn taking-off apparatus
2: traction device
3: hanging wire robot
5: spinning portion
10: tractive unit
31: robot body
32: mechanical arm
34: travel section
35: track
36: wheel
37: suction nozzle
37c: suction port
41: frame
42: shell
53: ground line
54: ground line
55c: terminal
55d: terminal
60: conductive path
62: ground line
63: conducting wire
64: insulation coating
72: pneumatics hose
73: connector
74: connector
82: waste silk line hose
83: connector
84: connector
85: terminal
86: ground line
90: wheel
91: terminal
92: grounded parts
102: robot controller
Y: silk thread
Claims (21)
1. a kind of Work robot carries out scheduled operation relevant to silk thread to silk thread processing unit, which is characterized in that tool
It is standby:
Robot body；
Arm is linked to above-mentioned robot body；
Maintaining part is installed on above-mentioned arm, and keeps silk thread；
Control unit；And
1st terminal, the 1st ground member contact with ground connection,
Above-mentioned Work robot is formed with conductive path, the conductive path since above-mentioned maintaining part not via above-mentioned control unit and
Above-mentioned 1st terminal is extended to, above-mentioned maintaining part is connected with above-mentioned 1st terminal,
Above-mentioned maintaining part connect with above-mentioned 1st grounded parts via above-mentioned conductive path and above-mentioned 1st terminal and is grounded.
2. Work robot according to claim 1, which is characterized in that
Above-mentioned conductive path includes the wiring extended from above-mentioned maintaining part,
Above-mentioned wiring and above-mentioned control unit insulate.
3. Work robot according to claim 2, which is characterized in that
At least part of above-mentioned wiring is set to above-mentioned robot body,
Above-mentioned wiring insulate with above-mentioned control unit by insulator.
4. Work robot according to claim 3, which is characterized in that
Above-mentioned insulator is the insulation coating for extending and covering above-mentioned wiring along above-mentioned wiring.
5. Work robot according to any one of claims 1 to 4, which is characterized in that
Above-mentioned maintaining part is grounded by the grounding path different from the grounding path of above-mentioned control unit.
6. Work robot according to claim 5, which is characterized in that
Have the 2nd terminal, the 2nd terminal and the 2nd ground member contact being different from above-mentioned 1st grounded parts, being grounded,
The conductive frame of above-mentioned robot body,
The grounding parts of above-mentioned control unit are connected via said frame with above-mentioned 2nd terminal.
7. Work robot according to any one of claims 1 to 4, which is characterized in that
Above-mentioned maintaining part and above-mentioned control unit are all connected with above-mentioned 1st terminal, connect and are connect with above-mentioned 1st grounded parts
Ground.
8. Work robot according to any one of claims 1 to 7, which is characterized in that
Has travel section, which prolong above-mentioned robot body along in the orientation of multiple above-mentioned silk thread processing units
The guide rail stretched is advanced,
Above-mentioned 1st terminal is set to above-mentioned travel section.
9. Work robot according to claim 8, which is characterized in that
Above-mentioned guide rail is provided with above-mentioned 1st grounded parts, is set to above-mentioned 1st terminal and the above-mentioned 1st of above-mentioned travel section
Ground member contact.
10. Work robot according to claim 8 or claim 9, which is characterized in that
Above-mentioned travel section at least with the contact surface of above-mentioned guide rail at insulating properties wheel,
Position except the above-mentioned wheel of above-mentioned travel section is provided with the 1st terminal.
11. Work robot according to claim 10, which is characterized in that
Above-mentioned guide rail configures above the mobile space of above-mentioned robot body,
Above-mentioned robot body is advanced with the state suspended in midair from above-mentioned guide rail.
12. Work robot according to claim 8, which is characterized in that
Above-mentioned 1st grounded parts is the above-mentioned guide rail formed by electroconductive component,
It is set to above-mentioned 1st terminal and above-mentioned guide rail contact of above-mentioned travel section.
13. Work robot according to claim 12, which is characterized in that
Above-mentioned travel section has the wheel formed by conductor,
Above-mentioned 1st terminal is above-mentioned wheel.
14. Work robot according to claim 1, which is characterized in that
Have extension component, which extends from above-mentioned maintaining part towards above-mentioned 1st grounded parts,
Above-mentioned conductive path includes the wiring extended from above-mentioned maintaining part,
At least part of above-mentioned wiring is configured along above-mentioned extension component.
15. Work robot according to claim 14, which is characterized in that
At least part of above-mentioned extension component and above-mentioned wiring passes through in the inside of above-mentioned arm,
Above-mentioned wiring and above-mentioned control unit insulate by insulator.
16. Work robot according to claim 14 or 15, which is characterized in that
Above-mentioned maintaining part has the suction unit for attracting silk thread,
Above-mentioned extension component is the hose for being connected to above-mentioned suction unit.
17. Work robot according to claim 16, which is characterized in that
Above-mentioned hose and the fluid piping of fixed configurations connect,
The hose side connector for the setting of above-mentioned 1st terminal is installed in the end of above-mentioned hose and above-mentioned suction unit opposite side,
The piping side connector of above-mentioned fluid piping connecting with above-mentioned hose side connector is provided with above-mentioned 1st grounded parts.
18. Work robot described according to claim 1~any one of 17, which is characterized in that
Above-mentioned conductive path includes the wiring extended from above-mentioned maintaining part,
Above-mentioned wiring has flexibility, or is set to flexible component.
19. Work robot described according to claim 1~any one of 18, which is characterized in that
Above-mentioned silk thread processing unit has to the tractive unit drawn from the spun silk thread in spinning portion of device for spinning,
Above-mentioned control unit makes above-mentioned in the state that above-mentioned maintaining part continuously attracts and captures silk thread spun from above-mentioned spinning portion
Maintaining part carries out above-mentioned scheduled operation.
20. Work robot described according to claim 1~any one of 19, which is characterized in that
Above-mentioned scheduled operation is the silk thread lodge that will be kept by above-mentioned maintaining part in the hanging wire operation of above-mentioned silk thread processing unit.
21. a kind of fiber is mechanical, which is characterized in that have:
Silk thread processing unit；
Grounded parts is set to above-mentioned silk thread processing unit and is grounded；And
Work robot carries out scheduled operation relevant to silk thread to above-mentioned silk thread processing unit,
Above-mentioned Work robot has:
Robot body；
Arm is linked to above-mentioned robot body；
Maintaining part is installed on above-mentioned arm, and keeps silk thread；
Control unit；And
Terminal, and above-mentioned ground member contact,
Above-mentioned Work robot is formed with conductive path, the conductive path since above-mentioned maintaining part not via above-mentioned control unit and
Above-mentioned terminal is extended to, above-mentioned maintaining part is connected with above-mentioned terminal,
Above-mentioned maintaining part connect with above-mentioned grounded parts via above-mentioned conductive path and above-mentioned terminal and is grounded.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-082782 | 2017-04-19 | ||
| JP2017082782 | 2017-04-19 | ||
| PCT/JP2018/012789 WO2018193803A1 (en) | 2017-04-19 | 2018-03-28 | Work robot and textile machine provided with work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109195893A true CN109195893A (en) | 2019-01-11 |
| CN109195893B CN109195893B (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880002183.7A Active CN109195893B (en) | 2017-04-19 | 2018-03-28 | Working robot and textile machine provided with same |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP3613687B1 (en) |
| JP (1) | JP6636655B2 (en) |
| CN (1) | CN109195893B (en) |
| TW (1) | TWI757470B (en) |
| WO (1) | WO2018193803A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7136676B2 (en) * | 2018-12-10 | 2022-09-13 | Ｔｍｔマシナリー株式会社 | Spinning production equipment |
| JP7286385B2 (en) * | 2019-04-08 | 2023-06-05 | Ｔｍｔマシナリー株式会社 | textile machinery |
| JP7253431B2 (en) | 2019-04-16 | 2023-04-06 | Ｔｍｔマシナリー株式会社 | Spinning take-off equipment |
| CN111176303B (en) * | 2020-03-11 | 2024-06-28 | 深圳市筑汀智能科技有限公司 | Tracking walking robot with single bus device |
| CN113955574B (en) * | 2021-11-04 | 2022-12-16 | 苏州超莱斯机器人科技有限公司 | Robot cable guider |
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- 2018-03-28 EP EP18787764.2A patent/EP3613687B1/en active Active
- 2018-03-28 CN CN201880002183.7A patent/CN109195893B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3613687A4 (en) | 2020-12-30 |
| WO2018193803A1 (en) | 2018-10-25 |
| CN109195893B (en) | 2020-07-28 |
| JPWO2018193803A1 (en) | 2019-11-07 |
| JP6636655B2 (en) | 2020-01-29 |
| EP3613687A1 (en) | 2020-02-26 |
| TWI757470B (en) | 2022-03-11 |
| TW201839195A (en) | 2018-11-01 |
| EP3613687B1 (en) | 2023-11-29 |
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