TW201839195A - Work robot and textile machine provided with work robot - Google Patents

Abstract

A thread guiding robot (3) for performing a thread guiding work with respect to a drawing device (2) is provided with: a robot body (31); a robot arm (32) linked with the robot body (31); a suction (37) which is attached to the robot arm (32) and holds a thread; a robot control device (102); and a terminal (55d) contacting a ground wire (54) which is grounded. A conductive path (60) extends from the suction (37) to the terminal (55d) without passing through the robot control device (102) to provide electrical conduction between the suction (37) and the terminal (55d). The suction (37) is connected with the ground wire (54) via the conductive path (60) and the terminal (55d) and grounded. Thus, static electricity generated at the suction (37) due to contact with a thread Y can be quickly removed, and the development of an adverse effect due to a flow of charges to the robot control device (102) can be suppressed.

Description

Working robot and fiber machinery with working robot

[0001] The present invention relates to a work robot that performs a predetermined operation on a silk in a silk processing device, and a fiber machine including a work robot.

[0002] As an example of a silk processing device, Patent Document 1 discloses a spinning traction device that winds a plurality of filaments spun from a spinning machine onto a plurality of bobbins to form a package. Specifically, the spinning traction device includes first and second godet rollers, a plurality of traverse fulcrum guides, a plurality of traverse guides, and the like. The plurality of wires are wound around the first and second godet rollers, and then are hooked onto each traverse fulcrum guide. The wire hooked on the traverse fulcrum guide is wound around the bobbin while reciprocating by the traverse guide. [0003] In Patent Document 1, the yarn-hanging operation of hooking the spun yarn into a spinning traction device is performed by an operator. Specifically, the plurality of wires are wound around the first and second guide rollers while the plurality of wires are sucked and held by a suction gun. Next, each of the plurality of wires is hung on each of the plurality of traverse fulcrum guides. [0004] [Patent Document 1] Japanese Patent Laid-Open No. 2015-78455

[Problems to be Solved by the Invention] 000 [0005] In view of this, the applicant of the present invention is studying to install a wire-hanging robot instead of an operator to perform the above-mentioned operation on the wire from the viewpoint of improving production efficiency and reducing costs. For example, the wire-hanging robot is provided with an arm provided with a holding portion for attracting the wire, and the arm can be moved freely to hang the wire on a godet or the like. [0006] However, in the above-mentioned wire-hanging robot, since the holding portion is in contact with the wire, the holding portion should be charged and generate static electricity. In particular, in the spinning traction device such as Patent Document 1, since the holding portion sucks the filaments continuously spun from the spinning device, a large amount of electric charge is easily accumulated in the holding portion. When this charge flows to the control system of the robot, there is a concern that it will have an adverse effect on the control system. [0007] An object of the present invention is to quickly remove static electricity generated in a holding portion and suppress the influence of the static electricity on a control portion. [Technical Means for Solving the Problem] [0008] The working robot of the first invention is a working robot that performs a predetermined operation on a silk processing device, and is characterized in that it includes a robot body and an arm connected to the robot body. A holding portion, a control portion, and a first terminal attached to the arm portion for holding the wire and in contact with the grounded first grounding member are formed to extend from the holding portion to the first portion without passing through the control portion. The conductive path of the terminal is to conduct the holding portion and the first terminal, and the holding portion is connected to the first ground member and grounded through the conductive path and the first terminal. [0009] According to the present invention, in a work robot that performs a predetermined operation on a wire in a wire processing device, a conductive path extending from a holding portion that holds the wire to the first terminal without passing through the control portion is formed, and the conductive path is to hold the And the first terminal are conducted. That is, the holding unit and the control unit are not connected at least in series. The holding portion is connected to and grounded to the first ground member through the conductive path and the first terminal. Therefore, static electricity generated in the holding portion due to contact with the wire can be quickly removed, and an adverse effect caused by the flow of electric charge to the control portion can be suppressed. [0010] According to the second invention, in the first invention, the conductive path includes wiring extending from the holding portion, and the wiring is insulated from the control portion. [0011] The wiring included in the conductive path extends from the holding portion, and the wiring is insulated from the control portion, which can prevent the charges generated in the holding portion from flowing directly from the wiring to the control portion. [0012] A working robot according to a third invention is the second invention, in which at least a part of the wiring is provided on the robot body, and the wiring and the control unit are insulated by an insulator. [0013] As the grounding path of the holding part, even if a part of the wiring is provided on the robot body, the wiring and the control part in the robot body are insulated with an insulator, so that the charges generated in the holding part can be prevented from flowing to the control part. [0014] The working robot according to the fourth invention is the aforementioned third invention, in which the insulator is an insulating coating that extends along the wiring and covers the wiring. [0015] Since the wiring is covered by an insulating coating extending along the wiring, at least a part of the ground path of the holding portion, that is, the ground path of the wiring and the control portion can be reliably insulated. [0016] According to a fifth invention, in the working robot according to any one of the first to fourth inventions, the holding portion is grounded by a grounding path different from a grounding path of the control portion. [0017] In the present invention, since the holding portion is grounded using a ground path different from the grounding path of the control portion, it is possible to reliably prevent the charges generated in the holding portion from flowing to the control portion. [0018] A working robot according to a sixth invention is the aforementioned fifth invention, which includes a second terminal that is in contact with a second grounding member that is grounded differently from the first grounding member, and the robot body A conductive frame, and the ground portion of the control unit is electrically connected to the second terminal through the frame. [0019] The grounding portion of the control portion is connected to the ground through the conductive frame of the robot body and is connected to the second terminal. On the other hand, the holding portion is grounded through a conductive path different from the frame. Therefore, it is possible to reliably prevent the charge generated in the holding portion from flowing to the control portion. [0020] According to a seventh invention, in the first to fourth inventions, the holding portion and the control portion are connected to the first terminal, and are connected to the first grounding member and grounded. [0021] Even if both the holding portion and the control portion are connected and grounded to the first ground member, since the conductive path that allows the holding portion and the first terminal to pass through does not pass through the control portion, the charge generated in the holding portion can be suppressed. That flowed to the control department. [0022] A working robot according to an eighth invention is, in any one of the first to seventh inventions, provided with a walking section that is guided along a guide rail extending in an arrangement direction of the plurality of silk processing devices. The robot body is walking, and the first terminal is provided on the walking portion. [0023] The working robot of the present invention walks along a guide rail between a plurality of silk processing apparatuses, and stops before the silk processing apparatus of a work object to perform work. In this configuration, since the first terminal is provided on the running portion that is in contact with the guide rail, and the first ground member is provided on or near the guide rail, the ground path of the holding portion can be easily secured. [0024] According to a ninth invention, in the eighth invention, the first grounding member is provided along the guide rail, and the first terminal provided in the running portion is in contact with the first grounding member. [0025] In the present invention, since the first ground member is provided along the guide rail, the first terminal and the first ground member can always be in contact with each other, and the charges generated in the holding portion can be reliably discharged. [0026] A working robot according to a tenth aspect of the present invention is the eighth or ninth aspect of the invention, wherein the walking portion is provided with a wheel having insulation properties at least on a contact surface with the guide rail, and at a place different from the wheel. Set the first terminal. [0027] When the contact surfaces of the wheels of the walking portion and the guide rail are insulated, the charges generated in the holding portion cannot be discharged through the wheel to the guide rail. Even in such a case, according to the present invention, since the first terminal is provided at a place different from the wheel of the traveling portion, the charge generated in the holding portion can be discharged to the first ground member through the first terminal. [0028] According to the eleventh invention, in the tenth invention, the guide rail is arranged above the moving space of the robot body, and the robot body is walking in a state suspended from the guide rail. [0029] When the wheels are insulated and the robot body is suspended from the guide track, compared with the case of walking on the ground, grounding becomes more difficult. Even in such a case, according to the present invention, since the holding portion is connected to the first ground member through the conductive path and the first terminal, the ground path can be secured. [0030] According to a twelfth invention, in the eighth invention, the first grounding member is the guide rail formed by a conductive member, and the first terminal provided in the walking portion is connected to the guide. Lead track contact. [0031] In the present invention, since the guide rail formed by the conductive member is the first ground member, and the first terminal is brought into contact with the guide rail, the charge generated in the holding portion can be reliably discharged. [0032] A working robot according to a thirteenth aspect of the invention is the twelfth aspect of the invention, wherein the traveling unit includes wheels formed of conductors, and the first terminal is the wheel. [0033] When the wheel is formed by a conductor, the electric charge generated in the holding portion can be discharged from the wheel to the guide rail through the wheel and the conductive path. [0034] A working robot according to a fourteenth aspect of the present invention is the first aspect of the present invention, which includes an extension member extending from the holding portion toward the first ground member, and the conductive path includes wiring extending from the holding portion, and the wiring At least a part of it is arranged along the aforementioned extension member. [0035] In the present invention, since the wiring is arranged along an extension member extending from the holding section toward the first grounding member, the grounding path of the holding section can be secured by a route away from the robot main body provided with the control section. [0036] According to the fifteenth invention, in the fourteenth invention, at least a part of the extension member and the wiring passes through the inside of the arm portion, and the wiring and the control portion are insulated by an insulator. [0037] In the present invention, the extension member and the wiring are passed through the inside of the arm portion and the wiring and the control portion are insulated with an insulator. Therefore, it is possible to suppress the charge generated in the holding portion from flowing to the control portion, prevent interference between these members and the arm portion, and improve the freedom of movement of the arm portion. [0038] A working robot according to a sixteenth aspect of the invention is the fourteenth or fifteenth aspect of the invention, wherein the holding portion is a suction portion having a suction wire, and the extension member is a hose connected to the suction portion. [0039] In the present invention, the hose is extended from the suction portion toward the first ground member, and the wiring is arranged so as to extend along the hose toward the first ground member, thereby bypassing the wiring to the robot body. Therefore, the grounding path of the holding portion can be reliably separated from the grounding path of the control portion in the robot body. [0040] According to a seventeenth invention, in the sixteenth invention, the hose is connected to a fixedly arranged fluid pipe, and the end of the hose opposite to the suction portion is provided with the aforementioned hose. The hose-side joint of the first terminal is provided with the first grounding member at the pipe-side joint connected to the fluid pipe and the hose-side joint. [0041] According to the present invention, when the hose-side joint is installed on the piping-side joint, the grounding path of the holding portion can be ensured at the same time. Therefore, time and time for securing the grounding path can be saved. In addition, the structure for securing the ground path is simplified. [0042] A working robot according to an eighteenth invention is, in any one of the first to the seventeenth inventions, the conductive path includes wiring extending from the holding portion, and the wiring is flexible or provided in a flexible member. [0043] If the wiring is flexible or the wiring is provided on a flexible member, the wiring can follow the movement of the holding portion when the holding portion moves during robot operation. [0044] A working robot according to a nineteenth invention is the aforementioned one of the first to eighteenth inventions, wherein the yarn processing device includes a traction portion that pulls the yarn spun from the spinning portion 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 sucks and captures the yarn spun from the spinning unit. [0045] In the case where the yarn processing device has a traction portion that pulls the yarn spun from the spinning device, since the yarn is continuously spun from the spinning device, the control portion allows the holding portion to perform a predetermined operation because The holding portion and the wire are continuously rubbed, and it is easy to increase the charge amount of the holding portion. Even in such a case, in the present invention, since the holding portion and the control portion are not at least connected in series, the static electricity generated in the holding portion can be quickly removed, and the charge can be prevented from flowing to the control portion to cause adverse effects. [0046] A working robot according to a twentieth invention is any one of the first to nineteenth inventions, wherein the predetermined operation is a wire hanging operation of hooking the wire held by the holding unit to the wire processing device. [0047] The work robot of the present invention is a wire-hanging robot that performs a wire-hanging operation on a wire processing device. When the wire is hung, it is necessary to move the wire while holding the wire with the holding portion. The holding portion is liable to generate electric charges due to contact with the wire. Therefore, especially in such a configuration, the static electricity generated in the holding portion can be quickly removed without keeping the holding portion and the control portion at least in series, which is useful from the viewpoint of protecting the control portion. [0048] A fiber machine according to a twenty-first aspect of the present invention includes a wire processing device, a grounding member provided in the wire processing device and grounded, and a work robot that performs a predetermined operation on the wire in the wire processing device, The work robot includes a robot body, an arm portion connected to the robot body, a holding portion attached to the arm portion to hold a wire, a control portion, and a terminal contacting the grounding member, and is formed from the holding portion A conductive path extending to the terminal without passing through the control section, the conductive path is to conduct the holding portion and the terminal, and the holding portion is connected to the ground member and grounded through the conductive path and the terminal. [0049] In a fiber machine including a wire processing device, a grounding member, and a work robot, since the holding portion of the work robot is grounded without passing through the control portion, the static electricity generated in the holding portion can be quickly removed and the charge flow to the control can be suppressed. Adverse effects of the Ministry. Therefore, stable operation of the textile machine can be achieved.

[0051] Next, an embodiment of the present invention will be described with reference to FIGS. 1 to 10. [0052] (Schematic Structure of Spinning and Drawing Equipment) FIG. 1 is a schematic view of the spinning and drawing device 1 (the fiber machine of the present invention) viewed from the front, according to this embodiment. The spinning traction device 1 includes a traction device 2 (the silk processing device of the present invention), a yarn-hanging robot 3 (the working robot of the present invention), and a centralized control device 4. Hereinafter, as shown in FIG. 1, a direction in which the plurality of traction devices 2 are arranged is referred to as a left-right direction. In addition, in FIG. 1, the direction perpendicular to a paper surface is called a front-back direction, and the direction orthogonal to the left-right direction and the front-back direction is called an up-down direction. [0053] The plurality of traction devices 2 are arranged in the left-right direction, and each of the traction devices pulls the yarn Y spun from the spinning section 5 of the spinning device disposed above, and winds the yarn Y on the plurality of winding bobbins B. And roll P is formed. The wire-feeding robot 3 is arranged in front of the plurality of traction devices 2 and moves in the left-right direction to perform wire-feeding work on the traction device 2 (a predetermined operation of the present invention). The centralized control device 4 is electrically connected to the winding control device 101 of the traction device 2 described later, and the robot control device 102 (control unit of the present invention) of the wire-hanging robot 3 (refer to FIG. 2), and performs communication with these control devices. communication. [0054] (Electrical Structure of Spinning Traction Equipment) Next, the electrical structure of the spinning traction equipment 1 will be described using FIG. 2. FIG. 2 is a block diagram showing the electrical structure of the spinning traction device 1. The spinning traction equipment 1 includes a centralized control device 4 for controlling the entire equipment. A winding control device 101 is provided in each traction device 2. The winding control device 101 controls the operation of each driving unit provided in the traction device 2. In addition, a robot control device 102 is provided in the wire-hanging robot 3, and the robot control device 102 controls operations of the driving units provided in the wire-hanging robot 3. The centralized control device 4 is communicably connected to each of the winding control devices 101 and the robot control device 102 by wireless or wired communication. [0055] (Tractive Device) Next, the configuration of the traction device 2 will be described using FIGS. 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. [0056] As shown in FIGS. 3 and 4, the pulling device 2 includes a pulling portion 10 for pulling the yarn Y spun from the spinning portion 5 (see FIG. 1) of the spinning device, and a pulling portion 10 for pulling the yarn Y. The drawn yarn Y is wound around a plurality of winding bobbins B to form a winding unit 13 of a package P. [0057] The traction unit 10 includes a first godet roller 11, a second godet roller 12, an aspirator 15, and a wire restriction guide 16. [0058] The first godet roller 11 is a roller whose axis direction is substantially parallel to the left-right direction, and is disposed above the front end portion of the winding unit 13. The first godet roller 11 is rotationally driven by a first godet motor 111 (see FIG. 2). The second godet roller 12 is a roller whose axis direction is substantially parallel to the left-right direction, and is disposed above and behind the first godet roller 11. The second godet roller 12 is rotationally driven by a second godet motor 112 (see FIG. 2). [0059] The second godet roller 12 is movably supported by the guide rail 14. The guide rail 14 extends obliquely upward and rearward. The second godet roller 12 is configured to be movable along a guide rail 14 by a cylinder (not shown). Thereby, the second godet roller 12 can be moved between a winding position when winding the yarn Y and a yarn hanging position when the yarn guide is placed close to the first godet roller 11 and a yarn hanging operation is performed. In FIG. 4, the second godet roller 12 at the winding position is indicated by a solid line, and the second godet roller 12 at the winding position is indicated by a one-dot chain line. [0060] The sucker 15 is a holder for attracting the plurality of yarns Y spun from the spinning device before the yarn-hanging robot 3 performs the yarn-hanging operation. The suction device 15 is arranged above the first godet roller 11. [0061] The wire restriction guide 16 is disposed between the first wire guide roller 11 and the suction device 15 in the vertical direction. The wire restriction guide 16 is, for example, a well-known comb-shaped wire guide. When a plurality of wires Y are hooked, the distance between adjacent wires Y is set to a predetermined value. The wire restriction guide 16 is configured to be movable in the left-right direction by a cylinder (not shown). Thereby, in the left-right direction, the wire restriction guide 16 can be positioned between a protruding position protruding more than the front end portion of the first godet roller 11 and a retreat position within the arrangement range of the first godet roller 11. mobile. [0062] The winding unit 13 includes a plurality of fulcrum guides 21, a plurality of traverse guides 22, a turret 23, two bobbin holders 24, and a contact roller 25. [0063] The plurality of fulcrum guides 21 are individually provided for the plurality of wires Y, and are arranged in the front-rear direction. The plurality of traverse guides 22 are individually provided for the plurality of wires Y, and are arranged in the front-rear direction. The plurality of traverse guides 22 are reciprocated in the front-rear direction by being driven by a common traverse motor 116 (see FIG. 2). Accordingly, the wire Y hooked on the traverse guide 22 is traversed with the fulcrum guide 21 as a center. [0064] The turntable 23 is a disc-shaped member whose axis direction is substantially parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor 117 (see FIG. 2). Each of the two bobbin holders 24 has an axial direction substantially parallel to the front-rear direction, and is rotatably supported by the upper end portion and the lower end portion of the turntable 23. A plurality of winding bobbins B, which are individually provided for the plurality of wires Y, are arranged in the front-rear direction and are mounted on each bobbin holder 24. Each of the two bobbin holders 24 is rotationally driven by a separate winding motor 118 (see FIG. 2). [0065] The contact roller 25 is a roller whose axis direction is substantially parallel to the front-rear direction, and is arranged immediately above the bobbin holder 24 on the upper side. The contact roller 25 adjusts the shape of the package P by contacting the surface of the plurality of packages P supported by the upper bobbin holder 24 to apply a contact pressure to the surface of the package P being wound. [0066] In the winding unit 13 having the above configuration, if the upper bobbin holder 24 is rotationally driven, the wire Y traversed by the traverse guide 22 is wound around the winding bobbin B to form a roll. Install P. In addition, when the package P becomes full, the upper and lower positions of the two bobbin holders 24 are exchanged by rotating the turntable 23. In this way, the bobbin holder 24 located on the lower side can be moved to the upper side, and the wire Y can be wound on the winding bobbin B mounted on the bobbin holder 24 to form the package P. In addition, the bobbin holder 24 on which the package P to be filled is rolled is moved downward, and the package P is recovered by a package recovery device (not shown). [0067] (Wire Hanging Robot) Next, the configuration of the wire hanging robot 3 will be described using FIG. 5 to FIG. 8. FIG. 5 is an enlarged view of a front view of the wire hanging robot 3. FIG. 6 is a cross-sectional view of a suction gun 37 (a holding portion of the present invention) described later. FIG. 7 shows the structure of the walking part 34 and its surroundings described later. FIG. 8 is an enlarged view of the walking portion 34. [0068] The wire-hanging robot 3 is a wire-hanging operator for a plurality of traction devices 2. First, two rails 35 (the guide rails of the present invention) extending along the arrangement direction of the traction apparatus 2 are arranged in front of and above the plurality of traction apparatuses 2 (see FIG. 1). The two rails 35 are supported from the top by pillars 40 (see FIG. 1). The wire hanging robot 3 is suspended from two rails 35 and is configured to be able to walk along the two rails 35. When a certain traction device 2 sends a signal that requires wire hanging, the wire hanging robot 3 moves to the front of the traction device 2 and performs a wire hanging operation on the traction part 10 and the winding unit 13 of the traction device 2. [0069] As shown in FIG. 5, the wire-hanging robot 3 mainly includes a robot body 31, a robot arm 32 (an arm portion of the present invention) mounted on a lower portion of the robot body 31, and a front end portion of the robot arm 32. The wire hanging unit 33 and a running portion 34 provided on the upper part of the robot body. The robot 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 control device 102 and the like for controlling the operations of the robot arm 32 and the wire hanging unit 33 are mounted inside the robot body 31. The robot control device 102 is used to control a wire hanging unit 33, a moving motor 121, an arm motor 122, and the like described later. [0070] The robot arm 32 is used for three-dimensionally moving the wire hanging unit 33, and is mounted on the lower part of the robot body 31. The robot arm 32 includes a plurality of arms 32 a and a plurality of joint portions 32 b for connecting the arms 32 a to each other. An arm motor 122 (see FIG. 2) is provided in each joint portion 32 b. When the arm motor 122 is driven, the arm 32 a rotates around the joint portion 32 b. In this way, the robot arm 32 can perform three-dimensional operations. [0071] The wire hanging unit 33 is used to hold the wire Y and the like during the wire hanging operation, and is attached to the front end portion of the robot arm 32. The wire hanging unit 33 includes a suction gun 37 for attracting and capturing the wire Y, and a cutter 38 for cutting the wire Y. [0072] As shown in FIG. 6, the suction gun 37 includes a suction pipe 37 a extending linearly, and a compressed air pipe 37 b integrally connected to an intermediate portion of the suction pipe 37 a. At one end of the suction pipe 37a, a suction port 37c (suction unit of the present invention) for sucking the wire Y is formed; at the other end of the suction pipe 37a, a waste wire hose 82 (the extension member and hose). In addition, one end of the compressed air pipe 37b communicates with the suction pipe 37a through a communication hole 37d, and a compressed air hose 72 is connected to the other end of the compressed air pipe 37b. The waste wire hose 82 and the compressed air hose 72 are flexible and can be moved following the movement of the suction gun 37. The communication hole 37d is inclined with respect to the suction pipe 37a, and is formed so that it may be located on the other end side of the suction pipe 37a as it approaches the suction pipe 37a. [0073] In addition, a lead wire 63 (a wiring of the present invention) which is in communication with the suction gun 37 is provided at a front end portion of the suction pipe 37a. The lead 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 63. The insulating coating 64 is an insulating member made of, for example, PVC. The details of the lead 63 will be described later. [0074] As shown in FIGS. 5 and 7 (a), the compressed air hose 72 and the waste wire hose 82 extend outside the robot body 31 in a direction different from the robot arm 32, and reach the robot The vicinity of the running part 34 in the upper part of the main body 31. As shown in FIG. 7 (a), a coupler 73 is provided at the end of the compressed air hose 72 on the side opposite to the suction port 37c. Similarly, a coupler 83 (a hose-side connector of the present invention) is provided at an end portion of the waste wire hose 82 opposite to the suction port 37c. The couplers 73 and 83 are supported from below by a support member 75, and the support member 75 is supported from below by, for example, a cylinder (not shown). The cylinder is configured to be driven in a vertical direction. In addition, a compressed air pipe 71 and a waste wire pipe 81 (a fluid pipe of the present invention) are fixedly arranged above the couplers 73 and 83. A compressed air pipe 71 is provided with a coupler 74 and a waste wire pipe 81 is provided. Coupler 84 (piping side joint of the present invention). The couplers 74 and 84 are supported by a base 70 disposed between the two rails 35. The coupler 73 is configured to be attachable to and detachable from the coupler 74, and the coupler 83 is configured to be attachable to and detachable from the coupler 84. According to such a configuration, the support member 75 is moved upward by driving the cylinder, and the couplers 73 and 83 are mounted on the couplers 74 and 84, respectively. [0075] The compressed air supplied to the suction gun 37 through the compressed air hose 72 flows as shown by a solid arrow in FIG. 6. That is, when the compressed air flows from the compressed air pipe 37b to the suction pipe 37a, it flows from one end side toward the other end side of the suction pipe 37a. Due to the flow of the compressed air, a negative pressure is generated at the suction port 37c and a suction force is generated (see the dotted arrow in FIG. 6), and the yarn Y spun from the spinning device is continuously sucked from the suction port 37c. The yarn Y sucked from the suction port 37c is discharged to the waste wire hose 82 by the air flow in the suction pipe 37a. [0076] The walking unit 34 moves the robot body 31 along two rails 35. As shown by the two-dot chain line in FIG. 5, the walking portion 34 is provided on the upper portion of the robot body 31. As shown in FIGS. 7 (a) and 7 (b), the walking portion 34 is provided with, for example, four wheels 36 made of rubber and having insulation properties. Two of the four wheels 36 are arranged to correspond to each other. The upper surfaces of the rails 35 are in contact with each other, and the robot body 31 is suspended from the two rails 35 by four wheels 36. In other words, the two tracks are arranged above the moving space of the robot body 31. The four wheels 36 are rotationally driven by a moving motor 121 (see FIG. 2). The four wheels 36 are rotationally driven to move the robot body 31 along the two rails 35 in the left-right direction. [0077] In addition, as shown in FIG. 8, the traveling portion 34 is provided with four terminals 55, and the four terminals 55 are respectively connected to two trolley wires 51, 52 and grounds provided along the rail 35. The wire 53 (the second grounding member of the present invention) and the ground wire 54 (the first grounding member of the present invention) are in contact. Each terminal 55 includes a brush 56 that is in contact with the corresponding sliding contact feeders 51 and 52 or ground wires 53 and 54 and a spring 57 that urges the brushes 56 against each other. The terminals 55a and 55b are terminals for power supply, and are in contact with the sliding feeders 51 and 52, respectively. Thereby, electric power is supplied to the wire-hanging robot 3. Details of the ground wires 53 and 54 and the terminals 55c and 55d will be described later. [About the static electricity generated by the suction gun] According to the above configuration, the wire-hanging robot 3 can walk between the plurality of traction devices 2, and wire-hang the traction portion 10 and the winding unit 13 of the plurality of traction devices 2. operation. Here, in the wire hanging operation, the wire Y is attracted from the suction port 37c. Due to the friction between the suction port 37c and the wire Y, the suction gun 37 is charged and generates static electricity. The yarn Y is continuously spun from the spinning section 5. Therefore, the yarn Y is continuously attracted during the yarn-hanging operation. The charging amount of the suction gun 37 increases with the passage of time, and a large amount of charge is easily accumulated, and a charge current flows. There is a concern that adverse effects such as malfunctions may occur to the robot control device 102. Therefore, in the present embodiment, in order to remove the static electricity generated in the suction gun 37 and prevent the electric charge from flowing to the robot control device 102 to have an adverse effect, the wire-mounted robot 3 is configured to ground the suction gun 37. The ground path of the suction gun 37 and the ground path of the robot control device 102 will be described below. [0079] (Grounding Path of Robot Control Device) First, the grounding path of the robot control device 102 will be described. FIG. 9 is a schematic explanatory diagram of a ground path of the suction gun 37 and a ground path of the robot control device 102. In FIG. 9, the configuration of the ground path is indicated by a solid line, and other configurations are indicated by a two-dot chain line. [0080] As shown in FIG. 9, the robot control device 102 is provided with a ground wire 62 (grounding portion of the present invention) provided on the robot control device 102, a frame 41 of the robot body 31, and a walking portion 34 (see The terminal 55c (the second terminal of the present invention) and the ground wire 53 are grounded. The ground line 62 is electrically connected to the frame 41 of the robot body 31. In addition, as shown in FIG. 8, the frame 41 extends to the upper portion of the robot body 31 and communicates with a terminal 55 c disposed near the upper portion of the robot body 31. The terminal 55 c is in contact with the ground line 53, and the ground line 53 extends to the ground along the rail 35, the pillar 40, and the like, and is grounded. In this way, the ground path of the robot control device 102 can be secured. [0081] (Grounding Path of Suction Gun) Next, the grounding path of the suction gun 37 will be described. As shown in FIG. 9, the sniffer 37 is grounded by a lead wire 63, a terminal 55 d (the first terminal and the terminal of the present invention) provided on the walking portion 34 (see FIG. 8 and the like), and a ground wire 54. A conductive path 60 is formed from the suction gun 37 to the terminal 55d. The conductive path 60 does not conduct the suction gun 37 and the terminal 55d through the robot control device 102. In this embodiment, the conductive path 60 is composed of a lead 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 FIGS. 5 and 9, the lead wire 63 extends from the suction gun 37 and is arranged along the waste wire hose 82, and is separated from the waste wire hose 82 on the way and enters the inside of the robot body 31 and passes through the robot. The inside of the main body 31 reaches the walking portion 34. That is, a part of the lead 63 is provided on the robot body 31. Here, since the lead wire 63 is covered with an insulating coating 64 (see FIG. 6), the lead wire 63 is insulated from the robot body 31 and the robot control device 102. As shown in FIGS. 8 and 9, the lead wire 63 is connected to the terminal 55 d, and the terminal 55 d is in contact with the ground line 54. The ground line 54 extends to the ground along the rail 35, the pillar 40, and the like, and is grounded. As described above, the sniffer 37 is connected to the ground line 54 through the lead 63 and the terminal 55d, and is grounded using a ground path different from the ground path of the robot controller. [0082] (A series of processes related to the wire-receiving operation) Next, a series of processes regarding the wire-receiving operation performed by the robot controller 102 will be described using FIG. 10. When a certain traction device 2 has to be threaded, the winding control device 101 of the traction device 2 sends a signal to the centralized control device 4 to the wire control request. The centralized control device 4 sends a signal to the robot control device 102 to perform wire-hanging work on the traction device 2. [0083] First, when the robot control device 102 receives a wire-requesting request signal from the centralized control device 4, it drives the moving motor 121 to move the wire-receiving robot 3 to the front of the traction device 2 that must perform the wire-receiving operation (S201) . Next, the robot control device 102 drives the cylinder so that the couplers 73 and 83 and the support member 75 are raised together and connected to the couplers 74 and 84, respectively (S202). [0084] Next, the robot control device 102 drives the yarn hanging unit 33 and the arm motor 122 in a state where the suction gun 37 continuously sucks and captures the yarn Y spun from the spinning device, and causes the suction gun 37 to face each other. As the robot main body 31 moves, the wire pulling operation is performed on the traction section 10 and the winding unit 13 of the predetermined traction device 2 (S203). When the wire-hanging operation is completed, the robot control device 102 drives the cylinder to lower the couplers 73 and 83 and the supporting member 75 together and releases the connection between the couplers 74 and 84 (S204). Finally, the robot control device 102 sends a signal indicating that the wire hanging process is completed to the centralized control device 4. Then, the centralized control device 4 sends a signal to the winding control device 101 to restart the winding of the yarn, and the winding of the yarn Y by the traction device 2 is restarted (S205). [0085] As described above, in the wire hanging robot 3 that performs the wire hanging operation on the traction device 2, the suction gun 37 holding the wire Y is connected to the ground wire 54 through the wire 63 and the terminal 55d without passing through the robot control device 102, and Is grounded. The lead wire 63 and the robot control device 102 are insulated by an insulating coating 64. Therefore, the static electricity generated in the suction gun 37 due to the contact with the wire Y can be quickly removed, and the flow of electric charge to the robot control device 102 can be suppressed and adversely affected. [0086] In addition, the lead wire 63 extending from the suction gun 37 and the ground path of the robot control device 102 are insulated, so that the charges generated at the suction gun 37 can be prevented from flowing directly from the lead wire 63 to the robot control device 102. In particular, even when the lead wire 63 which is the grounding path of the suction gun 37 is provided on the robot body 31, the grounding path of the lead wire 63 and the robot control device 102 can be ensured by covering the lead wire 63 with the insulating coating 64 extending along the lead wire 63. Ground insulation. [0087] In addition, the suction gun 37 is grounded using a grounding path different from the grounding path of the robot control device 102, and it is possible to reliably prevent the electric charges generated in the suction gun 37 from flowing to the robot control device 102. [0088] In addition, the ground wire 62 of the robot control device 102 is provided so as to communicate with the terminal 55c through the conductive frame 41 of the robot body 31. On the other hand, the suction gun 37 is conducted through a wire 63 that is different from the frame 41 Ground. Therefore, it is possible to reliably prevent the electric charges generated in the suction gun 37 from flowing to the robot control device 102. [0089] In addition, the wire-feeding robot 3 travels along the rail 35 between the plurality of traction devices 2 and stops in front of the traction device 2 that is the object of the wire-feeding operation to perform the wire-feeding operation. In this configuration, since the terminal 55d is provided in the running portion 34 that is in contact with the rail 35, the grounding member can be easily secured by providing a grounding member in or near the rail 35. [0090] In addition, since the ground wire 54 is provided along the rail 35, the terminal 55d can always be in contact with the ground wire 54 and the electric charges generated in the suction gun 37 can be reliably discharged. [0091] In addition, since the contact surface between the wheel 36 and the rail 35 is insulating, it is impossible to release the electric charges generated by the suction gun 37 through the wheel 36 to the rail 35. Even in such a case, since the terminal 55d connected to the wire 63 is provided at a place different from that of the wheel 36, the charge generated by the suction gun 37 can be discharged to the ground line 54 through the terminal 55d. [0092] In addition, because the wheels 36 have insulation properties and the robot body 31 is suspended from the rail 35, grounding becomes more difficult than when walking on the ground. Even in such a case, since the suction gun 37 is connected to the ground wire 54 through the lead 63 and the terminal 55d, a ground path can be secured. [0093] In addition, because the lead 63 has flexibility, the lead 63 can follow the movement of the suction gun 37. During the wire hanging operation, it is necessary to move the wire Y while holding the wire Y with the suction gun 37. Therefore, a configuration in which the wire 63 can follow the movement of the suction gun 37 is useful. [0094] In addition, the yarn Y is continuously spun out from the spinning section 5 of the spinning device, because the suction gun 37 and the yarn Y are continuously rubbed, and it is easy to increase the charge amount of the suction gun. Even in such a case, the static electricity generated in the suction gun 37 can be quickly removed, and electric charges can be prevented from flowing to the robot control device 102 to cause adverse effects. [0095] In addition, it is necessary to move the wire Y while holding the wire Y with the suction gun 37 during the wire hanging operation. The suction gun 37 is liable to generate electric charges due to contact with the wire. Therefore, particularly in such a configuration, it is useful to quickly discharge the electric charges generated in the suction gun 37 from the viewpoint of protecting the robot control device 102. [0096] Next, a modification example in which the foregoing embodiment is modified will be described. However, those having the same configuration as the above-mentioned embodiment are given the same reference numerals, and descriptions thereof are appropriately omitted. [0097] (1) In the foregoing embodiment, although the robot control device 102 is grounded through the frame 41 of the robot body 31, it may be configured such that the covered wire or the like is extended to the terminal 55c to control the robot. The device 102 is grounded. [0098] (2) In the embodiments described above, although the ground wire 54 is extended to the ground, when the rail 35 and the pillar 40 are electrically conductive, in order to easily discharge the electric charge accumulated in the suction gun 37, The pillar 40 or other members connected to the pillar 40 are grounded, and the ground line 54 and the rail 35 are conducted. In addition, the ground line 53 and the rail 35 may be conducted. [0099] (3) The lead 63 may not be provided inside the robot body 31, but may be provided along the outside. For example, the casing 42 is formed of an insulator such as plastic. As shown in FIG. 11, in the wire-hanging robot 3 a, the lead wire 63 is arranged along the casing 42. In this modification, the lead wire 63 may not be covered with insulation. In this case, the case 42 corresponds to the insulator of the present invention. [0100] (4) The lead 63 may not be provided along the robot body 31. For example, as shown in FIG. 12, in the wire hanging robot 3 b, 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 front end portion of the coupler 83 and is electrically connected to the lead 63. In this case, the terminal 85 corresponds to the first terminal of the present invention. A ground wire 86 is provided near the coupler 84 and grounded along the waste wire piping 81, for example. In this case, the ground wire 86 corresponds to the first ground member of the present invention. In the above configuration, while the coupler 83 is mounted on the coupler 84 (the aforementioned step S202), the terminal 85 and the ground line 86 are conducted to ensure the ground path of the sniffer 37. In this way, because the lead wire 63 is disposed along the waste wire hose 82 extending toward the ground wire 86, the ground path of the suction gun 37 can be secured by a route away from the robot body 31 provided with the robot control device 102. That is, the lead wire 63 can be arranged in a circuitous manner with respect to the robot body 31, and the ground path of the suction gun 37 and the ground path of the robot control device 102 can be reliably separated. In addition, since the grounding path of the sniffer 37 is secured at the same time as the coupler 83 is installed in the coupler 84, the time and labor for securing the grounding path can be saved. In addition, the structure for securing the ground path is simplified. Also in this modification, although the lead wire 63 is arranged along the waste wire hose 82, the lead wire 63 may be arranged along the compressed air hose 72, a terminal 85 is provided in the coupler 73, and a coupler 74 is provided in the coupler 74. A ground wire 86 is provided near. [0101] (5) As a further modification of the above (4), as shown in FIG. 13, the wire hanging robot 3 c is configured to pass the lead wire 63 and the waste wire hose 82 through the inside of the robot arm 32. As in the present embodiment, the lead 63 is covered with an insulating coating 64 (see FIG. 6). In this case, the lead wire 63 and the robot control device 102 can be insulated, the lead wire 63 and the waste wire hose 82, and the robot arm 32 or the traction device 2 can be prevented from interfering with each other, thereby increasing the freedom of movement of the robot arm 32. [0102] (6) In the embodiments described above, the suction gun 37 and the robot control device 102 are grounded using different grounding paths, but the present invention is not limited to this. That is, the lead wire 63 is connected to the halfway part of the ground path of the robot control device 102, and the ground path of the sniffer 37 and the ground path of the robot control device 102 may be merged on the way. Specifically, as shown in FIGS. 14 and 15, in the wire-mounted robot 3 d, the lead wire 63 is electrically connected to the frame 41 of the robot 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 the present modified example, a conductive path 60 a is formed by using the lead 63 and a part of the frame 41 to conduct the suction gun 37 and the terminal 55 c without going through the robot control device 102. In this way, both the sniffer 37 and the robot control device 102 are connected to the terminal 55c, and are connected to the ground wire 53 through the terminal 55c to be grounded. Also in this case, since the conductive path 60 a does not pass through the robot control device 102, it is possible to suppress the electric charge generated in the suction gun 37 from flowing to the robot control device 102 as it is. In this modification, the terminal 55c corresponds to the "first terminal" of the present invention. The ground wire 53 corresponds to the "first ground member" of the present invention. [0103] (7) By making the wheels conductive, they can be part of the ground path of the suction gun 37. For example, as shown in FIG. 16, in the wire-mounted robot 3 e, the wheel 90 is formed of a conductor such as a metal, and is in communication with the lead wire 63. In this case, the rail 35 is grounded through the pillar 40 and communicates with the wheel 90. That is, in this modification, the wheel 90 corresponds to the first terminal of the present invention, and the rail 35 corresponds to the first grounding member of the present invention. Therefore, the suction gun 37 can be reliably grounded, and the electric charges generated at the suction gun 37 can be discharged from the wheels 90 to the rail 35. [0104] (8) The traction device 2 may have a grounding member. For example, in FIG. 17, a grounding member 92 is mounted outside the winding unit 13 of the traction device 2. The wire-feeding robot 3f has a terminal 91 that is in electrical communication with the lead 63, and the terminal 91 is in contact with the ground member 92. In this way, the suction gun 37 is grounded every time the moving destination of the wire-hanging robot 3f. The grounding member 92 does not need to be mounted on the traction device 2, and may be provided in a place where the terminals 91 can be contacted. Including this modification, the grounding path of the suction gun 37 can be secured as described above, and stable operation of the spinning traction device 1 can be achieved. [0105] (9) A member other than the lead wire 63 may be used to secure the ground path of the suction gun 37. For example, the modification of the above (4) may be configured such that a common wiring pattern formed along the waste wire hose 82 is extended to the coupler 83. Even in this case, the waste wire hose 82 can follow the movement of the suction gun 37. (10) The wire-hanging robot 3 does not necessarily need to have a walking portion 34, and may be configured, for example, to drive the robot arm 32 in a state of being fixed at one place, and wire-hang one or a plurality of traction devices 2. operation. [0107] (11) In the above embodiment, the wire-hanging robot 3 for performing the wire-hanging operation on the traction section 10 and the winding unit 13 of the traction device 2 is described. However, the present invention is not limited to this and is applicable. Various working robots for performing predetermined operations on silk in a silk processing device. That is, the yarn-hanging robot can perform a yarn-hanging operation on a device other than a traction device that pulls the spinning device. Alternatively, the work content of the work robot may be something other than the aforementioned wire hanging work. For example, the present invention can be applied to an automatic yarn-hanging device that hangs a yarn on a winding tube of a winding device of a false-twist processing machine for false-twist processing (see Japanese Patent Application Laid-Open No. 2013-23385). Specifically, the automatic wire hanging device includes a suction nozzle, a cutter, a wire arrangement arm, a wire pressing arm, and a wire holding arm. The suction nozzle is a frame mounted on a false-twisted ingot, and is used to hold the middle portion of the wire conveyed toward the winding tube. The cutter cuts the wire held by the suction nozzle. The wire arranging arm arranges the wire cut by the cutter so as to face the winding tube. The wire pressing arm tightly presses the wire opposite to the winding tube to the winding tube. The wire holding arm is installed on the wire configuration arm, and is used for clamping and holding the wire between the wire holding arm and the wire pressing arm. The wire arrangement arm and the like are driven by a motor and the like. In the automatic wire hanging device, the wire is clamped and held between the wire pressing arm and the wire holding arm, and the wire is tightly adhered to the winding tube with the wire pressing arm. In this state, the winding tube is rotated to hang the winding tube. While the wire is being held, a charge is accumulated on the wire holding arm or the like due to the charging caused by the contact with the wire. This automatic wire-hanging device may have a control unit, and it is effective for the control unit to set the discharge path of the electric charge in an indirect manner. The winding device corresponds to the wire processing device of the present invention. The automatic wire hanging device corresponds to the working robot of the present 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. Hanging the wire on the winding tube corresponds to a predetermined operation of the present invention. [0108] Alternatively, the present invention can be applied to a doffing device for supplying a new bobbin, etc. to a winding device for spinning a bobbin (see Japanese Patent Application Laid-Open No. 2015-147674). ). More specifically, the doffing device includes a bobbin supply mechanism having a straw holding a spinning tube, and a control unit. The control unit controls the bobbin supply mechanism. When a new bobbin is supplied to the winding device, the spinning is captured by a straw, the spinning is guided to the winding device, and the spinning is performed around the bobbin. "Bunch winding". The suction pipe is effective for accumulating charges due to static electricity during the capture of the spinning, and it is effective for the control unit to alternately set the discharge path of the charges. The winding device corresponds to the wire processing device of the present invention. The doffing device corresponds to the working robot of the present invention. The straw corresponds to the holding portion and the arm portion of the present invention. The topping yarn formation corresponds to a predetermined operation of the present invention. [0109] (13) Alternatively, the present invention can be applied to a piecing carriage that performs yarn jointing operation on a spinning unit that generates and winds a spinning (see Japanese Patent Application Laid-Open No. 2015-199559). Specifically, the splicing trolley includes a splicing device for splicing, a straw holding one of the two yarns to be spliced, a suction nozzle holding the other, and a control unit. The control unit controls the splicing device in the spinning unit after the yarn is cut, and performs splicing operation by twisting the two yarns held by the suction pipe and the suction nozzle. Also in this joint trolley, it is effective for the control part to set the discharge path of the electric charge in a roundabout manner. The spinning unit corresponds to the yarn processing device of the present invention. The joint trolley corresponds to the working robot of the present invention. The straw corresponds to the holding portion and the arm portion of the present invention. The same applies to the nozzle. The joint operation corresponds to a predetermined operation of the present invention.

[0110]

1‧‧‧ Spinning traction equipment

2‧‧‧ Traction device

3‧‧‧ hanging wire robot

5‧‧‧ Spinning Department

10‧‧‧Towing Department

31‧‧‧ Robot body

32‧‧‧ robot arm

33‧‧‧Hanging wire unit

34‧‧‧ Walking Department

35‧‧‧ track

36‧‧‧ Wheel

37‧‧‧Sniffer

37c‧‧‧Attraction

40‧‧‧ Pillar

41‧‧‧Frame

42‧‧‧Shell

53‧‧‧ ground wire

54‧‧‧ ground wire

55c‧‧‧Terminal

55d‧‧‧Terminal

60‧‧‧Conductive path

62‧‧‧ ground wire

63‧‧‧Wire

64‧‧‧ insulation coating

72‧‧‧Compressed air hose

73‧‧‧ coupler

74‧‧‧Coupler

82‧‧‧Hose for waste wire

83‧‧‧Coupler

84‧‧‧Coupler

85‧‧‧terminal

86‧‧‧ ground wire

90‧‧‧ Wheel

91‧‧‧terminal

92‧‧‧ grounding member

102‧‧‧Robot control device

Y‧‧‧Silk

[0050] FIG. 1 is a schematic configuration diagram of a spinning traction device according to this embodiment. Figure 2 is a block diagram showing the electrical structure of the spinning traction equipment. Figure 3 front view of the traction device and wire-hanging robot. Figure 4 is a side view of a traction device and a wire-hanging robot. Figure 5 Front view of a wire hanging robot. Figure 6 is a sectional view of a sniffer of a wire-hanging robot. Fig. 7 (a) (b) shows the structure of the running part of the wire-hanging robot and its surroundings. FIG. 8 is an enlarged view of a walking part of a wire hanging robot. FIG. 9 is a schematic explanatory diagram of the ground path of the sniffer gun and the ground path of the robot control device. FIG. 10 is a flowchart showing a series of processes related to the wire-hanging operation. Figure 11 is a front view of a wire-hanging robot according to a modification. FIG. 12 is a side view of a wire hanging robot according to another modification. FIG. 13 is a side view of a wire hanging robot according to another modification. FIG. 14 is an enlarged view of a walking portion of a wire-hanging robot according to another modification. FIG. 15 is a schematic explanatory diagram of a ground path of a sniffer gun and a ground path of a robot control device. FIG. 16 is an enlarged view of a walking portion of a wire-hanging robot according to another modification. FIG. 17 is a front view of a traction device and a wire hanging robot according to another modification.

Claims (21)

A work robot is a work robot that performs a predetermined operation on a silk in a silk processing device, and is characterized in that it comprises a robot main body, an arm portion connected to the robot main body, and a holding device attached to the arm portion to hold the silk. A conductive path extending from the holding part to the first terminal without passing through the control part, the first terminal that is in contact with the grounded first ground member, and the conductive path allowing the holding part It is electrically connected to the first terminal, and the holding portion is connected to the first ground member and grounded through the conductive path and the first terminal. The working robot according to claim 1, wherein: the conductive path includes wiring extending from the holding portion, and the wiring is insulated from the control portion. The work robot according to claim 2, wherein at least a part of the wiring is provided on the robot body, and the wiring and the control unit are insulated by an insulator. The working robot according to claim 3, wherein the aforementioned insulator is an insulating coating extending along the wiring and covering the wiring. The working robot according to any one of claims 1 to 4, wherein the holding unit is grounded by a grounding path different from a grounding path of the control unit. The working robot according to claim 5, wherein: is provided with a second terminal, and the second terminal is in contact with a second grounding member which is grounded differently from the first grounding member; the robot body has a conductive frame, The ground portion of the control unit is electrically connected to the second terminal through the frame. The working robot according to any one of claims 1 to 4, wherein: the holding portion and the control portion are connected to the first terminal, and are connected to and grounded to the first grounding member. The working robot according to any one of claims 1 to 7, wherein the stern is provided with a walking portion that allows the robot main body to walk along a guide track extending in an arrangement direction of the plurality of silk processing devices, The first terminal is provided on the running portion. The working robot according to claim 8, wherein the first grounding member is provided along the guide rail, and the first terminal provided on the walking portion is in contact with the first grounding member. The working robot according to claim 8 or 9, wherein: the walking section is provided with a wheel having insulation at least on a contact surface with the guide rail, and a first terminal is provided at a place different from the wheel. The working robot according to claim 10, wherein: the guide rail is disposed above the moving space of the robot body, and the robot body is walking in a state of being suspended from the guide rail. The work robot according to claim 8, wherein: the first ground member is the guide track formed by a conductive member, and the first terminal provided in the walking portion is in contact with the guide track. The working robot according to claim 12, wherein: the walking unit has wheels formed of conductors, and the first terminal is the wheel. The working robot according to claim 1, wherein: is provided with an extension member extending from the holding portion toward the first ground member, the conductive path includes wiring extending from the holding portion, and 至少 at least a part of the wiring is along the The aforementioned extension member arrangement. The working robot according to claim 14, wherein: at least a part of the extension member and the wiring passes through the inside of the arm portion, and the wiring and the control portion are insulated by an insulator. The working robot according to claim 14 or 15, wherein: the holding portion is a suction portion having a suction wire, and the extension member is a hose connected to the suction portion. The working robot according to claim 16, wherein: the hose is connected to a fluid pipe fixedly arranged, and a hose provided with the first terminal is installed at an end of the hose opposite to the suction portion The side connector is a piping side connector connected to the fluid pipe and the hose side connector, and the first grounding member is provided. The working robot according to any one of claims 1 to 17, wherein: the conductive path includes wiring extending from the holding portion, and 是 the wiring is flexible or provided on a flexible member. The working robot according to any one of claims 1 to 18, wherein: 处理 the yarn processing device includes a traction section that pulls the yarn spun from the spinning section of the spinning device, the control section, and The holding portion allows the holding portion to perform the predetermined operation in a state where the yarn spun from the spinning portion is continuously attracted and captured. The working robot according to any one of claims 1 to 19, wherein the predetermined operation is a wire hanging operation of hooking the wire held by the holding unit to the wire processing device. A fiber machine, comprising: a wire processing device, a grounding member provided in the wire processing device and grounded, and a work robot that performs a predetermined operation on the wire with the wire processing device; and the work robot includes: A robot body, an arm portion connected to the robot body, a holding portion for holding the wire, a control portion, and a terminal that are in contact with the grounding member are formed from the holding portion without passing through the control portion. The conductive path extending to the terminal is to conduct the holding portion and the terminal, and the holding portion is connected to the ground member and grounded through the conductive path and the terminal.