Wire hanging robot

Abstract

The invention provides a yarn hanging robot, which can monitor a wide area when yarn hanging is carried out by the yarn hanging robot, and can prevent a detection part from becoming an obstruction of other devices and the like when the yarn hanging robot travels. A wire hanging robot (4) includes a robot body (31), a movable portion (32) configured to be able to perform wire hanging, a detection portion (41b), and a moving portion (44). The moving part (44) is configured so as to be able to move the detection part (41b) between a yarn hanging position when yarn hanging is performed by the movable part (32) and a travel position further to the rear side than the yarn hanging position.

Description

Technical Field

[0001] The present invention relates to a wire hanging robot configured to be able to hang wires on a plurality of wire winding machines. Background Art

[0002] Patent document 1 discloses a wire hanging robot configured to hang wires on a plurality of pulling devices (wire winding machines) that pull a plurality of wires spun from a spinning device. The wire hanging robot includes a robot body and a movable part. The robot body is configured to move along a predetermined direction in which the plurality of pulling devices are arranged. The movable part is configured to perform the action of hanging wires by moving relative to the robot body.

[0003] In addition, the wire hanging robot has an area sensor (detection unit) configured to detect obstacles. The detection unit is installed at the end of the robot body in a specified direction. The detection unit is configured to detect obstacles located on the travel path of the robot body. When an obstacle is detected, the travel of the robot body is stopped, thereby avoiding a collision between the robot body and the obstacle.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-82381 Summary of the invention

[0005] The robot body of the wire hanging robot is controlled to stop moving when the wire hanging action is performed. In order to further improve safety, it is required to prevent people or objects from approaching the wire hanging robot when the wire is hung. More specifically, it is expected that when hanging the wire, the space (hereinafter referred to as the working space) on the opposite side of the wire winding machine across the wire hanging robot in a direction orthogonal to the specified direction (hereinafter referred to as the orthogonal direction) is also monitored.

[0006] Here, in recent years, with the miniaturization of the wire hanging robot, there is a tendency for the robot body to become thinner in the orthogonal direction. If the installation position of the detection part in the orthogonal direction is changed according to the thinning of the robot body, the detection part will be away from the working space in the orthogonal direction. On the other hand, the area where the movable part moves (movable area) has not changed significantly. Therefore, when hanging the wire, the possibility of misdetection caused by the overlap of the detection area of ​​the detection part and the movable area of ​​the movable part becomes higher, and there may be a problem that the necessary monitoring cannot be performed. Therefore, it is necessary to make the detection part protrude to a certain extent toward the working space side in the orthogonal direction. However, if the detection part protrudes so much, the detection part may become an obstacle to other devices when the wire hanging robot moves.

[0007] An object of the present invention is to monitor a wide area when a wire hanging robot is used for hanging a wire, and to prevent a detection unit from becoming an obstacle to other devices or the like when the wire hanging robot is traveling.

[0008] The wire hanging robot of the first invention is configured to be able to perform wire hanging on a plurality of wire winding machines arranged in a first direction intersecting the vertical direction, and comprises: a robot main body, configured to be able to move along the first direction in a state where it is arranged on one side of the plurality of wire winding machines in a second direction orthogonal to both the vertical direction and the first direction; a movable part, installed on the robot main body, configured to perform the wire hanging by moving in a prescribed movable area relative to the robot main body; a first detection part, installed on the robot main body, configured to detect an object located in a prescribed first detection area; and a moving part, configured to enable the first detection part to move between a wire hanging position when the wire is hung by the movable part and a travel position on the other side of the second direction than the wire hanging position.

[0009] In the present invention, when the wire is hung by the wire hanging robot, the first detection part is located at the wire hanging position. Thus, when the wire is hung, the first detection part can be made to protrude to one side of the second direction (i.e., the side opposite to the wire winding machine). Thus, it is possible to prevent the detection area of ​​the first detection part from easily overlapping with the movable area of ​​the movable part, and it is easy to normally monitor the area on the side of the second direction that is closer to the robot body and the movable part. Therefore, when the wire is hung by the wire hanging robot, a wider area can be monitored. In addition, when the first detection part is located at the traveling position, it is possible to prevent the first detection part from protruding from the robot body to one side of the second direction. Therefore, it is possible to prevent the first detection part from becoming an obstacle to other devices when the wire hanging robot is traveling.

[0010] A wire hanging robot according to a second invention is the first invention, wherein when the first detection portion is located at the wire hanging position, at least a portion thereof protrudes toward the one side in the second direction from the one end portion of the robot body.

[0011] In the present invention, the first detection unit can detect obstacles in a wide range without being hindered by the robot body and the movable unit.

[0012] A wire hanging robot according to a third invention is the wire hanging robot according to the second invention, wherein the first detection unit is disposed to be separated from the robot body toward the one side in the second direction when located at the wire hanging position.

[0013] In the present invention, the first detection unit can detect obstacles in a wide range without being hindered by the robot body and the movable unit.

[0014] The wire hanging robot of the fourth invention is that, in any one of the first to third inventions, the first detection area extends with a specified first detection origin as a reference point, and when the first detection part is located at the wire hanging position, the first detection origin is configured at a position closer to the above-mentioned side of the above-mentioned second direction than the above-mentioned movable area of ​​the above-mentioned movable part.

[0015] In the present invention, the first detection unit can detect obstacles in a wide range without being hindered by the robot body and the movable unit.

[0016] The wire hanging robot of the fifth invention is that, in any one of the first to fourth inventions, the first detection area extends from a specified first detection origin as a reference point to a position at least on one side of the first direction than both the configuration area of ​​the robot body and the above-mentioned movable area of ​​the movable part, and the first detection part is configured so that when a specified imaginary plane that takes the first detection origin as a starting point and extends to the above-mentioned one side of the above-mentioned configuration area of ​​the robot body and the above-mentioned movable area of ​​the movable part without overlapping with any of the above-mentioned configuration area and the above-mentioned movable area is set as the first imaginary plane, the first detection area is included in the above-mentioned first imaginary plane, at least during the execution of the wire hanging. In the embodiment, the first imaginary plane is a fan-shaped fan including a first imaginary line segment and a second imaginary line segment, the first imaginary line segment takes the first detection origin as a starting point, and extends to a position on the one side of the second direction relative to both the configuration area and the movable area without overlapping with any of the configuration area of ​​the robot body and the movable area of ​​the movable part, and the second imaginary line segment takes the first detection origin as a starting point, and extends along the first direction toward the other side of the first direction without overlapping with any of the configuration area of ​​the robot body and the movable area of ​​the movable part, and extends to a position on the other side of the first direction relative to both the configuration area and the movable area.

[0017] In the present invention, at least during the execution of the wire hanging, the fan-shaped first imaginary plane including the first detection area includes the first imaginary line segment and the second imaginary line segment. Thus, the first detection unit can detect obstacles in a wider range without being hindered by the robot body and the movable part. Therefore, it is possible to avoid increasing the number of detection units and detect obstacles in a necessary and sufficient range.

[0018] A wire hanging robot according to a sixth aspect of the present invention is the wire hanging robot according to the fifth aspect of the present invention, wherein at least when the wire hanging is performed, a center angle of the first virtual plane is greater than or equal to 180°.

[0019] In the present invention, the first detection unit can detect obstacles in a wide range.

[0020] The wire hanging robot of the seventh invention is that, in the fifth or sixth invention, at least a part of the movable area of ​​the movable part is arranged at a position closer to the other side of the first direction than the robot main body, and the wire hanging robot has a second detection part, which is installed on the robot main body and is constructed to be able to detect an object located in a specified second detection area, and the second detection area takes a specified second detection origin as a reference point and extends to a position at least closer to the other side of the first direction than both the configuration area of ​​the robot main body and the movable area of ​​the movable part, and the second detection part is arranged so that when a specified imaginary plane with the second detection origin as a starting point and extending to the other side of the first direction than both the configuration area of ​​the robot main body and the movable area of ​​the movable part without overlapping is set as the second imaginary plane, the second detection area is included in the second imaginary plane.

[0021] In the present invention, the second detection unit is configured so that the second imaginary plane avoids the movable area of ​​the movable part and extends to a position on the other side of the movable area in the first direction. Here, according to the positional relationship between the second detection area and the movable area of ​​the movable part, a blind spot may be generated in the second detection area near the movable area of ​​the movable part. In this regard, through the first detection unit, at least during the execution of the wire hanging, obstacles can be detected within a wider range in the first direction without being hindered by the robot body and the movable part. Thus, at least during the execution of the wire hanging, the first detection unit can monitor an area that needs to be monitored and cannot be reached by the monitoring of the second detection unit. Therefore, the generation of blind spots can be suppressed.

[0022] A wire hanging robot according to an eighth aspect of the present invention is, in any one of the first to seventh aspects of the present invention, wherein the first detection unit is configured to be able to change at least one of a shape and an area of ​​the first detection region by setting.

[0023] In the structure in which the first detection part is movable, in order to prevent erroneous detection of the movable part, it is required to change the first detection area when the first detection part is located at the wire hanging position and when the first detection part is located at the traveling position. Here, for example, the first detection part may be configured to be rotatable, and the first detection area may be physically changed by rotating the first detection part. However, in this case, a driving mechanism for rotating the first detection part is required, and thus, the problem of complicating the structure of the wire hanging robot arises. In addition, in this case, the shape and area of ​​the first detection area do not change. Therefore, when the first detection part moves to the traveling position, an object that was not detected when the wire was hung may accidentally be located in the first detection area. As a result, the object may be mistakenly detected as an obstacle.

[0024] In the present invention, the first detection area can be changed by setting. Therefore, there is no need to add the above-mentioned drive mechanism, so the complexity of the structure of the wire hanging robot can be suppressed. In addition, in the present invention, by setting the first detection area, it can be freely changed to a certain extent. Therefore, when the first detection part moves to the travel position, it can be easily avoided that an object that is not detected during wire hanging is mistakenly detected as an obstacle.

[0025] The wire hanging robot of the 9th invention is that, in any one of the inventions 1 to 8 above, the movable part comprises: a suction part, which is configured to be able to suck and hold the moving silk thread; and a piping part, which is connected to the above-mentioned suction part and is configured to be able to supply a fluid for generating a negative pressure for sucking and holding the above-mentioned silk thread to the above-mentioned suction part, and to be able to discharge the above-mentioned fluid from the above-mentioned suction part, and a part of the part of the above-mentioned piping part arranged on the outside of the above-mentioned robot body is fixed to the above-mentioned robot body.

[0026] If the piping part accidentally shakes due to inertia when the wire is hung, the piping part may accidentally enter the detection area of ​​the first detection part and cause false detection. In the present invention, by fixing a part of the piping part arranged outside the robot body to the robot body, the shaking of the part of the piping part arranged outside the robot body can be suppressed. Therefore, the occurrence of false detection by the first detection part can be suppressed.

[0027] The wire hanging robot of the tenth invention is that, in any one of the inventions 1 to 9 above, the movable part comprises: a suction part, which is configured to be able to suck and hold the moving silk thread; an arm mechanism, which is able to move the suction part relative to the robot body; and a piping part, which is connected to the suction part and is configured to be able to supply a fluid for generating a negative pressure for sucking and holding the silk thread to the suction part, and to be able to discharge the fluid from the suction part, and a part of the part of the piping part arranged on the outside of the robot body is fixed in position relative to the first detection part, and when the first detection part is located at the wire hanging position, the part of the piping part is away from the movable area of ​​the arm mechanism in the second direction compared to when the first detection part is located at the traveling position.

[0028] If the piping part shakes unexpectedly due to inertia when hanging the wire, the piping part may accidentally enter the first detection area and cause false detection. In addition, if the arm mechanism hits the piping part when it moves, the piping part may shake more. In the present invention, a part of the piping part moves integrally with the first detection part, and when the first detection part is located at the wire hanging position, a part of the piping part is away from the movable area of ​​the arm mechanism. Thereby, it is possible to prevent the arm mechanism from hitting the piping part when hanging the wire. Therefore, the shaking of the piping part can be effectively suppressed. Therefore, the occurrence of false detection by the first detection part can be suppressed.

[0029] A wire hanging robot according to an eleventh invention is, in any one of the first to tenth inventions, wherein the first detection unit is arranged so as to be accommodated inside the movable region of the movable unit in the up-down direction.

[0030] If the first detector is disposed outside the movable region of the movable part in the vertical direction, the space for arranging components other than the wire hanging robot may be narrowed. In the present invention, the first detector can be prevented from narrowing the space for arranging other components.

[0031] A wire hanging robot according to a twelfth invention is, in any one of the first to eleventh inventions, characterized in that the robot body is configured to be suspended from a rail extending along the first direction.

[0032] In the present invention, the robot body can be arranged at a higher position in the vertical direction. Thus, the risk of contact between people and objects and the wire hanging robot can be further reduced. In addition, necessary machines and / or components can be arranged on the lower side of the robot body.

[0033] The wire hanging robot of the 13th invention is, in any one of the above-mentioned inventions 1 to 12, the above-mentioned wire hanging robot comprises: a frame, which is installed on the above-mentioned robot body and fixes the above-mentioned first detection part; and a cover, which is configured to cover at least a part of the above-mentioned frame when viewed from the above-mentioned side in the above-mentioned second direction.

[0034] If at least the first detection unit and the frame protrude to one side of the second direction when the wire is hung, the appearance of the wire hanging robot may be damaged. In the present invention, at least a portion of the frame is covered by a cover, thereby preventing the appearance from being damaged. In addition, the cover can protect the frame and the like from being contaminated and obstructed.

[0035] A wire hanging robot according to a fourteenth invention is, in any one of the first to thirteenth inventions, wherein the first detection unit is included in an area sensor, and the area sensor is configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

[0036] In the present invention, obstacles can be detected by a generally available area sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a front view of the spinning and pulling equipment including the yarn hanging robot according to the present embodiment.

[0038] Figure 2 It is a side view of the spinning traction machine.

[0039] Figure 3 This is a block diagram showing the electrical structure of the spinning and drawing equipment.

[0040] Figure 4 This is the main view of the wire hanging robot.

[0041] Figure 5 (a) and (b) are explanatory diagrams showing the traveling part.

[0042] Figure 6 (a) to (d) are explanatory diagrams showing the yarn hooking to each part of the spinning traction machine.

[0043] Figure 7 (a) and (b) are explanatory diagrams showing area sensors.

[0044] Figure 8 It is an explanatory diagram showing details of the vicinity of the lower end portion of the robot body.

[0045] Fig. 9 (a) and (b) are side views of the wire hanging robot.

[0046] Fig.10 It is a diagram showing the detection area of ​​the area sensor when the wire hanging robot is traveling.

[0047] Fig.11 It is a figure which shows the detection area of ​​the area sensor when the wire is hung.

[0048] Fig.12 It is an explanatory diagram showing details of the vicinity of the lower end portion of the robot body according to a modified example.

[0049] Description of Reference Numerals

[0050] 3: spinning traction machine (thread winding machine); 4: thread hanging robot; 31: robot body; 32: movable part; 33: robot arm (arm mechanism); 34a: suction device (suction part); 35: supply piping (piping part); 36: discharge piping (piping part); 37: track component (track); 41a: frame; 41b: detection part (first detection part); 42b: detection part (second detection part); 43: cover; 44: moving part; A1: first detection area; A1T: first detection area; A2: second detection area; L1: first imaginary line segment; L2: second imaginary line segment; OD1: first detection origin; OD2: second detection origin; P1: first imaginary plane; P1T: first imaginary plane; P2: second imaginary plane; Y: thread. DETAILED DESCRIPTION

[0051] Next, the embodiments of the present invention will be described. Figure 1The directions shown are defined as front, back, left, right, up and down directions. The up and down direction is the vertical direction in which gravity acts. The left and right directions (the first direction of the present invention) are specified directions that are orthogonal (intersecting) with the up and down directions. The left side is equivalent to one side of the first direction of the present invention. The right side is equivalent to the other side of the first direction of the present invention. The front and back directions (the second direction of the present invention) are directions that are orthogonal to both the up and down directions and the left and right directions. The front side is equivalent to one side of the second direction of the present invention. The rear side is equivalent to the other side of the second direction of the present invention. The direction in which the thread Y travels is defined as the thread travel direction.

[0052] (General structure of spinning and pulling equipment)

[0053] Figure 1 It is a front view of the spinning traction equipment 1 of the present embodiment. The spinning traction equipment 1 includes a plurality of spinning devices 2, a plurality of spinning traction machines 3 (the yarn winding machine of the present invention), and a yarn hanging robot 4. The plurality of spinning devices 2 are arranged in the left-right direction, and each spins a plurality of yarns Y. The plurality of spinning traction machines 3 are arranged below the plurality of spinning devices 2. The plurality of spinning traction machines 3 are arranged in the left-right direction corresponding to the plurality of spinning devices 2. Each spinning traction machine 3 pulls the plurality of yarns Y spun from the spinning device 2, and simultaneously winds them on a plurality of bobbins B to form a package P. The yarn hanging robot 4 is configured to be movable in the left-right direction. The yarn hanging robot 4 performs an action for hooking the yarn Y on the components constituting each spinning traction machine 3 (i.e., hanging the yarn).

[0054] (Spinning traction machine)

[0055] Secondly, refer to Figure 2 The structure of the spinning draw-off machine 3 will be described. Figure 2 It is a side view of the spinning traction machine 3.

[0056] like Figure 2 As shown, the spinning traction machine 3 includes a traction unit 5 and a winding unit 6. The traction unit 5 is configured to traction the yarn Y spun from the spinning device 2. The winding unit 6 is configured to wind the yarn Y pulled by the traction unit 5 into a bobbin B. The traction unit 5 includes a suction device 11, a first limiting yarn guide 12, a first yarn guide roller 13, a second limiting yarn guide 14, and a second yarn guide roller 15.

[0057] The suction device 11 is disposed at the front end of the spinning traction machine 3. The suction device 11 is configured to suck and hold the plurality of yarns Y spun out from the spinning device 2 before the yarns are hooked to the spinning traction machine 3.

[0058] The first limiting yarn guide 12 is, for example, a well-known comb-shaped yarn guide. The first limiting yarn guide 12 is configured to arrange a plurality of yarns Y in the left-right direction. The first limiting yarn guide 12 is configured to limit the movement of a plurality of yarns Y in the left-right direction. The first limiting yarn guide 12 is arranged on the lower side of the suction device 11. When the first limiting yarn guide 12 hooks a plurality of yarns Y, the interval between adjacent yarns Y is set to a specified interval.

[0059] The first guide roller 13 is a roller whose axial direction is substantially parallel to the left-right direction. The first guide roller 13 is arranged on the lower side of the first limiting guide 12. The first guide roller 13 is driven by a first guide motor 111 (see Figure 3 ) is driven to rotate and transport the yarn Y to the downstream side of the yarn travel direction.

[0060] The second yarn restriction guide 14 is, for example, a comb-shaped yarn guide similar to the first yarn restriction guide 12 . The second yarn restriction guide 14 restricts the left-right movement of the yarns Y when hooking a plurality of yarns Y. The second yarn restriction guide 14 is disposed above and behind the first yarn guide roller 13 .

[0061] The second guide roller 15 is a roller whose axial direction is substantially parallel to the left-right direction. The second guide roller 15 is arranged above and behind the second limiting guide 14. The second guide roller 15 is driven by a second guide motor 112 (see Figure 3 ) is driven to rotate and convey the yarn Y to the downstream side in the direction of yarn travel. The second yarn guide roller 15 is supported on the guide rail 16, for example, so as to be movably supported. The guide rail 16 extends, for example, upward and backward, obliquely. The second yarn guide roller 15 is configured, for example, to be movable along the guide rail 16 by a moving mechanism not shown. Thus, the second yarn guide roller 15 can be in the winding position (refer to Figure 2 The solid line) and the wire hanging position (refer to Figure 2 dot-dash line).

[0062] In the drawing section 5 having the above-described structure, the first godet roller 13 and the second godet roller 15 hooking the yarn Y rotate to draw the yarn Y spun from the spinning device 2 and convey it to the downstream side in the yarn running direction.

[0063] The winding section 6 is configured to wind a plurality of yarns Y around a plurality of bobbins B to form a package P. The winding section 6 is disposed below the traction section 5. Figure 2 As shown, the winding section 6 includes a frame 20 , a plurality of fulcrum yarn guides 21 , a plurality of traverse yarn guides 22 , a turntable 23 , two bobbin holders 24 , and a touch roller 25 .

[0064] The frame 20 is, for example, a component installed on the floor of a factory, and is used to install or store the components of the winding section 6. The plurality of fulcrum guides 21 are guides that serve as fulcrums when the yarn Y is traversed by the traversing guides 22. Each fulcrum guide 21 guides the yarn Y to the downstream side of the yarn travel direction. Figure 2 As shown, a plurality of fulcrum yarn guides 21 are individually provided for a plurality of yarns Y. The plurality of fulcrum yarn guides 21 are arranged in the front-to-back direction. The plurality of fulcrum yarn guides 21 can move between a winding position when winding each yarn Y on the bobbin B and a wire hanging position arranged to be concentrated on the front side than the winding position (not shown).

[0065] The plurality of traverse guides 22 are provided separately for the plurality of yarns Y. The plurality of traverse guides 22 are arranged in a row in the front-to-back direction. Each traverse guide 22 is driven by a traverse motor 113 (see Figure 3 ) is driven to reciprocate in the front-to-back direction. As a result, the yarn Y hooked on the traverse guide 22 traverses around the fulcrum guide 21. The turntable 23 is a disc-shaped component whose axial direction is roughly parallel to the front-to-back direction. The turntable 23 is driven by the turntable motor 114 (refer to Figure 3 ) is driven to rotate. The two bobbin holders 24 are rotatably supported at the upper end and the lower end of the turntable 23. The axial direction of each bobbin holder 24 is substantially parallel to the front-to-back direction. Each bobbin holder 24 supports a plurality of bobbins B arranged in a row in the front-to-back direction. The two bobbin holders 24 are each driven by a separate winding motor 115 (see Figure 3 ) is driven to rotate. The contact roller 25 is a roller arranged just above the upper bobbin holder 24. The axial direction of the contact roller 25 is substantially parallel to the front-rear direction. The contact roller 25 contacts the surfaces of the plurality of packages P supported by the upper bobbin holder 24, thereby applying pressure to the surface of the package P being wound, thereby adjusting the shape of the package P.

[0066] In the winding section 6 having the above structure, when the bobbin holder 24 on the upper side is driven to rotate, the yarn Y that has been traversed by the traversing yarn guide 22 is wound on the bobbin B to form a package P. In addition, when the package P is fully wound, the upper and lower positions of the two bobbin holders 24 are switched by rotating the turntable 23. As a result, the bobbin holder 24 located on the lower side moves to the upper side. A plurality of packages P are formed by respectively winding a plurality of yarns Y on a plurality of bobbins B mounted on the bobbin holder 24 on the upper side. In addition, the bobbin holder 24 on which the plurality of fully wound packages P are mounted moves to the lower side. The plurality of fully wound packages P are recovered, for example, by a package recovery device not shown.

[0067] (Wire hanging robot)

[0068] Secondly, refer to Figure 4 , Figure 5 (a) and Figure 5(b) describes the structure of the wire hanging robot 4. Figure 4 It is a front view of the wire hanging robot 4. Figure 5 (a) is a top view of the wire hanging robot 4. Figure 5 (b) is a view taken along the arrow V(b) of the traveling portion 38 described later.

[0069] The yarn hanging robot 4 is configured to hook the yarn Y on the first yarn guide 12, the first yarn guide roller 13, the second yarn guide 14, the second yarn guide roller 15, the plurality of fulcrum yarn guides 21, etc. of the spinning traction machine 3. Figure 4 As shown, the wire hanging robot 4 includes a robot body 31 and a movable part 32 .

[0070] The robot body 31 is, for example, a hollow member having a substantially rectangular parallelepiped shape. A robot control device 102 (see FIG. 1 ) for controlling the movement of the movable part 32 and the like is provided inside the robot body 31. Figure 3 The robot body 31 is suspended from a rail member 37 (the rail of the present invention). The rail member 37 is arranged in front of the plurality of spinning traction machines 3 (see Figure 2 ), extending in the left-right direction (refer to Figure 5 (a) and Figure 5 More specifically, a travel unit 38 for moving the wire hanging robot 4 as a whole is provided at the upper end of the robot body 31. The travel unit 38 has, for example, two wheels 39 arranged in a row in the left-right direction (see Figure 5 (a) and Figure 5 (b)). The two wheels 39 are mounted on the rail member 37. The two wheels 39 are moved by a moving motor 121 (see Figure 3 ) is driven. As a result, the wire hanging robot 4 including the robot body 31 moves in the left-right direction along the rail component 37 as a whole.

[0071] The movable part 32 is configured to perform the wire hanging by moving in a predetermined movable range relative to the robot body 31. The movable part 32 is mounted on the robot body 31. Figure 4 As shown, the movable part 32 includes a robot arm 33 (arm mechanism of the present invention), a wire hanging unit 34, a supply pipe 35, and a discharge pipe 36. Figure 4 As shown, at least a part of the movable part 32 is arranged on the right side of the robot body 31. At least a part of the movable area is arranged on the right side of the robot body 31. The total of the supply pipe 35 and the discharge pipe 36 corresponds to the pipe section of the present invention.

[0072] In addition, it should be noted that the movable area is not limited to encompass all areas where the movable part 32 can be located relative to the robot body 31. Although not shown in the figure, the movable area is defined as "the entire space where the various parts constituting the movable part 32 are located from the beginning to the end of the wire hanging". Information related to the movement of the movable part 32 is stored in, for example, the robot control device 102.

[0073] The robot arm 33 is mounted on the lower surface of the robot body 31. The robot arm 33 has a plurality of arms 33a and a plurality of joints 33b that connect the arms 33a. An arm motor 122 (see Figure 3 ). When the arm motor 122 is driven, the arm 33a swings around the joint portion 33b.

[0074] The wire-hanging unit 34 is mounted on the front end of the arm 33a disposed at the front end side among the plurality of arms 33a. The wire-hanging unit 34 moves relative to the robot body 31 according to the movement of the robot arm 33. The wire-hanging unit 34 has a sucker 34a (the suction part of the present invention) configured to suck and hold the traveling wire Y, and a cutter 34b for cutting the wire Y. The sucker 34a is arranged in the middle of the passage of compressed air (the fluid of the present invention) including the supply piping 35 and the discharge piping 36. The sucker 34a uses the negative pressure generated by the flow of the compressed air supplied from the supply piping 35 and discharged to the discharge piping 36 to suck and hold the wire Y. The wire Y sucked by the sucker 34a is discharged together with the compressed air through the discharge piping 36. The cutter 34b is used to cut the middle of the wire Y when the wire-hanging unit 34 pulls the wire Y spun from the spinning device 2. In addition, the wire-hanging unit 34 has various devices in addition to this, but the description of these devices is omitted.

[0075] The supply piping 35 is a piping for supplying compressed air to various devices including the suction device 34a. The supply piping 35 is installed on the robot body 31. A part of the supply piping 35 is arranged on the outside of the robot body 31, for example. At least the part of the supply piping 35 arranged on the outside of the robot body 31 includes, for example, a flexible hose. One end of the supply piping 35 is connected to the wire hanging unit 34. That is, a part of the supply piping 35 moves according to the movement of the wire hanging unit 34. Another part of the supply piping 35 is, for example, housed in the robot body 31. The other end of the supply piping 35 is, for example, configured to be detachable relative to a supply pipe (not shown) provided near each spinning traction machine 3. The supply pipe extends, for example, in the left-right direction. The supply pipe is connected to a supply source (not shown) of compressed air.

[0076] The exhaust pipe 36 is a pipe for exhausting the compressed air supplied to the suction device 34a and the like through the supply pipe 35. The exhaust pipe 36 is installed on the robot body 31. A part of the exhaust pipe 36 is arranged on the outside of the robot body 31, for example. At least the part of the exhaust pipe 36 arranged on the outside of the robot body 31 includes, for example, a flexible hose. One end of the exhaust pipe 36 is connected to the wire hanging unit 34. That is, a part of the exhaust pipe 36 moves according to the movement of the wire hanging unit 34. Another part of the exhaust pipe 36 is, for example, housed in the robot body 31. The other end of the exhaust pipe 36 is, for example, configured to be detachable relative to an exhaust duct (not shown) provided near each spinning traction machine 3. The exhaust duct extends, for example, in the left-right direction. The exhaust duct is connected, for example, to a waste box (not shown) into which the yarn Y is discarded.

[0077] In addition, two area sensors 40 (i.e., a first area sensor 41 and a second area sensor 42) for detecting objects (obstacles) are installed on the robot body 31. The first area sensor 41 and the second area sensor 42 are electrically connected to the robot control device 102. The first area sensor 41 and the second area sensor 42 will be described in more detail later.

[0078] (Electrical structure of spinning and pulling equipment)

[0079] Secondly, refer to Figure 3 The electrical structure of the spinning and drawing device 1 is described in the block diagram. Figure 3 As shown in FIG. 1 , in the spinning traction equipment 1, each spinning traction machine 3 is provided with a winding control device 101. The winding control device 101 controls the operation of the first yarn guide motor 111, the second yarn guide motor 112, the traverse motor 113, the turntable motor 114, the winding motor 115, etc. In addition, each spinning traction machine 3 is equipped with two winding motors 115, but in Figure 3 In FIG. 1 , only one winding motor 115 is shown. Figure 3 Although only one traverse motor 113 is shown in the figure, each spinning pull-up machine 3 may include a plurality of traverse motors 113 .

[0080] In the spinning and pulling device 1, a robot control device 102 is provided in the wire hanging robot 4. As described above, the robot control device 102 is provided inside the robot body 31, for example. The robot control device 102 has a CPU, a ROM, a RAM, etc., and the wire hanging unit 34 controls the operation of the moving motor 121, the arm motor 122, etc. The robot control device 102 drives and controls the robot arm 33 based on the operation information of the movable part 32. In addition, the robot arm 33 has a plurality of arm motors 122 corresponding to the plurality of joint parts 33b, but in Figure 3 In FIG. 1 , only one arm motor 122 is shown. Figure 3 , the other arm motor 122 is omitted.

[0081] The robot control device 102 is configured to receive signals related to the detection of an object by the first area sensor 41 and the second area sensor 42. When the robot control device 102 receives a signal indicating the detection of an object from the first area sensor 41 or the second area sensor 42, the robot control device 102 controls the moving motor 121 and the arm motor 122 to stop the action (movement and wire hanging, etc.) of the wire hanging robot 4.

[0082] In addition, the spinning traction equipment 1 is provided with an integrated control device 100 for controlling the entire equipment. The integrated control device 100 is, for example, a general computer device. The integrated control device 100 is electrically connected to a plurality of winding control devices 101 and a robot control device 102 provided in a plurality of spinning traction machines 3. The integrated control device 100 cooperates with the plurality of winding control devices 101 and the robot control device 102 to control the entire spinning traction equipment 1.

[0083] (Overview of the wire hanging operation performed by the wire hanging robot)

[0084] Secondly, refer to Figure 6 (a)~ Figure 6 (d) will now be described an overview of the operation of hanging the yarn on the spinning traction machine 3 by the yarn hanging robot 4. Figure 6 (a)~ Figure 6 (d) is an explanatory diagram showing the action of hanging the yarn on the first limiting yarn guide 12, the first yarn guide roller 13, the second limiting yarn guide 14 and the second yarn guide roller 15. Hereinafter, the control content of the robot control device 102 will be mainly described. In addition, the robot control device 102 communicates with the integrated control device 100 as needed. The integrated control device 100 requests the winding control device 101 of the spinning traction machine 3 as the yarn hanging object to perform a predetermined control.

[0085] The winding control device 101 of the spinning traction machine 3 as the yarn hanging object moves the second yarn godet 15 along the guide rail 16 to the yarn hanging position close to the first yarn godet 13 before starting the yarn hanging (see Figure 2 In addition, the winding control device 101 makes the plurality of fulcrum yarn guides 21 gather at the yarn hanging position on the front side of the winding position and make them close to each other.

[0086] In the above state, the robot control device 102 controls the moving motor 121 to move the robot body 31 to a position overlapping the spinning traction machine 3 as the thread hanging object in the front-back direction. Next, the robot control device 102 controls the arm motor 122 and the thread hanging unit 34 to make the suction device 34a suck and hold the plurality of threads Y spun from the spinning device 2 (see Figure 6 Specifically, the robot control device 102 causes the suction device 34a to suck the thread Y while causing the cutter 34b to cut the thread Y. Thus, the cut thread Y is sucked and held by the suction device 34a (see Figure 6 (b)).

[0087] Next, the robot control device 102 moves the front end of the wire hanging unit 34 downward via the robot arm 33 (see Figure 6 (c)). Then, the robot control device 102 moves the front end of the wire hanging unit 34 to hook the yarn Y on the first limiting wire guide 12, the first wire guide roller 13, the second limiting wire guide 14, and the second wire guide roller 15 in sequence (refer to Figure 6 (d)).

[0088] In addition, the robot control device 102 causes the movable part 32 to hook the wires to the plurality of fulcrum wire guides 21. Furthermore, the robot control device 102 controls the movable part 32 to hook the wires to the plurality of traverse wire guides 22 and the unillustrated slits of the plurality of bobbins B. For details of these hookings, refer to, for example, Japanese Patent Application Laid-Open No. 2017-082379.

[0089] Here, in recent years, as the wire hanging robot 4 is miniaturized, there is a tendency for the robot body 31 to become thinner in the vertical direction. If the installation position of the area sensor 40 in the front-to-back direction is changed according to the thinning of the robot body 31, the area sensor 40 is separated from the space (operating space) on the opposite side of the spinning traction machine 4 across the wire hanging robot 4 in the front-to-back direction. On the other hand, the area (movable area) where the movable part 32 moves is not greatly changed. Therefore, when hanging the wire, the detection area of ​​the area sensor 40 overlaps with the movable area of ​​the movable part 32, and the possibility of misdetection becomes high, which may cause the problem of not being able to perform necessary monitoring. Therefore, it is necessary to make the area sensor 40 protrude to a certain extent toward the working space side in the front-to-back direction. However, if the area sensor 40 protrudes so much, when the wire hanging robot 4 moves, the area sensor 40 may become an obstacle to other devices. For example, the above-mentioned package recovery device not shown in the figure moves in the left-right direction like the wire hanging robot 4, and recovers the package P from each spinning traction machine 3. Therefore, the package recovery device can usually pass near the wire hanging robot 4 in the operating space. Therefore, if the area sensor 40 protrudes toward the work space in the front-rear direction while the wire hanging robot 4 is traveling, the traveling of the package collecting device may be hindered or the area sensor 40 may collide with the package collecting device.

[0090] Therefore, in order to monitor a wide area when the wire hanging robot 4 hangs the wire and to prevent the area sensor 40 from becoming an obstacle to other devices when the wire hanging robot 4 moves, the wire hanging robot 4 has the following configuration.

[0091] (Area Sensor)

[0092] First, refer to Figure 4 , Figure 7 (a) and Figure 7 (b) describes the simple configuration of each of the two area sensors 40 (the first area sensor 41 and the second area sensor 42 ) provided in the wire hanging robot 4 . Figure 7 (a) is a diagram of the area sensor 40 as viewed from a direction perpendicular to a predetermined axial direction. Figure 7 (b) is a diagram of the area sensor 40 viewed from the axial direction. Figure 7 The vertical direction of the paper of (a) is defined as the axial direction. Figure 7 The lower side of the paper of (a) is defined as one side in the axial direction. Figure 7 The upper side of the paper of (a) is defined as the other side of the axial direction. Figure 7 In (b), the radial direction of the detection portion 40b (described later) is defined as the radial direction. The direction orthogonal to both the axial direction and the radial direction is defined as the circumferential direction.

[0093] The area sensor 40 is, for example, a well-known reflective area sensor. That is, the area sensor 40 emits a laser with excellent directivity and convergence, and is configured to detect the laser reflected by the object, so as to determine whether there is an object in a predetermined planar area. The laser (i.e., a type of light) is equivalent to the detection medium of the present invention.

[0094] like Figure 7 (a) and Figure 7 As shown in (b), the area sensor 40 has, for example, a frame 40a and a detection unit 40b. The frame 40a is, for example, formed in a substantially rectangular parallelepiped shape. The shape of the frame 40a is not limited thereto. The frame 40a may be, for example, formed in a substantially cylindrical shape, or may have other shapes. The frame 40a is configured to accommodate various parts constituting the area sensor 40. The detection unit 40b is fixed to the frame 40a. The frame 40a is arranged on one side of the detection unit 40b in the axial direction.

[0095] The detection part 40b is formed in a substantially disk shape, for example. The detection part 40b is fixed to the frame 40a. The detection part 40b is arranged on the other side of the axial direction of the frame 40a, and protrudes from the frame 40a to the other side of the axial direction. The detection part 40b has, for example, a light emitting part (not shown) that emits laser light and a light receiving part (not shown) that detects laser light.

[0096] In the detection unit 40b, a predetermined detection origin OD is defined (see Figure 7 (b)). The detection unit 40b is configured to detect an object located in a detection area A set with the detection origin OD as a reference point. The detection area A is a roughly planar shape. That is, the detection area A is an area with a specified area contained in a specified imaginary plane. The shape and area of ​​the detection area A can be arbitrarily changed according to the specifications of the area sensor 40. The detection unit 40b is configured to be able to change the settings related to the detection area A at any timing. For example, the robot control device 102 is configured to control the detection unit 40b to perform initial settings or setting changes of the detection area A. As a specific example of the detection area A, a roughly fan-shaped area with the detection origin OD as the center and the center angle θ can be set. The center angle and radius of the detection area A can be arbitrarily changed within the range of specifications. For example, the center angle of the detection area A can be changed, for example, within the range of 30° to 270°. The radius of the detection area A can be changed, for example, within the range of 2000mm to 8000mm. Alternatively, the shape of the detection area A can be set to a shape more complex than a fan.

[0097] In the present embodiment, the first area sensor 41 and the second area sensor 42 have the same configuration. That is, the first area sensor 41 includes a frame 41a and a detection unit 41b (the first detection unit of the present invention). A first detection area A1 can be set in the detection unit 41b. The shape and size (area) of the first detection area A1 can be arbitrarily set according to the specification of the first area sensor 41. The shape of the first detection area A1 can be a roughly fan-shaped shape with the detection origin OD (the first detection origin OD1) of the detection unit 41b as the center and the center angle θ1. The second area sensor 42 includes a frame 42a and a detection unit 42b (the second detection unit of the present invention). A second detection area A2 can be set in the detection unit 42b. The shape and size (area) of the second detection area A2 can be arbitrarily set according to the specification of the second area sensor 42. The shape of the second detection area A2 can also be a roughly fan-shaped shape with the detection origin OD (the second detection origin OD2) of the detection unit 42b as the center and the center angle θ2. θ1 and θ2 may be different from each other. The radius of the first detection area A1 and the radius of the second detection area A2 may be different from each other.

[0098] like Figure 4 As shown, the first area sensor 41 is installed, for example, at the left side of the lower end of the robot body 31. The axial direction of the first area sensor 41 is, for example, roughly parallel to the up-down direction. That is, the first detection area A1 is roughly parallel to the horizontal direction. However, in the first area sensor 41, for example, the frame 41a is arranged at a position above the detection part 41b. That is, the upper side (i.e., Figure 4 The upper side on the paper) is equivalent to the axial side.

[0099] like Figure 4 As shown in FIG. 1 , the detection unit 41b of the first area sensor 41 is, for example, arranged at a lower side than the robot body 31. In addition, the detection unit 41b is arranged so as to be accommodated inside the movable area of ​​the movable part 32 in the up-down direction. More specifically, for example, the detection unit 41b is arranged at an upper side than the lower end of the supply pipe 35 and the lower end of the discharge pipe 36.

[0100] like Figure 4 As shown, the second area sensor 42 is stored inside the robot body 31. More specifically, for example, the storage portion 31a storing the second area sensor 42 is formed at the upper right end of the front end of the robot body 31. The position of the storage portion 31a is not limited thereto. An opening 31b is formed at the right side of the storage portion 31a. The opening 31b is configured so that the detection portion 42b can irradiate the laser to the outside of the storage portion 31a, and the detection portion 42b can detect the laser returning from the outside of the storage portion 31a.

[0101] The axial direction of the second area sensor 42 is inclined, for example, relative to the vertical direction. In other words, the second detection area A2 is inclined relative to the horizontal direction (see Figure 4 ). More specifically, the second detection area A2, for example, extends obliquely downward to the right (i.e., at least the lower side) with the second detection origin OD2 as the starting point when viewed from the front-to-back direction. The first detection area A1 and the second detection area A2, for example, have a slope with each other. The position and angle of the second area sensor 42 relative to the robot body 31 are fixed so that the second detection area A2 does not overlap with the configuration area of ​​the robot body 31 (the area where the robot body 31 is configured) and the movable area of ​​the movable part 32. Thus, whether the wire hanging robot 4 is moving or the wire hanging robot 4 is hanging wire, the robot body 31 and the movable part 32 can be prevented from intruding into the second detection area A2. Therefore, through the second area sensor 42, it is possible to avoid misdetection of the robot body 31 and the movable part 32, and detect obstacles located on the right side of the wire hanging robot 4.

[0102] (Robot body 31)

[0103] Secondly, refer to Figure 4 , Figure 8 , Fig. 9 (a) and Fig. 9 (b) describes the structure of the robot body 31 in more detail. Figure 8 It is a perspective view showing the vicinity of the lower end portion of the robot body 31 . Fig. 9 (a) and Fig. 9 (b) is a side view of the wire hanging robot 4. Fig. 9 (a) shows the wire hanging robot 4 when the first area sensor 41 and a cover 43 to be described later are located at a travel position to be described later. Fig. 9 (b) shows the wire hanging robot 4 when the first area sensor 41 and the cover 43 are located at a wire hanging position described later.

[0104] The robot body 31 includes, for example, a cover 43 for covering at least a portion of the frame 41a of the first area sensor 41. The cover 43 is disposed at the lower end portion of the robot body 31 (see Figure 4 The cover 43 is arranged at the front end of the robot body 31 (see Figure 8 The double-dotted line, Fig. 9 (a) and Fig. 9The cover 43 has, for example, a length that is substantially the same as the length of the robot body 31 in the left-right direction. The cover 43 is disposed on the front side of the frame 41a. For example, the frame 41a is fixed to the cover 43 by a fixing member not shown in the figure. The cover 43 is configured to cover at least a portion of the frame 41a when viewed from the front. As a result, the left-right balance of the appearance of the robot body 31 is improved. Thus, the overall aesthetics of the wire hanging robot 4 can be improved. In addition, the cover 43 also functions as a protective cover that protects the frame 41a and the like from contamination and obstacles.

[0105] The cover 43 has a front end portion 43a extending in the left-right direction and the up-down direction (see Figure 4 ), and a lower end portion 43b extending from the lower end of the front end portion 43a to the rear side. The lower end portion 43b is formed with, for example, a cutout portion 43c and a pipe receiving portion 43d. The cutout portion 43c is formed along the outer shape of the frame 41a. The pipe receiving portion 43d is a portion for receiving a portion of the supply pipe 35 and the exhaust pipe 36 in the space on the rear side of the cover 43.

[0106] Furthermore, the robot body 31 has a moving portion 44 for moving the cover 43 and the like (see Figure 8 , Fig. 9 (a) and Fig. 9 (b)). The moving part 44 is configured to move the first area sensor 41, the cover 43, the supply pipe 35, and the exhaust pipe 36 in the front-rear direction. The moving part 44 includes, for example, a first support member 45, a second support member 46, and a cylinder 47 (see Figure 3 ).

[0107] The first support member 45 (see Figure 8 as well as Fig. 9 (a) and Fig. 9 (b)) is configured to support the first area sensor 41 and the cover 43, for example. The first area sensor 41 and the cover 43 are fixed to, for example, the first support member 45. The first support member 45 is mounted on the lower end of the robot body 31 so as to be movable forward and backward, for example, via a cylinder 47. The first support member 45 supports the second support member 46.

[0108] The second support member 46 extends, for example, in the left-right direction. The second support member 46 is, for example, a metal member. The second support member 46 is, for example, fixed to the first support member 45 and protrudes to the right from the first support member 45. The second support member 46 may be, for example, a substantially U-shaped member with the left side open when viewed from the upper side. In the front-to-back direction, a portion of the supply piping 35 and a portion of the discharge piping 36 may be arranged between a straight portion 46a and a straight portion 46b arranged in the front-to-back direction and extending in the left-to-right direction in the second support member 46. The cover 43 may also be fixed to the second support member 46.

[0109] A portion of the supply piping 35 and a portion of the exhaust piping 36 may also be fixed to the second support member 46. More specifically, for example, the middle portion of the portion of the supply piping 35 located outside the robot body 31 may also be constituted by a joint 48. The joint 48 may also be a known elbow part made of metal. The middle portion of the portion of the exhaust piping 36 located outside the robot body 31 may also be constituted by a joint 49. The joint 49 may also be a known elbow part made of metal like the joint 48. The joint 48 and the joint 49 are equivalent to the "part of the piping portion" of the present invention. The joint 48 and the joint 49 are fixed to the second support member 46, for example, by welding. Alternatively, the joint 48 and the joint 49 may also be fixed to the second support member 46 by a method different from welding (for example, by a fixing member not shown).

[0110] Alternatively, the joint 48 and the joint 49 may not be fixed to the second supporting member 46 but may be simply held between the straight portion 46 a and the straight portion 46 b .

[0111] Cylinder 47 (refer to Figure 3 ) is configured to enable the first support member 45 and the second support member 46 to move in the front-to-back direction. The cylinder barrel (not shown) of the air cylinder 47 is, for example, fixed to the lower end of the robot body 31. The air cylinder 47 is configured to extend and retract the piston rod (not shown) in the front-to-back direction by the action of compressed air. The supply and discharge of compressed air relative to the cylinder is controlled, for example, by the opening and closing of an electromagnetic valve (not shown) arranged in the middle of the compressed air passage. The electromagnetic valve is controlled, for example, by the robot control device 102. The first support member 45 is, for example, fixed to the piston rod (not shown) of the air cylinder 47. The piston rod is configured to be able to extend and retract in the front-to-back direction. The air cylinder 47 is configured to enable a plurality of components (hereinafter referred to as a "component group" for the sake of convenience of explanation) such as the first support member 45, the second support member 46, the first area sensor 41, the cover 43, the joint 48 and the joint 49 to move integrally between the travel position and the wire hanging position. Travel position (refer to Fig. 9 (a)) is the position of the component group when the wire hanging robot 4 moves in the left and right direction. Fig. 9 (b)) is a position closer to the front side than the traveling position. In other words, the traveling position is a position closer to the rear side than the wire hanging position. More specifically, it is preferred that the above-mentioned component group, when located at the traveling position, is located, for example, closer to the rear side than the front end of the robot body 31. In other words, it is preferred that the above-mentioned component group located at the traveling position is stored between the two ends of the robot body 31 in the front-rear direction.

[0112] As described above, the moving unit 44 can move the component group including the first area sensor 41 between the advancing position and the wire hanging position.

[0113] (Travel position and wire hanging position)

[0114] Secondly, refer to Fig. 9 (a) Fig. 9 (b) Fig.10 as well as Fig.11 The state of the wire hanging robot 4 when the component group is located at the traveling position and the state of the wire hanging robot 4 when the component group is located at the wire hanging position will be described. Fig.10 It is a diagram showing the first detection area A1 of the first area sensor 41 and the second detection area A2 of the second area sensor 42 when the wire hanging robot 4 is traveling. Fig.11 It is a diagram showing the first detection area A1 and the second detection area A2 when the wire hanging robot 4 hangs the wire.

[0115] In this embodiment, the first detection area A1 and the first virtual plane P1 (see Fig.10 as well as Fig.11 The first imaginary plane P1 is oriented from the first detection origin OD1 and does not overlap with any of the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32 (see Figure 4 ) extends to a fan-shaped imaginary plane on the left side of both the configuration area and the movable area (refer to Fig.10 , Fig.11 ). The first virtual plane P1 is, for example, substantially perpendicular to the up-down direction. Thus, the first area sensor 41 can detect at least an obstacle located to the left of the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32 .

[0116] In addition, the second detection area A2 and the second virtual plane P2 described below (see Fig.10 as well as Fig.11 ) are roughly the same. The second imaginary plane P2 is a fan-shaped imaginary plane (refer to Fig.10 , Fig.11The second virtual plane P2 is oriented from the second detection origin OD2 and does not overlap with any of the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32 (see Figure 4 ) extends to a position on the right side of both the configuration area and the movable area. The second imaginary plane P2 extends at least downward from the second detection origin OD2. Thus, the second area sensor 42 can detect obstacles located on the right side of the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32. The center angle and radius of the second detection area A2 are the same at any time when the above-mentioned component group is in the traveling position and in the wire hanging position (refer to Fig.10 , Fig.11 ).

[0117] When the above-mentioned component group is in the travel position, such as Fig. 9 As shown in (a), the cover 43 and the first area sensor 41 are located, for example, at a position behind the front end of the robot body 31. The first detection area A1 at this time is referred to as the first detection area A1R (see Fig.10 ), the first detection area A1R is included in the first virtual plane P1R as the first virtual plane P1. The center angle (the above-mentioned θ1) of the first virtual plane P1R is, for example, not less than 90° and less than 180°, but is not limited thereto.

[0118] The first detection area A1R when the first area sensor 41 is located at the traveling position is narrower than the first detection area A1T (described later) when the first area sensor 41 is located at the wire hanging position. However, as long as the wire hanging robot 4 is traveling, it is possible to mainly detect whether there are obstacles on both sides of the left and right directions (i.e., the traveling direction) of the wire hanging robot 4. Therefore, during the travel of the wire hanging robot 4, even if the component group is located at the traveling position by the moving part 44, the obstacles to be detected can be fully detected. Therefore, even when the robot body 31 is quite thin in the front-to-back direction, it is possible to effectively suppress the protrusion of the component group from the traveling robot body 31. Thus, it is possible to prevent the traveling wire hanging robot 4 from colliding with other devices (such as the above-mentioned winding recovery device, etc.) due to the protrusion of the first area sensor 41, etc. In addition, when the component group is located at the traveling position, even when the wire hanging robot 4 stops traveling (and does not hang the wire), it is possible to prevent the component group from interfering with other devices. More specifically, for example, the package collecting device in motion can pass in the immediate vicinity of the wire hanging robot 4 in the front-rear direction without interfering with the wire hanging robot 4 which has stopped and is not hanging the wire.

[0119] When the above-mentioned component group is in the wire hanging position (that is, at least in the execution of wire hanging), as Fig. 9As shown in (b), the cover 43 protrudes forward from the front end of the robot body 31, for example. In addition, at least a portion of the frame 41a and the detection unit 41b of the first area sensor 41 protrudes forward from the front end of the robot body 31, for example. More specifically, it is preferred that the detection unit 41b is arranged to be separated from the robot body 31 to the front side in the front-to-back direction when it is located at the wire hanging position. At least during the execution of the wire hanging, the first detection origin OD1 is arranged at a position closer to the front side than the movable area of ​​the movable part 32.

[0120] When the first detection area A1 during the execution of the wire hanging is set as the first detection area A1T (refer to Fig.11 ), the first detection area A1T is included in the first imaginary plane P1T which is the first imaginary plane P1. The first imaginary plane P1T includes a first imaginary line segment L1 and a second imaginary line segment L2. The first imaginary line segment L1 is an imaginary line segment that takes the first detection origin OD1 as a starting point and extends to a front side of both the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32 without overlapping with the configuration area. Fig.11 , an imaginary line segment extending in the front-back direction is shown as an example of the first imaginary line segment L1. The second imaginary line segment L2 is an imaginary line segment which starts from the first detection origin OD1, extends to the right side without overlapping with any of the configuration area of ​​the robot body 31 and the movable area of ​​the movable part 32, and extends to the right side of both the configuration area and the movable area.

[0121] At least during the execution of the wire hanging, the central angle of the first virtual plane P1T is, for example, 180° or more (in Fig.11 In the specific example shown, it is 225°). That is, the above-mentioned θ1 can be set to be 180° or more.

[0122] Thus, the first detection area A1T when the first area sensor 41 is located at the wire hanging position is wider than the first detection area A1R when the first area sensor 41 is located at the traveling position. That is, when the wire is hung, the first area sensor 41 is moved from the traveling position to the wire hanging position by the moving part 44, thereby widening the first detection area A1. When the wire is hung, since the wire hanging robot 4 stops traveling, it is possible that a person or an object accidentally approaches the wire hanging robot 4 from the front. Therefore, when the wire is hung, it is effective to detect obstacles in the wider first detection area A1T by the first area sensor 41 located at the wire hanging position.

[0123] In addition, if Fig. 9As shown in (b), when the cover 43 is located at the wire-hanging position, a portion of the supply pipe 35 and a portion of the discharge pipe 36 are located at the front side compared to when the cover 43 is located at the advancing position. More specifically, when the cover 43 is located at the wire-hanging position, at least the joint 48, the joint 49 and their surroundings are away from the movable area of ​​the robot arm 33 in the front-to-back direction compared to when the cover 43 is located at the advancing position. Thus, it is possible to prevent the robot arm 33 from hitting the supply pipe 35 and the discharge pipe 36 and shaking when hanging the wire.

[0124] (Control of robot control device)

[0125] Next, the control of each part of the wire hanging robot 4 by the robot control device 102 is briefly described. When the wire hanging robot 4 starts to move, the robot control device 102 controls the moving part 44 so that the above-mentioned component group including the first area sensor 41 is located at the moving position. In the case where the above-mentioned component group is located at the wire hanging position immediately before the control, the above-mentioned component group is moved from the wire hanging position to the moving position by the moving part 44. In the case where the above-mentioned component group is located at the moving position immediately before the control, the position of the above-mentioned component group in the front-to-back direction is maintained at the moving position. After that, the robot control device 102 controls the moving part 38 to start the movement of the wire hanging robot 4. The robot control device 102 causes the wire hanging robot 4 to move and determines the presence or absence of obstacles. That is, the robot control device 102 determines whether there are no obstacles in either the first detection area A1R or the second detection area A2 based on the detection results of the first area sensor 41 and the second area sensor 42. When determining that an obstacle exists in at least one of the first detection area A1R and the second detection area A2, the robot control device 102 controls the traveling unit 38 to emergency stop the traveling of the wire hanging robot 4.

[0126] Furthermore, when performing the above-mentioned thread hanging, the robot control device 102 controls the traveling part 38 to stop the traveling of the thread hanging robot 4 just in front of the spinning traction machine 3 as the thread hanging object. Next, the robot control device 102 controls the moving part 44 to move the above-mentioned component group from the traveling position to the thread hanging position. Thus, the above-mentioned component group protrudes forward from the robot body 31, for example. The robot control device 102 controls the movable part 32 to hang the thread and judges the presence or absence of obstacles. That is, the robot control device 102 judges whether there are no obstacles in any of the first detection area A1T and the second detection area A2 based on the detection results of the first area sensor 41 and the second area sensor 42. When the robot control device 102 judges that there is an obstacle in at least one of the first detection area A1T and the second detection area A2, the movable part 32 is controlled to stop the thread hanging action urgently. On the other hand, when the thread hanging is completed normally, the robot control device 102 controls the moving part 44 to move the above-mentioned component group from the thread hanging position to the traveling position. Furthermore, the robot control device 102 controls the traveling part 38 according to the instruction from the integrated control device 100 to move the thread hanging robot 4 toward another spinning traction machine 3 as the next thread hanging object.

[0127] As described above, the wire hanging robot 4 has a moving part 44. When the wire hanging robot 4 is used to hang the wire, the detection part 41b is located at the wire hanging position. Thus, when hanging the wire, the detection part 41b can be made to protrude to the front side. Therefore, it is possible to prevent the detection area (first detection area A1) of the detection part 41b from easily overlapping with the movable area of ​​the movable part 32, and it is easy to normally monitor the area closer to the front side than the robot body 31 and the movable part 32. Therefore, when the wire hanging robot 4 is used to hang the wire, a wider area can be monitored. In addition, when the detection part 41b is located at the traveling position, it is possible to prevent the detection part 41b from protruding to the front side from the robot body 31. Therefore, it is possible to prevent the detection part 41b from becoming an obstacle to other devices when the wire hanging robot 4 is traveling.

[0128] Furthermore, when the detection part 41b is located at the wire-hanging position, at least a portion of the detection part 41b protrudes forward from the front end of the robot body 31. Preferably, when the detection part 41b is located at the wire-hanging position, it is configured to be separated from the robot body 31 to the front side. Furthermore, when the detection part 41b is located at the wire-hanging position, the first detection origin OD1 is configured to be located forward of the movable area of ​​the movable part 32. Therefore, the detection part 41b can detect obstacles in a wide range without being hindered by the robot body 31 and the movable part 32.

[0129] Furthermore, at least during the execution of the wire hanging, the fan-shaped first imaginary plane P1 including the first detection area A1T includes the first imaginary line segment L1 and the second imaginary line segment L2. Thus, the detection unit 41b can detect obstacles in a wide range without being hindered by the robot body 31 and the movable unit 32. Therefore, it is possible to avoid increasing the number of area sensors 40 and detect obstacles in a necessary and sufficient range.

[0130] In addition, the detection unit 41b is configured to be able to change at least one of the shape and area of ​​the first detection area A1 by setting. Therefore, for example, compared with a configuration in which the orientation of the first detection area A1 is physically changed by rotating the detection unit 41b within a plane including the first imaginary plane P1, there is no need to newly add a driving mechanism for rotating the detection unit 41b. Therefore, it is possible to suppress the complexity of the structure of the wire hanging robot 4. In addition, by setting the first detection area A1, it can be freely changed to a certain extent. Therefore, when the detection unit 41b moves to the travel position, it is possible to easily avoid objects that are not detected when hanging the wire from being mistakenly detected as obstacles.

[0131] Furthermore, at least when the wire is being hung, the central angle of the first virtual plane P1T is equal to or greater than 180°. Therefore, the obstacle can be detected in a wide range by the detection unit 41b.

[0132] Furthermore, when the cover 43 is located at the wire-hanging position, at least the joints 48, 49 and their surroundings are away from the movable area of ​​the robot arm 33 in the front-rear direction compared to when the cover 43 is located at the advancing position. Thus, it is possible to prevent the robot arm 33 from hitting the supply pipe 35 and the discharge pipe 36 when hanging the wire. Therefore, it is possible to effectively prevent the supply pipe 35 and the discharge pipe 36 from shaking. Therefore, it is possible to prevent the occurrence of erroneous detection by the area sensor 40.

[0133] Furthermore, in the present embodiment, the detection unit 42b is configured so that the second imaginary plane P2 avoids the movable area of ​​the movable part 32 and extends to a position to the right of the movable area. Here, according to the positional relationship between the second detection area A2 and the movable area of ​​the movable part 32, a blind spot may be generated in the second detection area A2 near the movable area of ​​the movable part 32. In this regard, the detection unit 41b can detect obstacles in a wide range in the left and right directions without being hindered by the robot body 31 and the movable part 32, at least during the execution of the wire hanging. Thus, at least during the execution of the wire hanging, the detection unit 41b (first area sensor 41) can monitor an area that needs to be monitored and cannot be reached by the detection unit 42b (second area sensor 42). Therefore, the generation of a blind spot can be suppressed.

[0134] In addition, the detection unit 41b is arranged to be stored inside the movable area of ​​the movable unit 32 in the vertical direction. If the detection unit 41b is arranged outside the movable area of ​​the movable unit 32 in the vertical direction, the space where components other than the wire hanging robot 4 can be arranged may be narrowed. In this embodiment, the narrowing of the space where other components can be arranged due to the presence of the detection unit 41b can be suppressed.

[0135] In addition, the wire hanging robot 4 is suspended from the rail member 37. Thus, the robot body 31 can be arranged at a higher position in the vertical direction. Thus, the risk of contact between people and objects and the wire hanging robot 4 can be further reduced. In addition, necessary equipment and / or components can be arranged on the lower side of the robot body 31.

[0136] The wire hanging robot 4 includes a cover 43. At least a portion of the frame 41a of the first area sensor 41 is covered by the cover 43. Therefore, it is possible to prevent the appearance of the wire hanging robot 4 from being damaged. In addition, the cover 43 can protect the frame 41a and the like from dirt and obstacles.

[0137] Furthermore, an obstacle can be detected by the area sensor 40 which is a generally popular optical area sensor.

[0138] Next, a modified example in which the above-described embodiment is modified will be described. However, elements having the same configuration as those in the above-described embodiment are denoted by the same reference numerals and their description will be omitted as appropriate.

[0139] (1) In the above embodiment, the joint 48 and the joint 49 are fixed to the cover 43 via the second support member 46. However, the means for fixing the supply pipe 35 and the discharge pipe 36 to the cover 43 is not limited thereto. For example, a part of the supply pipe 35 and a part of the discharge pipe 36 may be fixed to the cover 43 via a clamping member (not shown).

[0140] (2) In the above-mentioned embodiments, the positions of the joints 48 and 49 are fixed relative to the cover 43. However, this is not limiting. The positions of the joints 48 and 49 may be fixed relative to the robot body 31, for example. Fig.12As shown, a fixing member 51 fixed to the robot body 31 may be provided instead of the second supporting member 46. The fixing member 51 may, for example, have a straight portion 51a and a straight portion 51b arranged in a row in the front-to-back direction. The joint 48 and the joint 49 may, for example, be arranged between the straight portion 51a and the straight portion 51b in the front-to-back direction. The joint 48 and the joint 49 may, for example, be fixed to the straight portion 51a and the straight portion 51b by other methods such as welding. Thus, shaking of the portion of the supply piping 35 and the exhaust piping 36 arranged outside the robot body 31 can be suppressed. Therefore, the occurrence of erroneous detection of the area sensor 40 can be suppressed. The means for fixing the supply piping 35 and the exhaust piping 36 to the robot body 31 is not limited to this.

[0141] (3) The portions of the supply pipe 35 and the discharge pipe 36 disposed outside the robot body 31 may not be fixed to the cover 43 or the robot body 31 .

[0142] (4) In the embodiments described above, the area sensor 40 is an optical area sensor that uses laser as a detection medium. However, this is not limited to this. The area sensor 40 may also detect light other than laser as a detection medium. In addition, the area sensor 40 may also detect, for example, ultrasound as a detection medium. In addition, two cameras (the first detection unit and the second detection unit of the present invention) not shown may be provided instead of the area sensor 40. In these cases, the first detection unit and the second detection unit can detect objects located in a predetermined planar area.

[0143] (5) In the above embodiments, the detection unit 41b is disposed so as to be accommodated inside the movable region of the movable unit 32 in the vertical direction. However, the present invention is not limited thereto. The detection unit 41b may be disposed outside the movable region of the movable unit 32 in the vertical direction.

[0144] (6) In the above-described embodiments, the second imaginary plane P2 (and the second detection area A2) extend at least downward from the second detection origin OD2. However, this is not limited to this. Depending on the positional relationship between the detection unit 42b and the configuration area of ​​the robot body 31 and the movable area of ​​the movable unit 32, the second imaginary plane P2 (and the second detection area A2) does not necessarily extend downward from the second detection origin OD2.

[0145] (7) In the above-described embodiments, the robot main body 31 is suspended from the rail member 37. However, the present invention is not limited thereto. The robot main body 31 may be configured to travel on a rail installed on the floor of a factory, for example.

[0146] (8) In the above-described embodiments, at least when the wire hanging is performed, the center angle of the first virtual plane P1T is greater than 180°. However, this is not limited to this. The center angle of the first virtual plane P1T may be slightly less than 180°. In this case, objects located on the left side, objects located on the right side, and objects located in front of the wire hanging robot 4 can be detected.

[0147] (9) In the embodiments described above, the detection unit 41b is configured to be able to change at least one of the shape and area of ​​the first detection area A1 by setting. However, this is not limited to this. The detection unit 41b may not be configured to be able to change the shape and area of ​​the first detection area A1. The detection unit 41b may, for example, be configured to move (rotate) the first detection area A1 by rotating in the up-down direction as the axial direction. Thus, the first detection area A1 can be made different when the detection unit 41b is in the advancing position and when it is in the wire hanging position.

[0148] (10) In the embodiments described above, the detection unit 41b is preferably configured to be separated from the robot body 31 toward the front side when the wire is hung. However, this is not limited to this. For example, only a portion of the detection unit 41b in the front-to-back direction may be configured at a position closer to the front side than the front end of the robot body 31. In addition, at least a portion of the frame 41a and the detection unit 41b protrudes toward the front side than the front end of the robot body 31 when the wire is hung. However, this is not limited to this. The frame 41a and the detection unit 41b may not protrude toward the front side than the front end of the robot body 31 when the wire is hung.

[0149] (11) In the above-described embodiments, the wire hanging robot 4 includes the cover 43 . However, the present invention is not limited thereto and the wire hanging robot 4 may not include the cover 43 .

[0150] (12) In the embodiments described above, when the detection unit 41b is located at the wire-hanging position, the first detection origin OD1 is arranged at a position closer to the front side than the movable area of ​​the movable unit 32. However, this is not limited to this. When the detection unit 41b is located at the wire-hanging position, the first detection origin OD1 may be arranged, for example, at a position closer to the rear side than the movable area of ​​the movable unit 32. In addition, at least during the execution of the wire-hanging, the first imaginary plane P1T is a fan-shaped shape including the first imaginary line segment L1 and the second imaginary line segment L2. However, this is not limited to this. The first imaginary plane P1T may not include the first imaginary line segment L1 and / or the second imaginary line segment L2. In addition, the first imaginary plane P1T may not be a fan-shaped shape. That is, the first detection area A1 may also have an arbitrary shape extending with the first detection origin OD1 as a reference point.

[0151] (13) In the above-described embodiments, the first detection area A1 coincides with the first imaginary plane P1. In addition, the second detection area A2 coincides with the second imaginary plane P2. However, this is not limited thereto. The first detection area A1 may also be a part of the first imaginary plane P1. That is, a first imaginary plane P1 that is wider than the first detection area A1 and does not overlap with both the configuration area of ​​the robot body 31 and the movable area of ​​the movable portion 32 may be defined. The first imaginary plane P1 may also be a shape other than a fan-shaped shape. The first detection area A1 may also be set to a shape other than a fan-shaped shape. Similarly, the second detection area A2 may also be a part of the second imaginary plane P2. That is, a second imaginary plane P2 that is wider than the second detection area A2 and does not overlap with both the configuration area of ​​the robot body 31 and the movable area of ​​the movable portion 32 may be defined. The second imaginary plane P2 may also be a shape other than a fan-shaped shape. The second detection area A2 may also be set to a shape other than a fan-shaped shape.

[0152] (14) The present invention can also be applied to a thread-hanging robot (not shown) that hangs the thread on a thread winding machine (not shown) that winds up the thread (not shown), in addition to the thread-hanging robot 4 that hangs the thread on the spinning traction machine 3.

Claims

1. A wire hanging robot, configured to hang wire on a plurality of wire winding machines arranged in a row in a first direction intersecting a vertical direction, comprising: a robot body configured to be able to move along the first direction in a state where the robot body is arranged on one side of the plurality of wire winding machines in a second direction orthogonal to both the vertical direction and the first direction; A movable part, mounted on the robot body, configured to perform the wire hanging by moving in a predetermined movable range relative to the robot body; a first detection unit, mounted on the robot body, configured to detect an object located in the first detection area; and The moving part is configured to be able to move the first detection part between a thread-hanging position when the thread is hung by the movable part and a travel position on the other side of the second direction relative to the thread-hanging position.

2. The wire hanging robot according to claim 1, wherein: When the first detection portion is located at the wire hooking position, at least a portion of the first detection portion protrudes toward the one side in the second direction relative to the one end portion of the robot body.

3. The wire hanging robot according to claim 2, wherein: The first detection unit is disposed so as to be separated from the robot body toward the one side in the second direction when located at the wire hanging position.

4. The wire hanging robot according to any one of claims 1 to 3, wherein: The first detection area extends from the first detection origin as a reference point. When the first detection section is located at the wire hanging position, the first detection origin is arranged at a position closer to the one side in the second direction than the movable region of the movable section.

5. The wire hanging robot according to any one of claims 1 to 4, wherein: The first detection area extends from a predetermined first detection origin as a reference point to a position at least on one side of the first direction relative to both the configuration area of ​​the robot body and the movable area of ​​the movable part. The first detection unit is configured so that, when a predetermined imaginary plane which takes the first detection origin as a starting point and extends to the one side of the first direction relative to both the configuration area and the movable area without overlapping with any of the configuration area of ​​the robot body and the movable area of ​​the movable unit is set as the first imaginary plane, the first detection area is included in the first imaginary plane, At least in the execution of the above-mentioned hanging wire, the above-mentioned first imaginary plane is a fan-shaped plane including the first imaginary line segment and the second imaginary line segment. The first imaginary line segment starts from the first detection origin and extends to a position closer to the one side of the second direction than both the configuration area and the movable area without overlapping with any of the configuration area of ​​the robot body and the movable area of ​​the movable part. The above-mentioned second imaginary line segment takes the above-mentioned first detection origin as the starting point and extends along the above-mentioned first direction toward the other side of the above-mentioned first direction without overlapping with any of the above-mentioned configuration area of ​​the above-mentioned robot body and the above-mentioned movable area, and extends to a position closer to the above-mentioned other side of the above-mentioned first direction than both the above-mentioned configuration area and the above-mentioned movable area.

6. The wire hanging robot according to claim 5, wherein: At least when the wire hanging is performed, the center angle of the first imaginary plane is greater than or equal to 180°.

7. The wire hanging robot according to claim 5 or 6, wherein: At least a portion of the movable region of the movable portion is disposed at a position closer to the other side in the first direction than the robot body. The wire hanging robot comprises a second detection unit, which is mounted on the robot body and is configured to detect an object located in a specified second detection area. The second detection area is based on a specified second detection origin as a reference point and extends to a position at least closer to the other side of the first direction than both the configuration area of ​​the robot body and the movable area of ​​the movable part. The above-mentioned second detection part is configured so that when a specified imaginary plane which takes the above-mentioned second detection origin as a starting point and extends to the above-mentioned other side of the above-mentioned first direction closer to both the above-mentioned configuration area and the above-mentioned movable area without overlapping with any of the above-mentioned configuration area of ​​the above-mentioned robot body and the above-mentioned movable area is set as a second imaginary plane, the above-mentioned second detection area is included in the above-mentioned second imaginary plane.

8. The wire hanging robot according to any one of claims 1 to 7, wherein: The first detection unit is configured to be able to change at least one of a shape and an area of ​​the first detection region by setting.

9. The wire hanging robot according to any one of claims 1 to 8, wherein: The movable part has: a suction part configured to be able to suck and hold the traveling silk thread; and a piping portion connected to the suction portion and configured to supply a fluid for generating a negative pressure for sucking and holding the thread to the suction portion and to discharge the fluid from the suction portion, A portion of the piping portion that is disposed outside the robot body is fixed to the robot body.

10. The wire hanging robot according to any one of claims 1 to 9, wherein: The movable part has: The suction part is configured to be able to attract and hold the traveling silk thread; an arm mechanism capable of moving the suction portion relative to the robot body; as well as a piping portion connected to the suction portion and configured to supply a fluid for generating a negative pressure for sucking and holding the thread to the suction portion and to discharge the fluid from the suction portion, A portion of the piping portion disposed outside the robot body is fixed in position relative to the first detection portion. When the first detection portion is located at the wire hooking position, the portion of the pipe portion is farther away from the movable range of the arm mechanism in the second direction than when the first detection portion is located at the advancing position.

11. The wire hanging robot according to any one of claims 1 to 10, wherein: The first detection portion is disposed so as to be accommodated inside the movable region of the movable portion in the up-down direction.

12. The wire hanging robot according to any one of claims 1 to 11, wherein: The robot main body is configured to be suspended from a rail extending along the first direction.

13. The wire hanging robot according to any one of claims 1 to 12, wherein: The above-mentioned wire hanging robot has: a frame body, mounted on the robot body, fixing the first detection unit; and The cover is configured to cover at least a portion of the frame when viewed from the one side in the second direction.

14. The wire hanging robot according to any one of claims 1 to 13, wherein: The first detection unit is included in an area sensor, and the area sensor is configured to detect a detection medium reflected by an object located within a predetermined virtual plane.

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