CN109195893B

CN109195893B - Working robot and textile machine provided with same

Info

Publication number: CN109195893B
Application number: CN201880002183.7A
Authority: CN
Inventors: 杉山研志; 加藤典子; 铃木正
Original assignee: TMT Machinery Inc
Current assignee: TMT Machinery Inc
Priority date: 2017-04-19
Filing date: 2018-03-28
Publication date: 2020-07-28
Anticipated expiration: 2038-03-28
Also published as: EP3613687A4; TWI757470B; EP3613687A1; CN109195893A; WO2018193803A1; EP3613687B1; JP6636655B2; JPWO2018193803A1; TW201839195A

Abstract

A yarn hanging robot (3) for performing yarn hanging work on a traction device (2) is provided with: a robot main body (31); a robot arm (32) connected to the robot body (31); a suction nozzle (37) which is mounted on the mechanical arm (32) and holds the silk thread; a robot control device (102); and a terminal (55d) that contacts a ground line (54) that is grounded, wherein a conductive path (60) that extends from the suction nozzle (37) to the terminal (55d) without passing through the robot control device (102) and that conducts the suction nozzle (37) and the terminal (55d) is formed, and the suction nozzle (37) is connected to the ground line (54) via the conductive path (60) and the terminal (55d) and is grounded. Therefore, static electricity generated in the suction nozzle (37) due to contact with the yarn (Y) can be removed quickly, and the occurrence of adverse effects due to the flow of electric charge to the robot control device (102) can be suppressed.

Description

Working robot and textile machine provided with same

Technical Field

The present invention relates to an operation robot that performs a predetermined operation on a yarn processing apparatus, and a textile machine including the operation robot.

Background

As an example of the yarn processing device, patent document 1 discloses a spinning draw-off device that winds a plurality of yarns spun from a spinning machine around a plurality of bobbins to form packages. Specifically, the spinning draft device includes: 1 st and 2 nd godet rollers, a plurality of traverse fulcrum guides, a plurality of traverse guides, and the like. The multiple threads are wound on the No. 1 and No. 2 godet rollers and further hung on the yarn guides of the traversing supporting points. The yarn that is hung on the traverse fulcrum yarn guide is wound around the bobbin while being reciprocated by the traverse yarn guide.

In patent document 1, an operator performs a yarn hooking operation of hooking a plurality of spun yarns on a spinning draft device. Specifically, a suction gun is used to suck and hold a plurality of yarns, and the yarns are wound around the 1 st and 2 nd godet rollers. Further, a plurality of yarns are respectively hung on each of the plurality of traverse fulcrum yarn guides.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2015-78455

Disclosure of Invention

Problems to be solved by the invention

In contrast, the applicant of the present invention has studied to provide a yarn threading robot that performs the above-described operation on the yarn instead of an operator, from the viewpoints of improving production efficiency, reducing cost, and the like. For example, a yarn threading robot includes an arm provided with a holding portion for sucking a yarn, and the yarn is passed on a godet roller or the like by freely moving the arm.

However, in the yarn threading robot as described above, it is considered that static electricity is generated by charging the holding portion due to the contact of the holding portion with the yarn. In particular, in the spinning and drawing device as disclosed in patent document 1, the holding portion attracts the yarn continuously fed from the spinning device, and therefore a large amount of electric charge is likely to be accumulated in the holding portion. If this charge flows to the control system of the robot, there is a concern that the control system will be adversely affected.

The purpose of the present invention is to quickly remove static electricity generated in a holding portion and to suppress the influence of the static electricity on a control portion.

Means for solving the problems

A working robot according to claim 1 is a working robot for performing a predetermined operation on a yarn processing apparatus, the working robot including: a robot main body; an arm portion connected to the robot main body; a holding portion attached to the arm portion and holding the yarn; a control unit; and a 1 st terminal which is brought into contact with a 1 st grounded member which is grounded, wherein the working robot is provided with a conductive path which extends from the holding portion to the 1 st terminal without passing through the control portion, and which electrically connects the holding portion and the 1 st terminal, and wherein the holding portion is grounded by being connected to the 1 st grounded member via the conductive path and the 1 st terminal.

According to the present invention, in the working robot that performs a predetermined operation on the wire processing apparatus, the conductive path is formed so as to extend from the holding portion that holds the wire to the 1 st terminal without passing through the control portion, and to conduct the holding portion and the 1 st terminal. That is, the holding unit and the control unit are not connected at least in series. The holding portion is connected to the 1 st ground member via the conductive path and the 1 st terminal, and is grounded. Therefore, static electricity generated in the holding portion due to contact with the yarn can be quickly removed, and the flow of electric charge to the control portion and the occurrence of adverse effects can be suppressed.

The work robot according to claim 2 is characterized in that, in the above-described invention 1, the electrically conductive path includes a wire extending from the holding portion, and the wire is insulated from the control portion.

Since the wiring included in the conductive path extends from the holding portion and is insulated from the control portion, the electric charge generated in the holding portion can be prevented from flowing directly from the wiring into the control portion.

A working robot according to claim 3 is characterized in that, in the above-described invention 2, at least a part of the wiring is provided in the robot main body, and the wiring and the control unit are insulated from each other by an insulator.

Even when a part of the wiring is provided in the robot main body as a ground path of the holding portion, the wiring and the control portion in the robot main body are insulated by the insulator, and therefore, the flow of electric charges generated in the holding portion to the control portion can be suppressed.

The work robot according to claim 4 is characterized in that, in the above invention 3, the insulator is an insulating coating extending along the wiring and covering the wiring.

Since the insulating coating extending along the wiring covers the wiring, which is at least a part of the ground path of the holding portion, can be reliably insulated from the ground path of the control portion.

A working robot according to claim 5 is characterized in that in any one of the inventions 1 to 4, the holding portion is grounded via a ground path different from a ground path of the control portion.

In the present invention, the holding portion is grounded via a ground path different from the ground path of the control portion, and therefore, it is possible to reliably prevent the electric charges generated in the holding portion from flowing toward the control portion.

The working robot according to claim 6 is characterized in that, in the 5 th aspect, the working robot includes a 2 nd terminal, the 2 nd terminal being in contact with a 2 nd grounded member different from the 1 st grounded member, the robot main body has a conductive frame, and the ground portion of the control unit is electrically connected to the 2 nd terminal through the frame.

The grounding part of the control part is grounded by conduction with the 2 nd terminal via the conductive frame of the robot main body, while the holding part is grounded via a conductive path other than the frame. Therefore, the electric charge generated in the holding portion can be reliably prevented from flowing to the control portion.

A working robot according to claim 7 is characterized in that, in any one of the inventions 1 to 4, the holding portion and the control portion are both electrically connected to the 1 st terminal, and are connected to the 1 st grounding member and grounded.

Even when both the holding portion and the control portion are connected to the 1 st grounding member and grounded, the electric charge generated in the holding portion can be prevented from flowing directly into the control portion because the conductive path that conducts the holding portion and the 1 st terminal does not pass through the control portion.

A working robot according to claim 8 is characterized in that any one of the 1 st to 7 th inventions includes a traveling unit that travels the robot main body along a guide rail extending in an arrangement direction of the plurality of thread processing devices, and the 1 st terminal is provided in the traveling unit.

The present invention relates to a working robot which travels along a guide rail between a plurality of thread processing devices and performs work by stopping before the thread processing device to be worked. In this configuration, since the 1 st terminal is provided at the traveling portion that contacts the guide rail, the 1 st grounding member is provided at or near the guide rail, so that a grounding path of the holding portion can be easily ensured.

The work robot according to claim 9 is characterized in that, in the 8 th aspect, the 1 st grounding member is provided along the guide rail, and the 1 st terminal provided in the traveling section is in contact with the 1 st grounding member.

In the present invention, since the 1 st grounding member is provided along the rail, the 1 st terminal can be always brought into contact with the 1 st grounding member, and the electric charges generated in the holding portion can be reliably escaped.

A work robot according to claim 10 is characterized in that, in the 8 th or 9 th aspect, the traveling unit includes a wheel having an insulating property at least at a contact surface with the guide rail, and a 1 st terminal is provided at a portion of the traveling unit other than the wheel.

When the contact surface of the wheel of the traveling portion, which contacts the guide rail, has insulation, the electric charge generated in the holding portion cannot escape to the guide rail through the wheel. Even in such a case, according to the present invention, the 1 st terminal is provided at a position other than the wheel of the traveling portion, and therefore, the electric charges generated in the holding portion can be made to escape toward the 1 st ground member via the 1 st terminal.

A working robot according to claim 11 is characterized in that, in the above-described 10 th invention, the guide rail is disposed above a movement space of the robot main body, and the robot main body travels in a state of being suspended from the guide rail.

In the case of a structure in which wheels have insulation properties and a robot main body is suspended from a guide rail, it is difficult to ground the robot main body as compared with a case of traveling on the ground. Even in such a case, according to the present invention, the holding portion is connected to the 1 st ground member via the conductive path and the 1 st terminal, and therefore, a ground path can be secured.

In the work robot according to claim 12, in the 8 th aspect of the invention, the 1 st grounding member is the guide rail formed of a conductive member, and the 1 st terminal provided in the traveling portion is in contact with the guide rail.

In the present invention, since the conductive member forms the first grounding member and the first terminal 1 is in contact with the first grounding member, the electric charges generated in the holding portion can be reliably discharged.

The work robot according to claim 13 is characterized in that, in the 12 th aspect, the traveling section includes a wheel formed of a conductor, and the 1 st terminal is the wheel.

When the wheel is formed of a conductor, the electric charge generated in the holding portion can escape from the wheel toward the rail via the wheel and the conductive path.

The work robot according to claim 14 is characterized in that, in the 1 st aspect, the work robot further includes an extension member extending from the holding portion toward the 1 st ground member, the conductive path includes a wire extending from the holding portion, and at least a part of the wire is disposed along the extension member.

In the present invention, since the wiring is arranged along the extension member extending from the holding portion toward the 1 st grounding member, the grounding path of the holding portion can be secured by the route away from the robot main body provided with the control portion.

A work robot according to claim 15 is characterized in that, in the 14 th aspect, at least a part of the extension member and the wire pass through the inside of the arm portion, and the wire and the control portion are insulated from each other by an insulator.

In the present invention, the extension member and the wire pass through the inside of the arm portion, and the wire and the control portion are insulated by the insulator. Therefore, the inflow of electric charges generated in the holding portion into the control portion can be suppressed, and interference between these members and the arm portion can be prevented, thereby improving the degree of freedom of the movement of the arm portion.

The work robot according to claim 16 is characterized in that, in the 14 th or 15 th aspect, the holding portion includes a suction portion for sucking the thread, and the extension member is a hose connected to the suction portion.

In the present invention, since the hose extends from the suction portion toward the 1 st ground contact member, the wiring can be routed around the robot main body by arranging the wiring so as to extend along the hose toward the 1 st ground contact member. Therefore, the ground path of the holding portion can be reliably separated from the ground path of the control portion in the robot main body.

A working robot according to claim 17 is characterized in that, in the 16 th aspect, the hose is connected to a fluid pipe which is fixedly disposed, a hose-side joint to which the 1 st terminal is provided is attached to an end portion of the hose on a side opposite to the suction portion, and the 1 st grounding member is provided to a pipe-side joint of the fluid pipe which is connected to the hose-side joint.

According to the present invention, when the hose-side joint is attached to the pipe-side joint, the grounding path of the holding portion is ensured, and therefore, labor and time for ensuring the grounding path can be saved. Also, the structure for securing the ground path becomes simple.

A working robot according to claim 18 is characterized in that in any one of the inventions 1 to 17, the electrically conductive path includes a wire extending from the holding portion, and the wire is flexible or provided in a member having flexibility.

In the case where the wiring has flexibility or the wiring is provided in a member having flexibility, when the holding portion moves during the operation of the robot, the wiring can follow the movement of the holding portion.

The work robot according to claim 19 is characterized in that in any one of the inventions 1 to 18, the yarn processing device includes a drawing unit that draws the yarn spun from the spinning unit of the spinning device, and the control unit causes the holding unit to perform the predetermined operation in a state where the holding unit continuously draws and captures the yarn spun from the spinning unit.

In the case where the yarn processing device includes a drawing unit that draws the yarn spun from the spinning device, since the yarn is continuously spun from the spinning device, the holding unit continuously rubs against the yarn while the control unit causes the holding unit to perform a predetermined operation, and thus the charge amount of the holding unit is likely to increase. Even in such a case, in the present invention, since the holding portion and the control portion are not connected at least in series, it is possible to quickly remove static electricity generated in the holding portion and prevent electric charges from flowing to the control portion and causing adverse effects.

A working robot according to claim 20 is characterized in that in any one of the inventions 1 to 19, the predetermined operation is a threading operation of threading the thread held by the holding portion onto the thread processing device.

The present invention relates to a yarn threading robot for performing yarn threading work on a yarn processing apparatus. In the yarn threading, since it is necessary to move the yarn while holding the yarn by the holding portion, electric charges are likely to be generated in the holding portion due to contact with the yarn. Therefore, in such a configuration, it is particularly useful to connect the holding portion and the control portion not in series at least from the viewpoint of protecting the control portion so that static electricity generated in the holding portion can be quickly removed.

The textile machine of the 21 st aspect of the present invention is characterized by comprising: a yarn processing device; a grounding member provided in the yarn processing apparatus and grounded; and an operation robot that performs a predetermined operation related to the yarn processing device, the operation robot including: a robot main body; an arm portion connected to the robot main body; a holding portion attached to the arm portion and holding the yarn; a control unit; and a terminal that is in contact with the ground member, wherein the work robot is provided with a conductive path that extends from the holding portion to the terminal without passing through the control portion, and that electrically connects the holding portion and the terminal, and wherein the holding portion is connected to the ground member via the conductive path and the terminal and is grounded.

In a textile machine including a yarn processing device, a grounding member, and an operating robot, since a holding portion of the operating robot is grounded without passing through a control portion, static electricity generated in the holding portion can be quickly removed, and the occurrence of adverse effects due to the flow of electric charge to the control portion can be suppressed. Thus, stable operation of the textile machine can be achieved.

Drawings

Fig. 1 is a schematic configuration diagram of a spinning and drawing apparatus according to the present embodiment.

Fig. 2 is a block diagram showing an electrical structure of the spinning traction apparatus.

Fig. 3 is a front view of the traction device and the wire hanging robot.

Fig. 4 is a side view of the traction device and the wire hanging robot.

Fig. 5 is a front view of the wire hanging robot.

Fig. 6 is a cross-sectional view of a suction nozzle of the wire hanging robot.

Fig. 7 is a diagram showing the configuration of the traveling section and the periphery thereof of the yarn threading robot.

Fig. 8 is an enlarged view of a traveling portion of the yarn threading robot.

Fig. 9 is a schematic explanatory diagram of the ground path of the suction nozzle and the ground path of the robot controller.

Fig. 10 is a flowchart showing a series of processes related to the wire hanging work.

Fig. 11 is a front view of a filament hanging robot according to a modification.

Fig. 12 is a side view of a threading robot according to another modification.

Fig. 13 is a side view of a threading robot according to still another modification.

Fig. 14 is an enlarged view of a traveling section of a yarn threading robot according to still another modification.

Fig. 15 is a schematic explanatory diagram of a grounding path of the suction nozzle and a grounding path of the robot controller.

Fig. 16 is an enlarged view of a traveling section of a yarn threading robot according to still another modification.

Fig. 17 is a front view of a traction device and a yarn threading robot according to still another modification.

Detailed Description

An embodiment of the present invention will be described below with reference to fig. 1 to 10.

(brief construction of spinning traction apparatus)

Fig. 1 is a schematic view of a spinning and drawing device 1 (a textile machine according to the present invention) according to the present embodiment as viewed from the front. The spinning drawing device 1 includes a drawing device 2 (a yarn processing device of the present invention), a yarn threading robot 3 (an operation robot of the present invention), a centralized control device 4, and the like. Hereinafter, as shown in fig. 1, the direction in which the plurality of traction devices 2 are arranged is referred to as the left-right direction. In fig. 1, a direction perpendicular to the paper surface is a front-rear direction, and a direction perpendicular to the left-right direction and the front-rear direction is an up-down direction.

The plurality of drawing devices 2 are arranged in the left-right direction, draw the yarn Y spun from the spinning section 5 of the spinning device arranged above, and wind the yarn Y around the plurality of winding bobbins B to form a package P. The threading robot 3 is disposed in front of the plurality of traction devices 2, and moves in the left-right direction to perform threading work (predetermined work of the present invention) on the traction devices 2. The central control device 4 is electrically connected to a winding control device 101 of the traction device 2 and a robot control device 102 (a control unit of the present invention) of the threading robot 3 (described later) (see fig. 2), and communicates with these control devices.

(Electrical construction of spinning traction apparatus)

Next, an electrical structure of the spinning and drawing device 1 will be described with reference to fig. 2. Fig. 2 is a block diagram showing an electrical structure of the spinning traction apparatus 1. The spinning and drawing machine 1 has a centralized control device 4 for controlling the entire machine. Each traction device 2 is provided with a winding control device 101, and the winding control device 101 controls the operation of each drive unit provided in the traction device 2. The threading robot 3 is provided with a robot control device 102, and the robot control device 102 controls the operation of each drive unit provided in the threading robot 3. The central control device 4 is connected to each of the winding control devices 101 and the robot control device 102 by wireless or wired communication.

(traction device)

Next, the structure of the traction device 2 will be described with reference to fig. 3 and 4. Fig. 3 is a front view of the traction device 2 and the wire hanging robot 3. Fig. 4 is a side view of the traction device 2 and the wire hanging robot 3.

As shown in fig. 3 and 4, the traction device 2 includes: a drawing unit 10 for drawing the yarn Y spun from the spinning unit 5 (see fig. 1) of the spinning device; and a winding unit 13 for winding the drawn yarn Y around the plurality of winding bobbins B to form a package P.

The drawing unit 10 includes a 1 st godet roller 11, a 2 nd godet roller 12, a thread catcher 15, and a thread restricting godet 16.

The 1 st 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 1 st godet roller 11 is rotationally driven by a 1 st godet roller motor 111 (see fig. 2). The 2 nd godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is arranged above and behind the 1 st godet roller 11. The 2 nd godet roller 12 is rotationally driven by a 2 nd godet roller motor 112 (see fig. 2).

The 2 nd godet roller 12 is movably supported by a guide rail 14. The guide rail 14 extends obliquely upward and rearward. The 2 nd godet roller 12 is configured to be movable along a guide rail 14 via a cylinder (not shown). Thereby, the 2 nd godet roller 12 can move between a winding position when winding the yarn Y and a yarn threading position when the yarn threading operation is performed while being arranged close to the 1 st godet roller 11. In fig. 4, the 2 nd godet roller 12 in the winding position is indicated by a solid line, and the 2 nd godet roller 12 in the yarn hanging position is indicated by a one-dot chain line.

The yarn sucker 15 is a member for sucking and holding a plurality of yarns Y spun from the spinning device in advance before the yarn hanging operation performed by the yarn hanging robot 3. The thread catcher 15 is arranged above the 1 st godet roller 11.

The yarn restricting guide 16 is disposed between the 1 st godet roller 11 and the yarn sucker 15 in the vertical direction. The yarn regulating guide 16 is, for example, a known comb-shaped guide, and is a member for defining a predetermined distance between adjacent yarns Y when a plurality of yarns Y are wound. The thread restricting guide 16 is configured to be movable in the left-right direction by a cylinder (not shown). Thus, the yarn regulating godet 16 can move in the left-right direction between a protruding position protruding from the front end portion of the 1 st godet 11 and a retracted position converging within the range where the 1 st godet 11 is disposed.

The winding unit 13 includes a plurality of fulcrum guides 21, a plurality of traverse guides 22, a turn table 23, 2 bobbin holders 24, and a contact roller 25.

The plurality of fulcrum guides 21 are provided independently of the plurality of yarns Y and are arranged in the front-rear direction. The plurality of traverse guides 22 are provided independently of the plurality of yarns Y and arranged in the front-rear direction. The plurality of traverse guides 22 are driven by a common traverse motor 116 (see fig. 2) and reciprocate in the front-rear direction. Thereby, the yarn Y wound around the traverse guide 22 traverses around the fulcrum guide 21.

The turntable 23 is a disk-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. 2). The 2 bobbin holders 24 are supported by the upper end portion and the lower end portion of the turn table 23 so as to be axially substantially parallel to the front-rear direction. A plurality of winding bobbins B provided independently from the plurality of yarns Y are attached to the bobbin holders 24 in parallel in the front-rear direction. The 2 bobbin holders 24 are each rotationally driven by a separate winding motor 118 (see fig. 2).

The touch roller 25 is a roller that is substantially parallel to the front-rear direction in the axial direction, and is disposed immediately above the upper bobbin holder 24. The contact roller 25 is brought into contact with the surfaces of the plurality of packages P supported by the upper bobbin holder 24 to apply a contact pressure to the surfaces of the packages P being wound, thereby adjusting the shape of the packages P.

In the winding unit 13 having the above-described configuration, when the upper bobbin holder 24 is rotationally driven, the yarn Y traversed by the traverse guide 22 is wound around the winding bobbin B, thereby forming the package P. When the package P is full, the 2 bobbin holders 24 are displaced vertically by rotating the turn table 23. Accordingly, the bobbin holder 24, which is originally positioned on the lower side, moves to the upper side, and the yarn Y is wound around the winding bobbin B mounted on the bobbin holder 24 to form the package P. Then, the bobbin holder 24 on which the full package P is mounted moves to the lower side, and the package P is collected by a package collecting device, not shown.

(Silk hanging robot)

Next, the structure of the threading robot 3 will be described with reference to fig. 5 to 8. Fig. 5 is an enlarged view of a front view of the filament hanging robot 3. Fig. 6 is a sectional view of a suction nozzle 37 (holding portion of the present invention) described later. Fig. 7 is a diagram showing the structure of the traveling section 34 and its periphery, which will be described later. Fig. 8 is an enlarged view of the traveling portion 34.

The yarn threading robot 3 is a device for performing yarn threading work on the plurality of traction devices 2. First, 2 rails 35 (guide rails of the present invention) extending in the arrangement direction of the traction devices 2 are arranged in front of and above the plurality of traction devices 2 (see fig. 1). The 2 rails 35 are supported from the ceiling by a column 40 (see fig. 1). The filament hanging robot 3 is suspended from the 2 rails 35, and is configured to be able to travel along the 2 rails 35. When a yarn hooking request signal is transmitted from a certain traction device 2, the yarn hooking robot 3 moves to the front of the traction device 2, and performs a yarn hooking operation on the traction unit 10 and the winding unit 13 of the traction device 2.

As shown in fig. 5, the yarn threading robot 3 mainly includes: a robot main body 31; a robot arm 32 (arm portion of the present invention) attached to a lower portion of the robot main body 31; a yarn hanging unit 33 attached to the tip of the robot arm 32; and a traveling part 34 provided at an upper part of the robot main body. The robot main body 31 is a member having a substantially rectangular parallelepiped shape, and includes a metal frame 41, a housing 42 for housing the frame 41, and the like. A robot controller 102 and the like for controlling the operation of the robot arm 32 and the wire hanging unit 33 are mounted inside the robot main body 31. The robot controller 102 is a device for controlling the wire threading unit 33, the traveling motor 121, the arm motor 122, and the like, which will be described later.

The robot arm 32 is a member for three-dimensionally operating the yarn hooking unit 33, and is attached to a lower portion of the robot main body 31. The robot arm 32 has a plurality of arms 32a and a plurality of joints 32b that connect the arms 32a to each other. Each joint portion 32b incorporates an arm motor 122 (see fig. 2), and when the arm motor 122 is driven, the arm 32a rotates about the joint portion 32 b. Thereby, the robot arm 32 can be operated three-dimensionally.

The yarn threading unit 33 is a member for holding the yarn Y and the like during yarn threading work, and is attached to the tip of the robot arm 32. The yarn hanging unit 33 includes: a suction nozzle 37 for sucking and capturing the yarn Y; and a cutter 38 for cutting the yarn Y.

As shown in fig. 6, the suction nozzle 37 has: a suction tube 37a extending linearly; and a pneumatic tube 37b integrally connected to a midway portion of the suction tube 37 a. A suction port 37c (a suction portion of the present invention) for sucking the yarn Y is formed at one end of the suction tube 37a, and a waste yarn tube 82 (an extension member and a tube of the present invention) is connected to the other end of the suction tube 37 a. One end of the air pressure tube 37b is connected to the suction tube 37a via a communication hole 37d, and the other end of the air pressure tube 37b is connected to an air pressure hose 72. The waste thread hose 82 and the pneumatic hose 72 are flexible and can move in accordance with the movement of the suction nozzle 37. The communication hole 37d is formed obliquely to the suction tube 37a and is formed to be located on the other end side of the suction tube 37a as it approaches the suction tube 37 a.

A lead wire 63 (wiring of the present invention) that is electrically connected to the suction nozzle 37 is provided at the tip of the suction tube 37 a. The lead wire 63 is a conductive member having flexibility, and is covered with an insulating coating 64 (an insulator of the present invention) extending along the lead wire 63. The insulating coating 64 is an insulating member made of PVC or the like, for example. Details of the lead 63 will be described later.

As shown in fig. 5 and 7 (a), the pneumatic tube 72 and the waste wire tube 82 extend outside the robot main body 31 in a direction different from the direction of the robot arm 32, and reach the vicinity of the traveling unit 34 in the upper part of the robot main body 31. As shown in fig. 7 (a), a coupling 73 is provided at an end of the air pressure hose 72 opposite to the suction port 37 c. Similarly, a coupler 83 (a hose-side joint of the present invention) is provided at an end of the waste thread hose 82 opposite to the suction port 37 c. The

couplers

73 and 83 are supported from below by the support member 75, and the support member 75 is supported from below by a cylinder (not shown), for example. The cylinder is configured to be driven in the vertical direction. Further, an air pressure pipe 71 and a waste wire pipe 81 (a fluid pipe of the present invention) are fixedly disposed above the

couplers

73 and 83, the coupler 74 is provided in the air pressure pipe 71, and the coupler 84 (a pipe side joint of the present invention) is provided in the waste wire pipe 81. The

couplers

74, 84 are supported by a base 70 disposed between the 2 rails 35. The coupler 73 is configured to be detachable from the coupler 74, and the coupler 83 is configured to be detachable from the coupler 84. According to such a configuration, the support member 75 is moved upward by the driving of the cylinder, and the

couplers

73 and 83 are attached to the

couplers

74 and 84, respectively.

The compressed air supplied to the suction nozzle 37 through the air pressure hose 72 flows as indicated by solid arrows in fig. 6. That is, when the compressed air flows into the suction tube 37a from the air pressure tube 37b, the compressed air flows from one end side to the other end side of the suction tube 37 a. The negative pressure is generated at the suction port 37c by the flow of the compressed air to generate a suction force (see the broken-line arrow in fig. 6), and the yarn Y spun from the spinning device is continuously sucked from the suction port 37 c. The yarn Y sucked from the suction port 37c is discharged to the waste yarn hose 82 by the flow of air in the suction tube 37 a.

The traveling unit 34 is a member for causing the robot main body 31 to travel along the 2 rails 35. The traveling unit 34 is provided in an upper portion of the robot main body 31 as shown by a two-dot chain line in fig. 5. As shown in fig. 7 (a) and (b), the traveling unit 34 includes 4 insulating wheels 36 made of rubber or the like, for example. Each 2 of the 4 wheels 36 is disposed so as to be in contact with the upper surface of each rail 35, and the robot main body 31 is suspended from the 2 rails 35 via the 4 wheels 36. In other words, the 2 tracks are arranged above the movement space of the robot main body 31. The 4 wheels 36 are rotationally driven by a traveling motor 121 (see fig. 2). The robot main body 31 travels in the left-right direction along 2 rails 35 by being rotationally driven by 4 wheels 36.

As shown in fig. 8, the traveling unit 34 is provided with 4 terminals 55 that are in contact with 2

trolley wires

51 and 52 and a ground wire 53 (the 2 nd ground member of the present invention) and a ground wire 54 (the 1 st ground member of the present invention) provided along the rail 35. Each terminal 55 includes a brush 56 that contacts the

corresponding trolley wires

51 and 52 or the

ground wires

53 and 54, and a spring 57 that biases the brush 56.

Terminals

55a and 55b are terminals for supplying power, and are in contact with

trolley wires

51 and 52, respectively. Thereby, electric power is supplied to the threading robot 3. Details of the ground lines 53 and 54 and the

terminals

55c and 55d will be described later.

(about static electricity generated at the suction nozzle)

With the above configuration, the threading robot 3 can travel between the plurality of traction devices 2 and perform threading work on the traction units 10 and the winding units 13 of the plurality of traction devices 2. Here, in the yarn threading operation, the yarn Y is sucked from the suction port 37c, and the suction nozzle 37 is charged by friction between the suction port 37c and the yarn Y, thereby generating static electricity. Since the yarn Y is continuously spun from the spinning section 5, there is a concern that: in the yarn threading operation, the yarn Y is continuously attracted, the amount of charge of the suction nozzle 37 increases with time, a large amount of charge is likely to be accumulated, and the charge flows to the robot control device 102, causing adverse effects such as malfunction. Therefore, in the present embodiment, the threading robot 3 is configured to ground the suction nozzle 37 so as to remove static electricity generated in the suction nozzle 37 and prevent electric charges from flowing to the robot controller 102 and causing adverse effects. Hereinafter, the grounding path of the nozzle 37 and the grounding path of the robot controller 102 will be described.

(ground path of robot controller)

First, a grounding path of the robot controller 102 will be described. Fig. 9 is a schematic explanatory diagram of the ground path of the suction nozzle 37 and the ground path of the robot controller 102. In fig. 9, the structure relating to the ground path is shown by a solid line, and the other structure is shown by a two-dot chain line.

As shown in fig. 9, the robot controller 102 is grounded via a ground line 62 (a ground connection portion of the present invention) provided in the robot controller 102, the frame 41 of the robot body 31, a terminal 55c (a 2 nd terminal of the present invention) provided in the traveling portion 34 (see fig. 8, etc.), and a ground line 53. The ground wire 62 is electrically connected to the frame 41 of the robot main body 31. As shown in fig. 8, the frame 41 extends to the upper portion of the robot main body 31, and is electrically connected to a terminal 55c disposed near the upper portion of the robot main body 31. The terminal 55c is in contact with the ground line 53, and the ground line 53 is grounded by extending to the ground along the rail 35, the pillar 40, and the like. In this way, a ground path of the robot controller 102 can be ensured.

(grounding path of suction nozzle)

Next, the grounding path of the suction nozzle 37 will be described. As shown in fig. 9, the suction nozzle 37 is grounded via a lead wire 63, a terminal 55d (the 1 st terminal and the terminal of the present invention) provided in the traveling unit 34 (see fig. 8, etc.), and a ground wire 54. A conductive path 60 is formed from the suction nozzle 37 to the terminal 55d to conduct the suction nozzle 37 and the terminal 55d without passing through the robot controller 102. In the present embodiment, the conductive path 60 is constituted by the lead wire 63. As described above, the lead wire 63 is a conductive member having flexibility, and is covered with the insulating coating 64. As shown in fig. 5 and 9, the lead wire 63 extends from the suction nozzle 37, is arranged along the waste thread hose 82, is separated from the waste thread hose 82 in the middle, enters the inside of the robot main body 31, passes through the inside of the robot main body 31, and reaches the traveling unit 34. That is, a part of the lead wire 63 is provided to the robot main body 31. Here, since the lead wire 63 is covered with the insulating coating 64 (see fig. 6), the lead wire 63 is insulated from the robot main body 31 and the robot controller 102. As shown in fig. 8 and 9, the lead wire 63 is connected to the terminal 55d, and the terminal 55d is in contact with the ground line 54. The ground line 54 extends to the ground along the rail 35 and the strut 40 and the like and is grounded. In this way, the suction nozzle 37 is connected to the ground line 54 via the lead wire 63 and the terminal 55d, and is grounded through a ground path different from the ground path of the robot controller.

(series of treatments relating to threading work)

Next, a series of processing related to the yarn threading operation performed by the robot controller 102 will be described with reference to fig. 10. When a certain traction device 2 needs to be threaded, a threading request signal is transmitted from the winding control device 101 of the traction device 2 to the central control device 4. The central control device 4 transmits a signal to the robot control device 102 to perform the wire suspending operation for the traction device 2.

First, upon receiving a wire-hooking request signal from the central control device 4, the robot control device 102 drives the travel motor 121 to move the wire-hooking robot 3 to the front of the traction device 2 that needs to perform a wire-hooking operation (S201). Next, the robot controller 102 drives the cylinders to raise the

couplings

73 and 83 together with the support member 75 and connects them to the

couplings

74 and 84, respectively (S202).

Next, in a state where the suction nozzle 37 continuously sucks and captures the yarn Y spun from the spinning device, the robot controller 102 drives the yarn hooking unit 33 and the arm motor 122 as appropriate, moves the suction nozzle 37 relative to the robot main body 31, and performs yarn hooking operation with respect to the drawing unit 10 and the winding unit 13 of the predetermined drawing device 2 (S203). After the wire-threading operation is completed, the robot controller 102 drives the cylinder to lower the

couplings

73 and 83 together with the support member 75, and releases the connection with the couplings 74 and 84 (S204). Finally, the robot controller 102 transmits a wire hanging process completion signal to the central controller 4. Then, the central control device 4 transmits a signal to the winding control device 101 to restart the winding of the yarn Y by the traction device 2 (S205).

As described above, in the threading robot 3 that performs the threading operation on the traction device 2, the suction nozzle 37 holding the yarn Y is connected to the ground line 54 via the lead wire 63 and the terminal 55d without passing through the robot control device 102, and is grounded. Also, the lead wire 63 and the robot controller 102 are insulated by the insulating coating 64. Therefore, static electricity generated in the suction nozzle 37 due to contact with the yarn Y can be quickly removed, and the occurrence of adverse effects due to the flow of electric charge to the robot control device 102 can be suppressed.

Further, since the lead wire 63 extending from the suction nozzle 37 is insulated from the ground path of the robot controller 102, the electric charge generated in the suction nozzle 37 can be prevented from flowing directly from the lead wire 63 to the robot controller 102. In particular, even when the lead wire 63 as the ground path of the suction nozzle 37 is provided in the robot main body 31, the lead wire 63 is covered with the insulating coating 64 extending along the lead wire 63, and therefore the lead wire 63 can be reliably insulated from the ground path of the robot controller 102.

Further, since the suction nozzle 37 is grounded through a ground path different from the ground path of the robot control device 102, it is possible to reliably prevent the electric charge generated in the suction nozzle 37 from flowing to the robot control device 102.

The ground line 62 of the robot controller 102 is provided to be electrically connected to the terminal 55c via the conductive frame 41 of the robot main body 31, and the suction nozzle 37 is grounded via a lead 63 outside the frame 41. Therefore, the electric charge generated in the suction nozzle 37 can be reliably prevented from flowing to the robot control device 102.

The yarn threading robot 3 travels along the rail 35 between the plurality of traction devices 2, stops in front of the traction device 2 that is the target of the yarn threading operation, and performs the yarn threading operation. In this configuration, since the terminal 55d is provided in the traveling portion 34 that contacts the rail 35, a grounding path of the suction nozzle 37 can be easily secured by providing a member for grounding at or near the rail 35.

Further, since the ground line 54 is provided along the rail 35, the terminal 55d can be always in contact with the ground line 54, and the electric charge generated in the suction nozzle 37 can be reliably discharged.

Since the contact surface of the wheel 36 that contacts the rail 35 is insulating, the electric charge generated in the suction nozzle 37 cannot escape to the rail 35 via the wheel 36. Even in such a case, since the terminal 55d that is electrically connected to the lead wire 63 is provided at a location other than the wheel 36, the electric charge generated in the suction nozzle 37 can be discharged to the ground line 54 via the terminal 55 d.

Further, since the wheels 36 have insulation properties and the robot main body 31 is suspended from the rails 35, it is difficult to ground the vehicle as compared with a case where the vehicle travels on the ground. Even in such a case, the suction nozzle 37 is connected to the ground line 54 via the lead wire 63 and the terminal 55d, and therefore a ground path can be secured.

Further, since the lead 63 has flexibility, the lead 63 can follow the movement of the suction nozzle 37. In the yarn threading operation, since it is necessary to move the yarn Y while holding the yarn Y by the suction nozzle 37, a configuration in which the wire 63 can follow the movement of the suction nozzle 37 is useful.

Further, since the yarn Y is continuously spun from the spinning section 5 of the spinning device, the nozzle 37 continuously rubs against the yarn Y, and the charge amount of the nozzle is likely to increase. Even in such a case, static electricity generated in the suction nozzle 37 can be quickly removed, and the adverse effect of the flow of electric charge to the robot control device 102 can be prevented.

In addition, since it is necessary to move the yarn Y while holding the yarn Y by the suction nozzle 37 during the yarn threading operation, electric charges are likely to be generated in the suction nozzle 37 due to contact with the yarn. Therefore, in particular, in such a configuration, it is useful to quickly escape the electric charge generated in the suction nozzle 37 from the viewpoint of protecting the robot control device 102.

Next, a modified example of the above embodiment will be described. However, the same reference numerals are given to those portions having the same configurations as those of the above-described embodiment, and the description thereof will be omitted as appropriate.

(1) In the above embodiment, the robot controller 102 is grounded via the frame 41 of the robot main body 31, but it may be configured such that the robot controller 102 is grounded by extending a coated wire or the like to the terminal 55 c.

(2) In the embodiments described above, the ground line 54 extends to the ground, but when the rail 35 and the support 40 are conductive, the support 40 or another component connected to the support 40 may be grounded and the ground line 54 may be electrically connected to the rail 35 in order to facilitate the escape of the electric charge accumulated in the suction nozzle 37. The ground line 53 may be electrically connected to the rail 35.

(3) The lead wire 63 may be provided not along the inner side but along the outer side of the robot main body 31. For example, the following may be formed: the housing 42 is formed of an insulator such as plastic, and as shown in fig. 11, in the wire robot 3a, the lead wire 63 is arranged along the housing 42. In addition, in this modification, the lead wire 63 may not be covered with the insulating coating. In this case, the housing 42 corresponds to an insulator of the present invention.

(4) The lead wire 63 may not be provided along the robot main body 31. For example, as shown in fig. 12, in the wire hanging robot 3b, the lead wire 63 is arranged along the waste wire hose 82 and extends to the coupler 83. A conductive terminal 85 is provided at the tip of the coupler 83 and is electrically connected to the lead wire 63. In this case, the terminal 85 corresponds to the 1 st terminal of the present invention. A ground line 86, which is grounded, is provided near the coupling 84, for example, along the waste wire pipe 81. In this case, the ground line 86 corresponds to the 1 st ground member of the present invention. In the above configuration, the terminal 85 is electrically connected to the ground line 86 while the coupler 83 is attached to the coupler 84 (step S202 described above), and a ground path of the suction nozzle 37 is secured. In this way, since the lead wire 63 is disposed along the waste wire hose 82 extending to the ground wire 86, the ground path of the suction nozzle 37 can be secured by a route away from the robot main body 31 provided in the robot controller 102. That is, the lead wire 63 can be disposed so as to bypass the robot main body 31, and the ground path of the suction nozzle 37 and the ground path of the robot control device 102 can be reliably separated. Further, since the ground path of the suction nozzle 37 is ensured while the coupler 83 is attached to the coupler 84, labor and time for ensuring the ground path can be saved. Also, the structure for securing the ground path becomes simple. In the modification, the lead wire 63 is disposed along the waste wire hose 82, but may be formed as follows: the lead wire 63 is disposed along the air pressure hose 72, and a terminal 85 is provided on the coupler 73, and a ground wire 86 is provided near the coupler 74.

(5) As a further modification of the above (4), as shown in fig. 13, the threading robot 3c may be configured such that the lead wire 63 and the waste thread hose 82 pass through the inside of the robot arm 32. The lead wire 63 is covered with an insulating coating 64 (see fig. 6) as in the present embodiment. In this case, the lead wire 63 can be insulated from the robot controller 102, interference between the lead wire 63 and the waste wire hose 82 and the robot arm 32 or the traction device 2 can be prevented, and the degree of freedom in the operation of the robot arm 32 can be increased.

(6) In the embodiments described above, the suction nozzle 37 and the robot controller 102 are grounded through different ground paths, but the present invention is not limited to this. That is, the following may be formed: the lead 63 is connected to a middle portion of the ground path of the robot controller 102, and thereby the ground path of the suction nozzle 37 and the ground path of the robot controller 102 are merged at the middle portion. Specifically, as shown in fig. 14 and 15, in the wire hanging robot 3d, the lead wire 63 is electrically connected to the frame 41 of the robot main body 31. The frame 41 is electrically connected to the terminal 55c, and the terminal 55c is in contact with the ground line 53. That is, in this modification, the conductive path 60a for conducting the suction nozzle 37 and the terminal 55c without passing through the robot controller 102 is formed by the lead wire 63 and a part of the frame 41. Thus, both the suction nozzle 37 and the robot controller 102 are electrically connected to the terminal 55c, and are connected to the ground line 53 via the terminal 55c and grounded. Even in such a case, since the conductive path 60a does not pass through the robot control device 102, it is possible to suppress the electric charge generated in the nozzle 37 from directly flowing into the robot control device 102. In this modification, the terminal 55c corresponds to the "1 st terminal" of the present invention. The ground line 53 corresponds to the "1 st grounding member" of the present invention.

(7) The wheels may also form part of the ground path of the suction nozzle 37 by having electrical conductivity. For example, as shown in fig. 16, in the wire hanging robot 3e, the wheel 90 may be formed of a conductor such as a metal and be electrically connected to the lead wire 63. In this case, the rail 35 is grounded via the strut 40 and is in conduction with the wheel 90. That is, in this modification, the wheel 90 corresponds to the 1 st terminal of the present invention, and the rail 35 corresponds to the 1 st grounding member of the present invention. Therefore, the suction nozzle 37 can be reliably grounded, and the electric charge generated in the suction nozzle 37 can be escaped from the wheel 90 to the rail 35.

(8) The towing installation 2 may also have a grounding member. For example, in fig. 17, a grounding member 92 is attached to the outside of the winding unit 13 of the traction device 2. The wire robot 3f has a terminal 91 that is electrically connected to the lead wire 63, and the terminal 91 is configured to contact the ground member 92. The suction nozzle 37 can be grounded at the moving destination of the filament hanging robot 3f each time. The grounding member 92 may be provided at a position where the terminal 91 can contact, without being attached to the traction device 2. Including this modification, by securing the grounding path of the suction nozzle 37 as described above, the stable operation of the spin-draw device 1 can be realized.

(9) The ground path of the suction nozzle 37 may be secured by a component other than the wire 63. For example, in the modification (4) described above, the conductive wiring pattern formed along the waste wire hose 82 may be extended to the coupler 83. In this case, the waste thread hose 82 can follow the movement of the suction nozzle 37.

(10) The threading robot 3 may not necessarily have the traveling unit 34, and may be configured to perform a threading operation on one or more traction devices 2 by driving the robot arm 32 in a state fixed to one location, for example.

(11) In the above embodiment, the thread winding robot 3 that performs the thread winding operation on the drawing unit 10 and the winding unit 13 of the drawing device 2 has been described, but the present invention is not limited to this, and can be applied to various kinds of work robots that perform predetermined operations on the thread processing device. That is, the yarn threading robot may perform yarn threading work for a device other than the drawing device that draws the spun yarn. Alternatively, the work content of the work robot may be a work other than the above-described threading work. For example, the present invention may be applied to an automatic yarn threading device for threading a yarn to a winding tube in a winding device of a false twisting machine for false twisting a yarn (see japanese patent application laid-open No. 2013-23385). Specifically, the automatic yarn threading device includes a suction nozzle, a cutter, a yarn arranging arm, a yarn pressing arm, a yarn holding arm, and the like. The suction nozzle is attached to a frame of the false twist processing hammer and holds a middle portion of the yarn fed to the take-up tube. The cutter cuts the thread held by the suction nozzle. The thread arranging arm arranges the thread cut by the cutter so as to face the winding tube. The yarn pressing arm presses the yarn facing the winding tube against the winding tube to make the yarn closely contact the winding tube. The thread holding arm is attached to the thread arranging arm, and holds the thread by sandwiching the thread between the thread holding arm and the thread pressing arm. The wire arrangement arm and the like are driven by a motor and the like. The automatic yarn threading device holds the yarn by sandwiching the yarn between the yarn pressing arm and the yarn holding arm, and brings the yarn into close contact with the winding tube by the yarn pressing arm. By rotating the winding tube in this state, the yarn is wound on the winding tube. While the yarn is held, the yarn holding arm and the like can accumulate electric charge due to contact charging with the yarn. The automatic yarn threading device may include a control unit, and it is effective to provide a path for escaping the electric charges by bypassing the control unit. The winding device corresponds to the yarn processing device of the present invention. The automatic wire hanging device corresponds to the working robot of the invention. The wire holding arm corresponds to the holding portion of the present invention. The wire arrangement arm corresponds to the arm portion of the present invention. The threading to the winding tube corresponds to a predetermined operation of the present invention.

(12) Alternatively, the present invention may be applied to a yarn dropping device that feeds a new bobbin to a winding device that winds a filament around a bobbin, or the like (see japanese patent application laid-open No. 2015-147674). Specifically, the yarn dropping device includes: a bobbin supply mechanism having a suction tube for holding a filament; and a control section. The control unit controls the bobbin supply mechanism to perform a "topping yarn winding operation" in which a new bobbin is supplied to the winding device, the filament is captured by the suction tube, and is guided to the winding device, thereby winding the filament around the bobbin. Since the attraction tube stores electric charges due to static electricity while the filament is captured, it is effective to provide a path for escaping the electric charges by bypassing the control unit. The winding device corresponds to the yarn processing device of the present invention. The wire dropping device corresponds to the working robot of the present invention. The suction tube corresponds to the holding portion and the arm portion of the present invention. The wrapping operation corresponds to a predetermined operation of the present invention.

(13) Alternatively, the present invention may be applied to a yarn splicing cart that performs yarn splicing operation for a spinning unit that produces and winds a yarn (see japanese patent application laid-open No. 2015-199559). Specifically, the joint carriage includes: a joint device for performing joint; a suction tube for holding one of the 2 threads to be pieced; a suction nozzle for holding the other side; and a control section. The control unit controls the piecing device in the spinning unit after the yarn is cut, and performs piecing operation by twisting 2 yarns held by the suction tube and the suction nozzle in a twisted manner. In this joint carriage, it is effective to provide a path for escaping the electric charge by bypassing the control unit. The spinning unit corresponds to the yarn processing apparatus of the present invention. The joint carriage corresponds to the working robot of the present invention. The suction tube corresponds to the holding portion and the arm portion of the present invention. The same applies to the suction nozzle. The joint operation corresponds to a predetermined operation of the present invention.

Description of the marks

1: spinning traction equipment

2: traction device

3: silk hanging robot

5: spinning section

10: traction part

31: robot main body

32: mechanical arm

34: traveling part

35: track

36: wheel of vehicle

37: suction nozzle

37 c: suction port

41: frame structure

42: shell body

53: grounding wire

54: grounding wire

55 c: terminal with a terminal body

55 d: terminal with a terminal body

60: conductive path

62: grounding wire

63: conducting wire

64: insulating coating

72: hose for air compression

73: coupling device

74: coupling device

82: hose for waste silk thread

83: coupling device

84: coupling device

85: terminal with a terminal body

86: grounding wire

90: wheel of vehicle

91: terminal with a terminal body

92: grounding component

102: robot control device

Y: silk thread

Claims

1. A working robot for performing a predetermined operation on a yarn processing apparatus, the robot comprising:

a robot main body;

an arm portion connected to the robot main body;

a holding portion attached to the arm portion and holding the yarn;

a control unit; and

a 1 st terminal in contact with the grounded 1 st ground part,

the operation robot is provided with a conductive path which extends from the holding portion to the 1 st terminal without passing through the control portion and which conducts the holding portion and the 1 st terminal,

the holding portion is connected to the 1 st grounding member via the conductive path and the 1 st terminal and grounded,

the working robot further includes a traveling section that causes the robot main body to travel along a guide rail extending in an arrangement direction of the plurality of thread processing devices,

the 1 st terminal is provided on the traveling part,

the traveling part has wheels having insulation properties at least at a contact surface with the guide rail,

the 1 st terminal is provided at a position other than the wheel of the traveling unit.

2. A working robot according to claim 1,

the conductive path includes a wire extending from the holding portion,

the wiring is insulated from the control unit.

3. A working robot according to claim 2,

at least a part of the wiring is provided in the robot main body,

the wiring and the control unit are insulated from each other by an insulator.

4. A working robot according to claim 3,

the insulator is an insulating coating that extends along the wiring and covers the wiring.

5. A working robot according to claim 1,

the holding portion is grounded via a ground path different from a ground path of the control portion.

6. A working robot according to claim 5,

a 2 nd terminal, the 2 nd terminal being in contact with a 2 nd grounding member different from the 1 st grounding member and being grounded,

the robot main body has a conductive frame,

the grounding part of the control part is conducted with the 2 nd terminal through the frame.

7. A working robot according to claim 1,

the holding portion and the control portion are both electrically connected to the 1 st terminal, and are connected to the 1 st grounding member and grounded.

8. A working robot according to claim 1,

the 1 st grounding member is provided along the guide rail, and the 1 st terminal provided in the traveling portion is in contact with the 1 st grounding member.

9. A working robot according to claim 1,

the guide rail is arranged above the moving space of the robot main body,

the robot main body travels in a state of being suspended from the guide rail.

10. A working robot according to claim 1,

the 1 st grounding member is the rail formed of a conductive member,

the 1 st terminal provided in the traveling part is in contact with the rail.

11. A working robot according to claim 1,

an extension member extending from the holding portion toward the 1 st grounding member,

the conductive path includes a wire extending from the holding portion,

at least a part of the wiring is disposed along the extension member.

12. A working robot according to claim 11,

at least a part of the extension member and the wire pass through the inside of the arm portion,

the wiring and the control unit are insulated by an insulator.

13. A working robot according to claim 11,

the holding part is provided with a suction part for sucking the silk thread,

the extension member is a hose connected to the suction portion.

14. A working robot according to claim 13,

the hose is connected to a fluid pipe which is fixedly disposed,

a hose-side joint to which the 1 st terminal is attached to an end portion of the hose on the opposite side to the suction portion,

the first grounding member 1 is provided at a pipe-side joint of the fluid pipe, the pipe-side joint being connected to the hose-side joint.

15. A working robot for performing a predetermined operation on a yarn processing apparatus, the robot comprising:

a robot main body;

an arm portion connected to the robot main body;

a holding portion attached to the arm portion and holding the yarn;

a control unit; and

a 1 st terminal in contact with the grounded 1 st ground part,

the 1 st terminal is provided at a position other than the wheel of the traveling part,

the work robot further includes an extension member extending from the holding portion toward the 1 st ground contact member,

the conductive path includes a wire extending from the holding portion,

at least a part of the wiring is disposed along the extension member,

the holding part is provided with a suction part for sucking the silk thread,

the extension member is a hose connected to the suction portion,

the hose is connected to a fluid pipe which is fixedly disposed,

16. A working robot according to any of the claims 1-15,

the conductive path includes a wire extending from the holding portion,

the wiring is flexible or provided to a flexible member.

17. A working robot according to any of the claims 1-15,

the yarn processing device comprises a traction part for drawing the yarn spun from the spinning part of the spinning device,

the control unit causes the holding unit to perform the predetermined operation in a state where the holding unit continuously sucks and catches the yarn spun from the spinning unit.

18. A working robot according to claim 16,

19. A working robot according to any of the claims 1-15,

the predetermined operation is a yarn hooking operation of hooking the yarn held by the holding portion to the yarn processing apparatus.

20. A working robot according to claim 16,

21. A working robot according to claim 17,

22. A working robot according to claim 18,

23. A textile machine is characterized by comprising:

a yarn processing device;

a grounding member provided in the yarn processing apparatus and grounded; and

an operation robot for performing a predetermined operation related to the yarn processing device,

the work robot includes:

a robot main body;

an arm portion connected to the robot main body;

a holding portion attached to the arm portion and holding the yarn;

a control unit; and

a terminal which is in contact with the grounding member,

the operation robot is provided with a conductive path which extends from the holding portion to the terminal without passing through the control portion and which conducts the holding portion and the terminal,

the holding portion is connected to the grounding member via the conductive path and the terminal and grounded,

the terminal is arranged on the advancing part,

the terminal is provided at a position other than the wheel of the traveling unit.