EP3613687B1 - Work robot and textile machine provided with work robot - Google Patents

Work robot and textile machine provided with work robot Download PDF

Info

Publication number
EP3613687B1
EP3613687B1 EP18787764.2A EP18787764A EP3613687B1 EP 3613687 B1 EP3613687 B1 EP 3613687B1 EP 18787764 A EP18787764 A EP 18787764A EP 3613687 B1 EP3613687 B1 EP 3613687B1
Authority
EP
European Patent Office
Prior art keywords
robot
terminal
retaining portion
controller
yarns
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.)
Active
Application number
EP18787764.2A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3613687A1 (en
EP3613687A4 (en
Inventor
Kenji Sugiyama
Noriko Kato
Tadashi Suzuki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TMT Machinery Inc
Original Assignee
TMT Machinery Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by TMT Machinery Inc filed Critical TMT Machinery Inc
Publication of EP3613687A1 publication Critical patent/EP3613687A1/en
Publication of EP3613687A4 publication Critical patent/EP3613687A4/en
Application granted granted Critical
Publication of EP3613687B1 publication Critical patent/EP3613687B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to a work robot which performs a predetermined operation regarding yarns for a yarn processing apparatus, and relates to a textile machine including the work robot.
  • Patent Literature 1 discloses a spun yarn take-up apparatus which forms packages by winding yarns spun out from a spinning apparatus onto bobbins.
  • the spun yarn take-up apparatus includes first and second godet rollers, fulcrum guides, traverse guides, etc. Yarns are wound onto the first and second godet rollers and are then threaded to the respective fulcrum guides. The yarns threaded onto the fulcrum guides are wound onto the bobbins while being traversed by the traverse guides.
  • Patent Literature 1 yarn threading of spun-out yarns to the spun yarn take-up apparatus is carried out by an operator. To be more specific, the yarns are wound onto the first and second godet rollers while the yarns are sucked and retained by a suction gun. The yarns are then threaded to the respective fulcrum guides.
  • US 2009/0049669 discloses a spinning, drawing and texturing machine. This machine includes a work robot having an arm member including a retaining portion retaining a yarn.
  • the applicant of the present invention has tried to use a yarn threading robot in place of an operator for performing the above-described operation regarding yarns.
  • the yarn threading robot has an arm with a retaining portion which suck yarns, and threads yarns to godet rollers or the like by moving the arm at will.
  • An object of the present invention is to swiftly remove static electricity generated in a retaining portion and to restrain an influence of the static electricity on a controller.
  • a work robot according to the invention is defined by appended claim 1.
  • the conductive path is formed to extend from the retaining portion retaining the yarns to the first terminal without passing the controller so as to cause the retaining portion to be electrically conductive with the first terminal.
  • the retaining portion and the controller are not connected at least in series.
  • the retaining portion is connected to the first ground member via the conductive path and the first terminal and grounded.
  • the conductive path includes a wire extending from the retaining portion, and the wire is insulated from the controller, because the wire in the conductive path extends from the retaining portion and the wire is insulated from the controller, it is possible to prevent electric charges generated in the retaining portion from directly flowing to the controller from the wire.
  • the work robot is arranged such that at least part of the wire is provided in the robot main body, and the wire is insulated from the controller by an insulator, even when a part of the wire is provided in the robot main body as a ground path of the retaining portion, flow of electric charges generated in the retaining portion into the controller is restrained because the wire is insulated from the controller in the robot main body by the insulator.
  • the insulator is an insulating cover which extends along the wire and covers the wire
  • insulation of the wire which is at least part of the ground path of the retaining portion from the ground path of the controller is ensured because the insulating cover extending along the wire covers the wire.
  • the work robot When the work robot is arranged such that the retaining portion is grounded through a ground path different from the ground path of the controller, because the retaining portion is grounded through a ground path different from the ground path of the controller, it is possible to certainly prevent electric charges generated in the retaining portion from flowing to the controller.
  • the robot main body including an electrically-conductive frame, and a ground of the controller being electrically conductive with the second terminal via the frame, while the ground of the controller is provided to be conductive with the second terminal via the conductive frame of the robot main body, the retaining portion is grounded via a conductive path which is different from the frame. It is therefore possible to certainly prevent electric charges generated in the retaining portion from flowing to the controller.
  • both of the retaining portion and the controller are electrically conductive with the first terminal and are connected to the first ground member and grounded, even when both of the retaining portion and the controller are connected to the first ground member and grounded, because the conductive path causing the retaining portion to be conductive with the first terminal does not pass the controller, it is possible to restrain electric charges generated in the retaining portion from directly flowing to the controller.
  • the work robot includes a running unit which causes the robot main body to run along a guide rail extending in a direction in which a plurality of the at least one yarn processing apparatus are lined up, the first terminal being provided on the running unit.
  • the work robot of this aspect runs across the yarn processing apparatuses along the guide rail, stops at a location in front of a yarn processing apparatus which is the target of operation, and performs the operation.
  • the first terminal is provided on the running unit which is in contact with the guide rail, the ground path of the retaining portion is easily assured by providing the first ground member at or around the guide rail.
  • the work robot When the work robot is arranged such that the first ground member is provided along the guide rail, and the first terminal of the running unit is in contact with the first ground member, because the first ground member is provided along the guide rail, the first terminal is always in contact with the first ground member and hence electric charges generated in the retaining portion are certainly dissipated.
  • the work robot is arranged such that the running unit includes a wheel which is insulating at least at a contact surface where the wheel is in contact with the guide rail, and the first terminal is provided at a location different from the wheel.
  • the work robot When the work robot is arranged such that the guide rail is provided at an upper part of a movement space of the robot main body, and the robot main body runs while hanging down from the guide rail, when the wheel is insulating and the robot main body hangs down from the guide rail, grounding is difficult as compared to cases where the robot runs on the floor. Even in such a case, according to the aspect above, because the retaining portion is connected to the first ground member via the conductive path and the first terminal, the ground path is assured.
  • the work robot When the work robot is arranged such that the first ground member is the guide rail formed of a conductive member, and the first terminal of the running unit is in contact with the guide rail, because the guide rail made of a conductive member is the first ground member and the first terminal is in contact with the guide rail, electric charges generated in the retaining portion are certainly dissipated.
  • the running unit includes a wheel made of a conductor
  • the first terminal is the wheel
  • electric charges generated in the retaining portion can be dissipated to the guide rail via the wheel and the conductive path.
  • the conductive path includes a wire extending from the retaining portion, and at least part of the wire is provided along the extension portion, because the wire is provided along the extension portion which extends toward the first ground member from the retaining portion, the ground path of the retaining portion is assured at a location remote from the robot main body in which the controller is provided.
  • the extension portion and the wire pass the inside of the arm member, and the wire is insulated from the controller by an insulator
  • the extension portion and the wire passes the inside of the arm member, and the wire is insulated from the controller by the insulator.
  • the retaining portion includes a sucking section sucking the yarns
  • the extension portion is a hose connected to the sucking section
  • the wire bypasses the robot main body as the wire is arranged to extend toward the first ground member along the hose. It is therefore possible to ensure the separation of the ground path of the retaining portion from the ground path of the controller in the robot main body.
  • a hose-side coupler with the first terminal is attached to an end portion of the hose, the end portion being on the side opposite to the sucking section, and the first ground member is provided at a pipe-side coupler of the fluid pipe, the pipe-side coupler being connected to the hose-side coupler, because the ground path of the retaining portion is assured at the time of the attachment of the pipe-side coupler to the hose-side coupler, time and labor for assuring the ground path can be saved. Furthermore, the structure for assuring the ground path is simple.
  • the conductive path includes a wire extending from the retaining portion, and the wire is either flexible or provided in a flexible member, when the wire is either flexible or provided in a flexible member, the wire is able to follow the movement of the retaining portion when the retaining portion moves during the operation by the robot.
  • each of the at least one yarn processing apparatus includes a take-up unit which is configured to take up the yarns spun out from a spinning unit of a spinning apparatus, and the controller causes the retaining portion to perform the predetermined operation while the retaining portion serially sucking and retaining the yarns spun out from the spinning unit
  • the yarn processing apparatus includes the take-up unit taking up the yarns spun out from the spinning apparatus, because the yarns are serially spun out from the spinning apparatus, the electric charge amount in the retaining portion tends to be large as the yarns serially rub against the retaining portion while the controller causes the retaining portion to perform the predetermined operation.
  • the work robot of the present invention is a yarn threading robot performing yarn threading to a yarn processing apparatus. Because the retaining portion is required to move the yarns while retaining the yarns in yarn threading, electric charges tend to be generated in the retaining portion due to contact with the yarns. Particularly in such an arrangement, it is advantageous in terms of the protection of the controller to arrange the retaining portion and the controller not to be connected at least in series and to swiftly dissipate the static electricity generated in the retaining portion.
  • a textile machine according to the invention is defined by appended claim 19.
  • the textile machine including the yarn processing apparatus, the ground member, and the work robot, because the retaining portion of the work robot is grounded without passing the controller, the static electricity generated in the retaining portion is swiftly removed and the occurrence of adverse effects due to the flow of electric changes to the controller is restrained. As a result, the textile machine is stably operated.
  • FIG. 1 is a schematic front view of a spun yarn take-up system 1 (textile machine of the present invention) of an embodiment.
  • the spun yarn take-up system 1 includes members such as take-up apparatuses 2 (yarn processing apparatus of the present invention), a yarn threading robot 3 (work robot of the present invention), and a central controller 4.
  • take-up apparatuses 2 yarn processing apparatus of the present invention
  • yarn threading robot 3 work robot of the present invention
  • central controller 4 the direction in which the take-up apparatuses 2 are lined up will be referred to as a left-right direction, as shown in FIG. 1 .
  • the direction orthogonal to the plane of FIG. 1 will be referred to as a front-rear direction and the direction orthogonal to the left-right direction and the front-rear direction will be referred to as an up-down direction.
  • the spun yarn take-up apparatuses 2 are lined up in the left-right direction and each of the spun yarn take-up apparatuses 2 takes up yarns Y spun out from a spinning unit 5 of a spinning apparatus provided above the spun yarn take-up apparatus 2, and forms packages P by winding the yarns Y onto winding bobbins B.
  • the yarn threading robot 3 is provided in front of the take-up apparatuses 2, and performs yarn threading (predetermined operation in the present invention) for the take-up apparatuses 2 with the movement in the left-right direction.
  • the central controller 4 is electrically connected to a later-described winding controller 101 of the take-up apparatus 2 and a robot controller 102 (controller of the present invention) of the yarn threading robot 3 (as shown in FIG. 2 ) and communicates with these controllers.
  • FIG. 2 is a block diagram showing the electric structure of the spun yarn take-up system 1.
  • the spun yarn take-up system 1 includes the central controller 4 which serves to control the entire system.
  • Each spun yarn take-up apparatus 2 is provided with a winding controller 101.
  • the winding controller 101 is configured to control the operation of each driving unit of the take-up apparatus 2.
  • a robot controller 102 is provided in the yarn threading robot 3.
  • the robot controller 102 is configured to control the operation of each driving unit of the yarn threading robot 3.
  • the central controller 4 is communicably connected, wirelessly or by cable, with each winding controller 101 and each robot controller 102.
  • FIG. 3 is a front view showing the take-up apparatus 2 and the yarn threading robot 3.
  • FIG. 4 is a side view showing the take-up apparatus 2 and the yarn threading robot 3.
  • the take-up apparatus 2 includes a take-up unit 10 for taking up yarns Y spun out from the spinning unit 5 of the spinning apparatus (see FIG. 1 ) and a winding unit 13 for winding the taken-up yarns Y onto winding bobbins B and forming packages P.
  • the take-up unit 10 includes a first godet roller 11, a second godet roller 12, an aspirator 15, and a yarn regulating guide 16.
  • the first godet roller 11 is a roller having an axis substantially in parallel to the left-right direction and is provided above a front end portion of the winding unit 13.
  • the first godet roller 11 is rotationally driven by a first godet motor 111 (see FIG. 2 ) .
  • the second godet roller 12 is a roller having an axis substantially in parallel to the left-right direction, and is provided above and rearward of the first godet roller 11.
  • the second godet roller 12 is rotationally driven by a second godet motor 112 (see FIG. 2 ).
  • the second godet roller 12 is movably supported by a guide rail 14.
  • the guide rail 14 extends obliquely upward and rearward.
  • the second godet roller 12 is arranged to be movable along the guide rail 14 by a cylinder (not illustrated) .
  • the second godet roller 12 is movable between a winding position where winding of the yarns Y is performed and a yarn threading position which is close to the first godet roller 11 and where yarn threading is performed.
  • the position of the second godet roller 12 at the winding position is indicated by full lines, whereas the position of the second godet roller 12 at the yarn threading position is indicated by one-dot chain lines.
  • the aspirator 15 is configured to suck and retain the yarns Y spun out from the spinning apparatus before yarn threading is performed by the yarn threading robot 3.
  • the aspirator 15 is provided above the first godet roller 11.
  • the yarn regulating guide 16 is provided between the first godet roller 11 and the aspirator 15 with respect to the up-down direction.
  • the yarn regulating guide 16 is, for example, a known yarn guide with a comb teeth shape.
  • the yarn regulating guide 16 regulates the interval between neighboring yarns Y to a predetermined value.
  • the yarn regulating guide 16 is arranged to be movable in the left-right direction by a cylinder (not illustrated).
  • the yarn regulating guide 16 is movable between a protruding position where the guide protrudes as compared to the leading end portion of the first godet roller 11 and a retracted position where the guide falls within the range of the first godet roller 11.
  • the winding unit 13 includes fulcrum guides 21, traverse guides 22, a turret 23, two bobbin holders 24, and a contact roller 25.
  • the fulcrum guides 21 are provided for the yarns Y, respectively, and are lined up in the front-back direction.
  • the traverse guides 22 are provided for the yarns Y, respectively, and are lined up in the front-rear direction.
  • the traverse guides 22 are driven by a common traverse motor 116 (see FIG. 2 ) and reciprocate in the front-back direction. With this, the yarns Y threaded to the traverse guides 22 are traversed about the fulcrum guides 21.
  • the turret 23 is a disc-shaped member having an axis which is substantially in parallel to the front-rear direction.
  • the turret 23 is rotationally driven by a turret motor 117 (see FIG. 2 ).
  • the two bobbin holders 24 have axes which are substantially in parallel to the front-back direction.
  • the bobbin holders 24 are rotatably supported at an upper end portion and a lower end portion of the turret 23.
  • the winding bobbins B are attached to each bobbin holder 24.
  • the winding bobbins B are respectively provided for the yarns Y and lined up in the front-rear direction.
  • the two bobbin holders 24 are rotationally driven by their respective winding motors 118 (see FIG. 2 ).
  • the contact roller 25 is a roller having an axis substantially in parallel to the front-rear direction and is provided immediately above the upper bobbin holder 24.
  • the contact roller 25 is configured to make contact with the surfaces of the packages P supported by the upper bobbin holder 24. With this, the contact roller 25 applies a contact pressure to the surfaces of the unfinished packages P, to adjust the shape of each package P.
  • the yarns Y traversed by the traverse guides 22 are wound onto the winding bobbins B, with the result that the packages P are formed.
  • the turret 23 rotates to switch over the upper and lower positions of the two bobbin holders 24.
  • the bobbin holder 24 having been at the lower position is moved to the upper position, which allows the yarns Y to be wound onto the winding bobbins B attached to the bobbin holder 24 having been moved to the upper position, to form packages P.
  • the bobbin holder 24 to which the fully-formed packages P are attached is moved to the lower position, and the packages P are collected by an unillustrated package collector.
  • FIG. 5 is an enlarged front view of the yarn threading robot 3.
  • FIG. 6 is a cross-section of a later-described suction gun 37 (retaining portion of the present invention).
  • FIGs. 7(a) and 7(b) shows a later-described running unit 34 and its surroundings.
  • FIG. 8 is an enlarged view of the running unit 34.
  • the yarn threading robot 3 is provided to perform yarn threading to the take-up apparatuses 2.
  • two rails 35 are provided along the direction in which the take-up apparatuses 2 are lined up (see FIG. 1 ) .
  • the two rails 35 are supported from the ceiling by a pillar 40 (see FIG. 1 ) .
  • the yarn threading robot 3 hangs down from the two rails 35 and is movable in the left-right direction along the two rails 35.
  • the yarn threading robot 3 moves to a position in front of that take-up apparatus 2, and performs yarn threading to the take-up unit 10 and the winding unit 13 of that take-up apparatus 2.
  • main components of the yarn threading robot 3 are a robot main body 31, a robotic arm 32 (arm member of the present invention) which is attached to a lower portion of the robot main body 31, a yarn threading unit 33 attached to a leading end portion of the robotic arm 32, and the running unit 34 provided at an upper portion of the robot main body.
  • the robot main body 31 is substantially rectangular parallelepiped in shape and includes members such as a metal frame 41 and a casing 42 accommodating the frame 41.
  • members such as the robotic arm 32 and a robot controller 102 for controlling the yarn threading unit 33 are mounted.
  • the robot controller 102 is configured to control a later-described yarn threading unit 33, a movement motor 121, an arm motor 122, etc.
  • the robotic arm 32 is attached to the lower portion of the robot main body 31 to move the yarn threading unit 33 in three dimensions.
  • the robotic arm 32 includes arms 32a and joints 32b connecting the arms 32a with one another.
  • Each joint 32b incorporates therein an arm motor 122 (see FIG. 2 ) .
  • the arm motor 122 As the arm motor 122 is driven, the arm 32a is rotated about the joint 32b. This arrangement allows the robotic arm 32 to move three-dimensionally.
  • the yarn threading unit 33 is used to, for example, retain the yarns Y in yarn threading and is attached to the leading end portion of the robotic arm 32.
  • the yarn threading unit 33 includes the suction gun 37 by which the yarns Y are sucked and captured and a cutter 38 by which the yarns Y are cut.
  • the suction gun 37 includes a suction pipe 37a extending linearly and a compressed air pipe 37b unitarily connected to an intermediate portion of the suction pipe 37a.
  • One end portion of the suction pipe 37a has a suction port 37c (sucking section in the present invention) through which the yarns Y are sucked.
  • the other end portion of the suction pipe 37a is connected to a waste yarn hose 82 (extension portion and hose of the present invention).
  • One end portion of the compressed air pipe 37b communicates with the suction pipe 37a via a communication hole 37d.
  • the other end portion of the compressed air pipe 37b is connected to a compressed air hose 72.
  • the waste yarn hose 82 and the compressed air hose 72 are flexible and are movable in accordance with the movement of the suction gun 37.
  • the communication hole 37d is inclined with respect to the suction pipe 37a so that one end of the communication hole 37d which faces the suction pipe 37a is close to the other end of the suction pipe 37a whereas the other end of the communication hole 37d which is far from the suction pipe 37a is close to the one end of the suction pipe 37a.
  • a lead wire 63 (wire of the present invention) electrically conductive with the suction gun 37 is provided.
  • the lead wire 63 is a flexible and conductive member and is covered with an insulating cover 64 (insulator of the present invention) extending along the lead wire 63.
  • the insulating cover 64 is an insulating member made of PVC, for example. The lead wire 63 will be detailed later.
  • the compressed air hose 72 and the waste yarn hose 82 extend at a location outside the robot main body 31 and extend in a direction different from the directions in which the robotic arm 32 extends, and reach a location close to the running unit 34 which is at the upper portion of the robot main body 31.
  • a coupler 73 is provided at an end portion of the compressed air hose 72, which is opposite to the suction port 37c.
  • a coupler 83 (hose-side coupler of the present invention) is provided at an end portion of the waste yarn hose 82, which is opposite to the suction port 37c.
  • the couplers 73 and 83 are supported from below by a supporting member 75.
  • the supporting member 75 is supported from below by, for example, a cylinder (not illustrated).
  • the cylinder is arranged to be drivable in the up-down direction.
  • a compressed air pipe 71 and a waste yarn pipe 81 are provided in a fixed manner.
  • a coupler 74 is provided for the compressed air pipe 71 whereas a coupler 84 (pipe-side coupler of the present invention) is provided for the waste yarn pipe 81.
  • the couplers 74 and 84 are supported by a base 70 which is provided between the two rails 35.
  • the coupler 73 is attachable to and detachable from the coupler 74, whereas the coupler 83 is attachable to and detachable from the coupler 84.
  • the supporting member 75 moves upward as the cylinder drives, with the result that the couplers 73 and 83 are attached to the couplers 74 and 84, respectively.
  • Compressed air supplied to the suction gun 37 via the compressed air hose 72 flows as indicated by a solid arrow in FIG. 6 . That is to say, the compressed air flows from the one end side to the other end side of the suction pipe 37a when the air flows into the suction pipe 37a from the compressed air pipe 37b.
  • negative pressure is generated at the suction port 37c and suction force is generated (see dotted arrows in FIG. 6 ), with the result that the yarns Y spun out from the spinning apparatus are serially sucked through the suction port 37c.
  • the yarns Y sucked from the suction port 37c are discharged to the waste yarn hose 82 along with the airflow in the suction pipe 37a.
  • the running unit 34 is provided to cause the robot main body 31 to run along the two rails 35.
  • the running unit 34 is provided at the upper portion of the robot main body 31 as indicated by a two-dot chain line in FIG. 5 .
  • the running unit 34 includes four insulative wheels 36 which are made of rubber or the like. Two of the four wheels 36 are on the upper surface of one of the rails 35, and the remaining two wheels 36 are on the upper surface of the other one of the rails 35.
  • the robot main body 31 hangs down from the two rails 35 at the four wheels 36. To put it differently, the two rails are provided in an upper portion of a movement space of the robot main body 31.
  • the four wheels 36 are rotationally driven by the movement motor 121 (see FIG. 2 ). As the four wheels 36 are rotationally driven, the robot main body 31 runs in the left-right direction along the two rails 35.
  • the running unit 34 includes four terminals 55 which are respectively in contact with two trolley wires 51 and 52, a ground wire 53 (second ground member of the present invention), and a ground wire 54 (first ground member of the present invention) which are provided along the rails 35.
  • Each terminal 55 includes a brush 56 in contact with the corresponding one of the trolley wires 51 and 52 and the ground wires 53 and 54, and a spring 57 biasing the brush 56.
  • the terminals 55a and 55b are power supply terminals in contact with the trolley wires 51 and 52, respectively. With this arrangement, power is supplied to the yarn threading robot 3.
  • the ground wires 53 and 54 and the terminals 55c and 55d will be detailed later.
  • the yarn threading robot 3 is able to run across the take-up apparatuses 2 and perform yarn threading to the take-up unit 10 and the winding unit 13 of each of the take-up apparatuses 2.
  • the yarns Y rub against the suction port 37c, with the result that the suction gun 37 is charged and static electricity is generated. Because the yarns Y are serially spun out from the spinning unit 5, the yarns Y are serially sucked during the yarn threading.
  • the yarn threading robot 3 has an arrangement for grounding the suction gun 37 in order to remove the static electricity generated in the suction gun 37 and prevent the occurrence of the adverse effects due to the flow of electric changes to the robot controller 102. The following will describe a ground path of the suction gun 37 and a ground path of the robot controller 102.
  • FIG. 9 is a schematic view of the ground path of the suction gun 37 and the ground path of the robot controller 102.
  • arrangements regarding the ground paths are indicated by full lines whereas other arrangements are indicated by two-dot chain lines.
  • the robot controller 102 is grounded by a grounding wire 62 (ground of the present invention) connected to the robot controller 102, the frame 41 of the robot main body 31, the terminal 55c (second terminal of the present invention) of the running unit 34 (see FIG. 8 , etc.), and the ground wire 53.
  • the grounding wire 62 is electrically conductive with the frame 41 of the robot main body 31.
  • the frame 41 extends to reach an upper portion of the robot main body 31 and conductive with the terminal 55c provided at around the upper portion of the robot main body 31.
  • the terminal 55c is in contact with the ground wire 53, and the ground wire 53 extends along the rails 35, the pillar 40, etc. to reach the ground, i.e., is grounded. In this way, the ground path of the robot controller 102 is assured.
  • the suction gun 37 is grounded by the lead wire 63, the terminal 55d (first terminal or terminal of the present invention) of the running unit 34 (see FIG. 8 , etc.), and the ground wire 54.
  • a conductive path 60 is formed to cause the suction gun 37 to be conductive with the terminal 55d without passing the robot controller 102.
  • the conductive path 60 is formed of the lead wire 63.
  • the lead wire 63 is a flexible and conductive member and is covered with the insulating cover 64. As shown in FIG. 5 and FIG.
  • the lead wire 63 extends from the suction gun 37, is arranged along a part of the waste yarn hose 82, is parted from the waste yarn hose 82 and enters the inside of the robot main body 31, extends inside the robot main body 31, and reaches the running unit 34. In other words, a part of the lead wire 63 is provided in the robot main body 31. In this connection, because the lead wire 63 is covered with the insulating cover 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 FIG. 9 , the lead wire 63 is connected to the terminal 55d, and the terminal 55d is in contact with the ground wire 54.
  • the ground wire 54 extends along the rails 35, the pillar 40, etc. to reach the ground, i.e., is grounded.
  • the suction gun 37 is connected to the ground wire 54 via the lead wire 63 and the terminal 55d, and is therefore grounded via a ground path different from the ground path of the robot controller.
  • the robot controller 102 drives the movement motor 121 so as to move the yarn threading robot 3 to a location in front of the take-up apparatus 2 which requires the yarn threading (S201). Subsequently, the robot controller 102 drives the cylinder to elevate the couplers 73 and 83 together with the supporting member 75, so as to connect the couplers 73 and 83 with the couplers 74 and 84, respectively (S202).
  • the robot controller 102 suitably drives the yarn threading unit 33 and the arm motor 122 to move the suction gun 37 relative to the robot main body 31, so as to perform yarn threading to the take-up unit 10 and the winding unit 13 of the take-up apparatus 2 (S203) .
  • the robot controller 102 drives the cylinder to lower the couplers 73 and 83 together with the supporting member 75, so as to disconnect the couplers 73 and 83 from the couplers 74 and 84 (S204).
  • the robot controller 102 sends a signal indicating the completion of the yarn threading to the central controller 4. Thereafter, when the central controller 4 sends a signal instructing restart of yarn winding to the winding controller 101, winding of the yarns Y by the take-up apparatus 2 is resumed (S205).
  • the suction gun 37 retaining the yarns Y is connected to the ground wire 54 via the lead wire 63 and the terminal 55d and grounded, without passing the robot controller 102. Furthermore, the lead wire 63 and the robot controller 102 are insulated by the insulating cover 64. On this account, the static electricity generated in the suction gun 37 due to contact with the yarn Y is swiftly removed and the occurrence of adverse effects due to the flow of electric changes to the robot controller 102 is restrained.
  • the lead wire 63 extending from the suction gun 37 is insulated from the ground path of the robot controller 102, it is possible to prevent electric charges generated in the suction gun 37 from directly flowing to the robot controller 102 from the lead wire 63.
  • insulation of the lead wire 63 from the ground path of the robot controller 102 is ensured because the insulating cover 64 extending along the lead wire 63 covers the lead wire 63.
  • the suction gun 37 is grounded through a ground path different from the ground path of the robot controller 102, it is possible to certainly prevent electric charges generated in the suction gun 37 from flowing to the robot controller 102.
  • the grounding wire 62 of the robot controller 102 is provided to be conductive with the terminal 55c via the conductive frame 41 of the robot main body 31, the suction gun 37 is grounded via the lead wire 63 which is different from the frame 41. It is therefore possible to certainly prevent electric charges generated in the suction gun 37 from flowing to the robot controller 102.
  • the yarn threading robot 3 runs across the take-up apparatuses 2 along the rails 35, stops at a location in front of a take-up apparatus 2 which is the target of yarn threading, and performs the yarn threading.
  • the terminal 55d is provided on the running unit 34 which is in contact with the rails 35, the ground path of the suction gun 37 is easily assured by providing a grounding member at or around the rails 35.
  • the terminal 55d is always in contact with the ground wire 54 and hence electric charges generated in the suction gun 37 are certainly dissipated.
  • the wheels 36 are insulating and the robot main body 31 hangs down from the rails 35, grounding is difficult as compared to cases where the robot runs on the floor.
  • the suction gun 37 is connected to the ground wire 54 via the lead wire 63 and the terminal 55d, the ground path is assured.
  • the lead wire 63 is flexible, the lead wire 63 is able to follow the movement of the suction gun 37. It is advantageous to arrange the lead wire 63 to be able to follow the movement of the suction gun 37, because the suction gun 37 is required to move the yarns Y while retaining the yarns Y in yarn threading.
  • the electric charge amount in the suction gun tends to be large as the yarns Y serially rub against the suction gun 37. Even in such a case, the static electricity generated in the suction gun 37 is swiftly removed and the occurrence of adverse effects due to the flow of electric changes to the robot controller 102 is prevented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Forwarding And Storing Of Filamentary Material (AREA)
  • Guides For Winding Or Rewinding, Or Guides For Filamentary Materials (AREA)
EP18787764.2A 2017-04-19 2018-03-28 Work robot and textile machine provided with work robot Active EP3613687B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017082782 2017-04-19
PCT/JP2018/012789 WO2018193803A1 (ja) 2017-04-19 2018-03-28 作業ロボット、及び作業ロボットを備える繊維機械

Publications (3)

Publication Number Publication Date
EP3613687A1 EP3613687A1 (en) 2020-02-26
EP3613687A4 EP3613687A4 (en) 2020-12-30
EP3613687B1 true EP3613687B1 (en) 2023-11-29

Family

ID=63856532

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18787764.2A Active EP3613687B1 (en) 2017-04-19 2018-03-28 Work robot and textile machine provided with work robot

Country Status (5)

Country Link
EP (1) EP3613687B1 (zh)
JP (1) JP6636655B2 (zh)
CN (1) CN109195893B (zh)
TW (1) TWI757470B (zh)
WO (1) WO2018193803A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7136676B2 (ja) * 2018-12-10 2022-09-13 Ｔｍｔマシナリー株式会社 紡糸生産設備
JP7286385B2 (ja) * 2019-04-08 2023-06-05 Ｔｍｔマシナリー株式会社 繊維機械
JP7253431B2 (ja) 2019-04-16 2023-04-06 Ｔｍｔマシナリー株式会社 紡糸引取設備
CN111176303B (zh) * 2020-03-11 2024-06-28 深圳市筑汀智能科技有限公司 一种单总线器件循迹行走机器人
CN113955574B (zh) * 2021-11-04 2022-12-16 苏州超莱斯机器人科技有限公司 一种机器人线缆导向装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4711565Y1 (zh) * 1969-08-22 1972-04-28
JPS576444Y2 (zh) * 1976-11-10 1982-02-06
JPS6216929U (zh) * 1985-07-17 1987-01-31
JPH04362660A (ja) * 1991-06-11 1992-12-15 Canon Inc 画像形成装置
JP4585929B2 (ja) * 2005-06-28 2010-11-24 日産自動車株式会社 ケーブル異常監視装置およびその方法
DE502007005850D1 (de) * 2006-05-08 2011-01-13 Oerlikon Textile Gmbh & Co Kg Spinn-treck-texturiermaschine
DE102006053734A1 (de) * 2006-11-15 2008-05-21 Oerlikon Textile Gmbh & Co. Kg Rotorantrieb einer Offenend-Spinnvorrichtung
JP2010182923A (ja) * 2009-02-06 2010-08-19 Hitachi High-Tech Control Systems Corp ウェーハハンドリングロボット装置
DE102011016786A1 (de) * 2011-04-12 2012-10-18 Oerlikon Textile Gmbh & Co. Kg Hilfsvorrichtung zum manuellen Führen von laufenden Fäden
JP5687578B2 (ja) 2011-07-26 2015-03-18 Ｔｍｔマシナリー株式会社 糸巻取装置
US9469920B2 (en) * 2011-10-12 2016-10-18 Korea University Research And Business Foundation Electrospinning device
DE102012011122A1 (de) * 2012-06-05 2013-12-05 Saurer Germany Gmbh & Co. Kg Leiterplatte für eine Textilmaschine
JP6211379B2 (ja) * 2013-10-16 2017-10-11 Ｔｍｔマシナリー株式会社 紡糸巻取機
JP2015147674A (ja) 2014-02-10 2015-08-20 村田機械株式会社 玉揚装置及びこれを備えた糸巻取機
JP2015199559A (ja) 2014-04-04 2015-11-12 村田機械株式会社 作業台車及びこれを備えた糸巻取機
CN106414819B (zh) * 2014-06-23 2018-07-31 日本Tmt机械株式会社 纺丝牵引装置

Also Published As

Publication number Publication date
TWI757470B (zh) 2022-03-11
WO2018193803A1 (ja) 2018-10-25
JP6636655B2 (ja) 2020-01-29
CN109195893B (zh) 2020-07-28
CN109195893A (zh) 2019-01-11
EP3613687A1 (en) 2020-02-26
EP3613687A4 (en) 2020-12-30
JPWO2018193803A1 (ja) 2019-11-07
TW201839195A (zh) 2018-11-01

Similar Documents

Publication Publication Date Title
EP3613687B1 (en) Work robot and textile machine provided with work robot
JP6763744B2 (ja) 紡糸巻取設備
EP3659953B1 (en) Yarn threading robot
JP6681307B2 (ja) 紡糸引取装置
EP3162749B1 (en) Automatic yarn threading device
CN108394758B (zh) 丝线卷取机、纺丝牵引装置及丝线卷取机中的生头方法
CN111153284B (zh) 用于环锭纺纱机的断纱挑纱装置
JP6720190B2 (ja) 巻き取られた糸ストランドをさらに加工する装置および方法
JP7143411B2 (ja) 溶融紡糸装置
EP4382466A1 (en) Spun yarn take-up system and yarn threading robot
JP6841710B2 (ja) 糸降ろし装置及び紡糸引取設備
JP2021050440A (ja) 紡糸巻取設備
CN111792438B (zh) 纤维机械
CN209442423U (zh) 用于全自动打轴机的线筒送料装置
CN213698552U (zh) 一种带有导药功能的理疗电极片
CN209442410U (zh) 用于全自动打轴机的布线器及布线装置
CN116409677A (zh) 用于接头熔纺丝线的接头装置
CN116409678A (zh) 用于接头熔纺丝线的接头装置
JP2023045710A (ja) 作業装置
JP2015215996A (ja) ハーネス配索装置及びハーネス配索方法

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181128

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20201201

RIC1 Information provided on ipc code assigned before grant

Ipc: B65H 54/70 20060101ALI20201125BHEP

Ipc: B65H 51/16 20060101AFI20201125BHEP

Ipc: B65H 67/08 20060101ALI20201125BHEP

Ipc: B25J 19/06 20060101ALI20201125BHEP

Ipc: D01D 7/00 20060101ALI20201125BHEP

Ipc: D02J 1/22 20060101ALI20201125BHEP

Ipc: B65H 54/26 20060101ALI20201125BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20220926

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: D01D 13/02 20060101ALI20230321BHEP

Ipc: B65H 54/70 20060101ALI20230321BHEP

Ipc: B65H 54/26 20060101ALI20230321BHEP

Ipc: D02J 1/22 20060101ALI20230321BHEP

Ipc: D01D 7/00 20060101ALI20230321BHEP

Ipc: B65H 67/08 20060101ALI20230321BHEP

Ipc: B25J 19/06 20060101ALI20230321BHEP

Ipc: B65H 51/16 20060101AFI20230321BHEP

INTG Intention to grant announced

Effective date: 20230413

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230426

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
INTG Intention to grant announced

Effective date: 20230621

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602018061873

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20231129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240329

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240329

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240301

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240229

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240320

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1635936

Country of ref document: AT

Kind code of ref document: T

Effective date: 20231129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240229

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231129

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20240320

Year of fee payment: 7