Thread-winding robot

Abstract

To secure a wide obstacle detection region based on detection parts, while avoiding increase in the number of the detection parts.SOLUTION: A thread-winding robot 4 comprises a robot main body 31, a movable part 32, and a detection part 41b. The robot main body 31 is disposed on a front side with respect to a plurality of spun yarn take-up machines 3, and configured in a laterally movable manner. The movable part 32 is configured to be able to execute thread-winding, by moving in a predetermined movable region. The detection part 41b is configured to be able to detect an object located in a predetermined first detection region A1. At least a part of the detection part 41b is protruded forward from the front end of the robot main body 31.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a yarn threading robot configured to be able to thread yarn on a plurality of yarn winding machines. [Background technology]

[0002] Patent Document 1 discloses a threading robot configured to be capable of threading a plurality of yarns spun from a spinning device onto a plurality of take-up devices (yarn winding machines) that respectively take up a plurality of yarns. The threading robot includes a robot body and a movable part. The robot body is configured to be capable of traveling along a predetermined direction in which the plurality of take-up devices are arranged side by side. The movable part is configured to be capable of performing the threading operation by moving relative to the robot body.

[0003] The threading robot also has an area sensor (detection unit) configured to be able to detect obstacles. The detection unit is attached to an end of the robot body in a predetermined direction. The detection unit is configured to be able 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. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-82381 A Summary of the Invention [Problem to be solved by the invention]

[0005] The robot body of the threading robot is controlled to stop traveling when threading is in progress. To further improve safety, it is necessary to prevent people or objects from accessing the threading robot when threading. In this case, in addition to detecting people or objects approaching the threading robot in a specified direction, it is also necessary to detect people or objects approaching the threading robot in a direction perpendicular to the specified direction. However, adding a detection unit to the threading robot described in Patent Document 1 increases the parts cost of the threading robot.

[0006] An object of the present invention is to ensure a wide detection area for obstacles by the detection units while avoiding an increase in the number of detection units. [Means for solving the problem]

[0007] The threading robot of the first invention is a threading robot configured to be capable of threading multiple yarn winding machines arranged in a line in a first direction intersecting the vertical direction, and comprises: a robot body configured to be able to move in the first direction while being arranged on one side of the multiple yarn winding machines in a second direction perpendicular to both the vertical direction and the first direction; a movable part attached to the robot body and configured to be able to perform the threading by moving within a predetermined movable area relative to the robot body; and a first detection unit attached to the robot body and configured to be able to detect an object located within a predetermined first detection area, at least a portion of the first detection unit protruding toward the one side beyond the one end of the robot body in the second direction.

[0008] Since the threading robot is positioned on one side of the multiple yarn winding machines in the second direction, it is required to detect obstacles over as wide an area as possible in the second direction, excluding the other side of the multiple yarn winding machines, during threading.

[0009] In this regard, in the present invention, at least a part of the first detection unit protrudes further to one side than one end of the robot body in the second direction. This allows the first detection unit to detect obstacles over a wide range without being hindered by the robot body and the movable part. Therefore, it is possible to detect obstacles in a necessary and sufficient range while avoiding an increase in the number of detection units.

[0010] The yarn threading robot of a second invention is based on the first invention, wherein the first detection unit is disposed spaced apart from the robot body on the one side in the second direction.

[0011] In the present invention, the first detection section can detect obstacles over a wider range without being obstructed by the robot body and the movable section.

[0012] The threading robot of the third invention is the one of the first or second inventions, wherein the first detection area extends with a predetermined first detection origin as a reference point, and the first detection origin is positioned on the one side in the second direction of the movable area of ​​the movable part.

[0013] In the present invention as well, the first detection section can detect obstacles over a wide range without being obstructed by the robot body and the movable section.

[0014] The yarn threading robot of a fourth invention is any one of the first to third inventions, wherein the first detection area extends to at least one side in the first direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part with a predetermined first detection origin as a reference point, and the first detection unit is configured such that, when a predetermined imaginary plane that has the first detection origin as a starting point and extends to the one side in the first direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part is defined as a first imaginary plane, the first detection area is included in the first imaginary plane. the first virtual plane is arranged so that the first detection origin is a sector that includes a first virtual line segment that has the first detection origin as a starting point and extends to the one side in the second direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and a second virtual line segment that has the first detection origin as a starting point and extends along the first direction to the other side in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and extends to the other side in the first direction beyond both the placement area and the movable area.

[0015] In the present invention as well, the first detection section can detect obstacles over a wide range without being obstructed by the robot body and the movable section.

[0016] The yarn threading robot of a fifth invention is the yarn threading robot of the fourth invention, wherein a central angle of the first imaginary plane is 180° or more.

[0017] In the present invention, the first detection section can detect obstacles over a wide range.

[0018] The yarn threading robot of the sixth invention is any one of the first to fifth inventions, wherein the movable part has a suction part configured to be able to suck and hold the yarn while it is moving, and a piping part connected to the suction part and configured to be able to supply a fluid to the suction part for generating a negative pressure to suck and hold the yarn, and to be able to discharge the fluid from the suction part, and a portion of the piping part that is arranged outside the robot body is fixed to the robot body.

[0019] If the piping section swings unintentionally due to inertia during threading, the piping section may unintentionally enter the first detection area, resulting in a false detection. In the present invention, by fixing a part of the piping section that is disposed outside the robot body to the robot body, swinging of the part of the piping section that is disposed outside the robot body can be suppressed. Therefore, false detection by the first detection section can be suppressed.

[0020] The threading robot of the seventh invention, in any of the first to sixth inventions, is configured such that at least a part of the movable area of ​​the movable part is positioned on the other side in the first direction than the robot main body, and the second detection unit is attached to the robot main body and is configured to be capable of detecting an object located within a predetermined second detection area that extends at least to the other side in the first direction beyond both the placement area of ​​the robot main body and the movable area of ​​the movable part using a predetermined second detection origin as a reference point, and the second detection unit is positioned so that when a predetermined virtual plane that takes the second detection origin as a starting point and extends to the other side in the first direction beyond both the placement area and the movable area of ​​the robot main body without overlapping with either the placement area of ​​the robot main body or the movable area of ​​the movable part is defined as a second virtual plane, the second detection area is included in the second virtual plane.

[0021] In the present invention, the second detection unit is disposed so that the second virtual plane extends beyond the movable area of ​​the movable part in the first direction while avoiding the movable area. Here, depending on 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, in the present invention, the first detection unit can detect obstacles over a wide range without being hindered by the robot body and the movable part. This allows the first detection unit to monitor areas that require monitoring but cannot be monitored by the second detection unit. Therefore, the occurrence of blind spots can be suppressed.

[0022] The yarn threading robot of an eighth aspect of the present invention is any one of the first to seventh aspects of the present invention, wherein the first detection section is disposed so as to be contained within the movable area of ​​the movable section in the up-down direction.

[0023] If the first detection unit is disposed outside the movable area of ​​the movable unit in the vertical direction, there is a risk that the space available for arranging components other than the threading robot will be narrowed. In the present invention, the presence of the first detection unit can prevent the space available for arranging other components from being narrowed.

[0024] The threading robot of a ninth aspect of the present invention is any one of the first to eighth aspects of the present invention, wherein the robot body is configured to be suspended from a rail extending in the first direction.

[0025] In the present invention, the robot body can be disposed at a high position in the vertical direction. This further reduces the risk of people and objects coming into contact with the threading robot. In addition, necessary devices and / or components can be disposed below the robot body.

[0026] The threading robot of the 10th invention, in any of the first to ninth inventions, comprises a housing attached to the robot body and to which the first detection unit is fixed, and a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

[0027] If the first detection unit and the housing protrude to one side in the second direction, the aesthetic appearance of the threading robot may be marred. In the present invention, at least a part of the housing is covered and hidden by the cover, so that the aesthetic appearance is prevented from being marred. In addition, the cover can protect the housing and the like from dirt and obstacles.

[0028] The threading robot of the 11th invention is characterized in that, in any one of the first to tenth inventions, the first detection unit is included in an area sensor configured to be capable of detecting a detection medium reflected by an object located within a predetermined virtual plane.

[0029] In the present invention, an obstacle can be detected by a commonly used area sensor. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a front view of a yarn take-up facility including a yarn threading robot according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a block diagram showing the electrical configuration of the spinning take-up facility. [Figure 4] FIG. [Diagram 5] 1A and 1B are explanatory views showing a running portion. [Figure 6] 1(a) to 1(d) are explanatory views showing threading of yarn to each part of a yarn take-up machine. [Figure 7] 4A and 4B are explanatory diagrams showing an area sensor. [Figure 8] FIG. 4 is an explanatory diagram showing details of the vicinity of the lower end portion of the robot main body. [Figure 9] FIG. [Figure 10] FIG. 4 is a diagram showing a detection area by an area sensor. [Figure 11] 13 is an explanatory diagram showing details of the vicinity of a lower end portion of a robot main body according to a modified example. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Next, an embodiment of the present invention will be described. For convenience of explanation, the directions shown in FIG. 1 are defined as front-rear, left-right, up-down directions. The up-down direction is the vertical direction in which gravity acts. The left-right direction (first direction of the present invention) is a predetermined direction that is perpendicular (intersecting) with the up-down direction. The left side corresponds to one side in the first direction of the present invention. The right side corresponds to the other side in the first direction of the present invention. The front-rear direction (second direction of the present invention) is a direction that is perpendicular to both the up-down direction and the left-right direction. The front side corresponds to one side in the second direction of the present invention. The rear side corresponds to the other side in the second direction of the present invention. The direction in which the yarn Y runs is defined as the yarn running direction.

[0032] (Outline of spinning take-up equipment) FIG. 1 is a front view of the spinning take-off facility 1 according to the present embodiment. The spinning take-off facility 1 includes a plurality of spinning devices 2, a plurality of spinning take-off machines 3 (yarn winding machines of the present invention), and a threading 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 take-off machines 3 are disposed below the plurality of spinning devices 2. The plurality of spinning take-off machines 3 are arranged in the left-right direction corresponding to the plurality of spinning devices 2. Each spinning take-off machine 3 takes up a plurality of yarns Y spun from the spinning devices 2, and simultaneously winds the yarns around a plurality of bobbins B to form a package P. The threading robot 4 is configured to be movable in the left-right direction. The threading robot 4 performs an operation for threading the yarns Y on the members constituting each spinning take-off machine 3 (i.e., threading).

[0033] (Yarn take-off machine) Next, the configuration of the yarn take-off machine 3 will be described with reference to Fig. 2. Fig. 2 is a side view of the yarn take-off machine 3.

[0034] As shown in Fig. 2, the yarn take-off machine 3 has a take-off section 5 and a winding section 6. The take-off section 5 is configured to take up the yarn Y spun from the spinning device 2. The winding section 6 is configured to wind the yarn Y taken up by the take-off section 5 onto a bobbin B. The take-off section 5 has an aspirator 11, a first regulating guide 12, a first godet roller 13, a second regulating guide 14, and a second godet roller 15.

[0035] The aspirator 11 is disposed at the front end of the yarn take-off machine 3. The aspirator 11 is configured to suck and hold in advance a plurality of yarns Y spun from the spinning device 2 before the yarns are threaded on the yarn take-off machine 3.

[0036] The first restriction guide 12 is, for example, a known comb-tooth shaped yarn guide. The first restriction guide 12 is configured to arrange the multiple yarns Y side by side in the left-right direction. The first restriction guide 12 is configured to restrict the movement of the multiple yarns Y in the left-right direction. The first restriction guide 12 is disposed below the aspirator 11. When the multiple yarns Y are hung, the first restriction guide 12 regulates the interval between adjacent yarns Y to a predetermined interval.

[0037] The first godet roller 13 is a roller whose axial direction is substantially parallel to the left-right direction. The first godet roller 13 is disposed below the first restriction guide 12. The first godet roller 13 is driven to rotate by a first godet motor 111 (see FIG. 3 ) to send the yarn Y downstream in the yarn running direction.

[0038] The second restriction guide 14 is, for example, a comb-shaped yarn guide similar to the first restriction guide 12. The second restriction guide 14 restricts the left-right movement of the yarns Y when multiple yarns Y are hooked. The second restriction guide 14 is disposed above and behind the first godet roller 13.

[0039] The second godet roller 15 is a roller whose axial direction is substantially parallel to the left-right direction. The second godet roller 15 is disposed above and behind the second regulating guide 14. The second godet roller 15 is driven to rotate by a second godet motor 112 (see FIG. 3) to send the yarn Y downstream in the yarn running direction. The second godet roller 15 is supported, for example, by a guide rail 16 so as to be movable. The guide rail 16 extends, for example, obliquely upward and backward. The second godet roller 15 is configured to be movable along the guide rail 16 by, for example, a moving mechanism (not shown). As a result, the second godet roller 15 is movable between a winding position (see solid line in FIG. 2) when winding the yarn Y and a threading position (see dashed line in FIG. 2) when threading, which is disposed close to the first godet roller 13.

[0040] In the take-up section 5 having the above-described configuration, the first godet roller 13 and the second godet roller 15 around which the yarn Y is hung rotate, whereby the yarn Y spun from the spinning device 2 is taken up and sent downstream in the yarn running direction.

[0041] The winding unit 6 is configured to wind a plurality of yarns Y around a plurality of bobbins B to form a package P. The winding unit 6 is disposed below the take-up unit 5. As shown in FIG. 2, the winding unit 6 includes a frame 20, a plurality of fulcrum guides 21, a plurality of traverse guides 22, a turret 23, two bobbin holders 24, and a contact roller 25.

[0042] The frame 20 is a member installed on, for example, the floor of a factory, to which each component of the winding unit 6 is attached or housed. The multiple fulcrum guides 21 are guides that serve as fulcrums when the yarn Y is traversed by each traverse guide 22. Each fulcrum guide 21 guides the yarn Y downstream in the yarn running direction. As shown in FIG. 2, the multiple fulcrum guides 21 are provided individually for the multiple yarns Y. The multiple fulcrum guides 21 are arranged in the front-rear direction. The multiple fulcrum guides 21 are movable between a winding position when each yarn Y is wound onto a bobbin B and a threading position where the yarns are gathered in front of the winding position (not shown).

[0043] The multiple traverse guides 22 are provided individually for the multiple yarns Y. The multiple traverse guides 22 are arranged side by side in the front-rear direction. Each traverse guide 22 is driven by a traverse motor 113 (see FIG. 3) and reciprocates in the front-rear direction. As a result, the yarn Y hung on the traverse guide 22 is traversed around the fulcrum guide 21. The turret 23 is a disk-shaped member whose axial direction is approximately parallel to the front-rear direction. The turret 23 is driven to rotate by a turret motor 114 (see FIG. 3). The two bobbin holders 24 are rotatably supported at the upper end and the lower end of the turret 23, respectively. The axial direction of each bobbin holder 24 is approximately parallel to the front-rear direction. Each bobbin holder 24 supports multiple bobbins B arranged side by side in the front-rear direction. Each of the two bobbin holders 24 is driven to rotate by an individual winding motor 115 (see FIG. 3). The contact roller 25 is a roller disposed immediately above the upper bobbin holder 24. The axial direction of the contact roller 25 is approximately parallel to the front-rear direction. The contact roller 25 comes into contact with the surfaces of the multiple packages P supported by the upper bobbin holder 24, thereby applying contact pressure to the surfaces of the packages P during winding, thereby adjusting the shape of the packages P.

[0044] In the winding section 6 having the above configuration, when the upper bobbin holder 24 is driven to rotate, the yarn Y traversed by the traverse guide 22 is wound around the bobbin B to form a package P. When the package P is fully wound, the turret 23 is rotated to switch the upper and lower positions of the two bobbin holders 24. As a result, the bobbin holder 24 located at the lower side moves to the upper side. A plurality of packages P are formed by winding a plurality of yarns Y around a plurality of bobbins B attached to the upper bobbin holder 24. The bobbin holder 24 with the fully wound packages P attached thereto is moved to the lower side. The fully wound packages P are collected, for example, by a package collection device (not shown).

[0045] (Threading robot) Next, the configuration of the threading robot 4 will be described with reference to Fig. 4, Fig. 5(a), and Fig. 5(b). Fig. 4 is a front view of the threading robot 4. Fig. 5(a) is a plan view of the threading robot 4. Fig. 5(b) is a view seen from the arrow V(b) of a traveling section 38, which will be described later.

[0046] The yarn threading robot 4 is configured to thread the yarn Y around the first regulating guide 12, the first godet roller 13, the second regulating guide 14, the second godet roller 15, a plurality of fulcrum guides 21, etc. of the yarn take-up machine 3. As shown in FIG.

[0047] The robot body 31 is, for example, a hollow member having a roughly rectangular parallelepiped shape. Inside the robot body 31, a robot control device 102 (see FIG. 3) that controls the operation of the movable part 32 and the like is provided. The robot body 31 is suspended from a rail member 37 (the rail of the present invention). The rail member 37 is disposed in front of the multiple yarn take-off machines 3 (see FIG. 2) and extends in the left-right direction (see FIGS. 5(a) and 5(b)). More specifically, a running part 38 for running the entire threading robot 4 is provided at the upper end of the robot body 31. The running part 38 has, for example, two wheels 39 arranged side by side in the left-right direction (see FIGS. 5(a) and 5(b)). The two wheels 39 are mounted on the rail member 37. The two wheels 39 are driven by a travel motor 121 (see FIG. 3). As a result, the entire threading robot 4 including the robot body 31 runs in the left-right direction along the rail member 37.

[0048] The movable part 32 is configured to perform threading by moving within a predetermined movable area relative to the robot body 31. The movable part 32 is attached to the robot body 31. As shown in Fig. 4, the movable part 32 has a robot arm 33 (the arm mechanism of the present invention), a threading unit 34, a supply pipe 35, and a discharge pipe 36. The combination of the supply pipe 35 and the discharge pipe 36 corresponds to the piping section of the present invention.

[0049] It should be noted that the movable area does not necessarily encompass all areas in which the movable part 32 can be positioned relative to the robot body 31. Although not shown in the figures, the movable area is defined as "the entire space in which each part constituting the movable part 32 is positioned from the start to the end of threading." Information regarding the operation of the movable part 32 is stored in, for example, the robot control device 102.

[0050] The robot arm 33 is attached to the underside 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 to each other. An arm motor 122 (see FIG. 3) is built into each joint 33b. When the arm motor 122 is driven, the arm 33a swings around the joint 33b.

[0051] The threading unit 34 is attached to the tip of the arm 33a that is provided at the most distal end of the multiple arms 33a. The threading unit 34 moves relative to the robot body 31 in response to the operation of the robot arm 33. The threading unit 34 has a suction 34a (suction section of the present invention) configured to suck and hold the traveling yarn Y, and a cutter 34b that cuts the yarn Y. The suction 34a is disposed in the middle of the passage of the compressed air (fluid of the present invention) including the supply pipe 35 and the discharge pipe 36. The suction 34a sucks and holds the yarn Y by utilizing negative pressure generated by the flow of compressed air supplied from the supply pipe 35 and discharged to the discharge pipe 36. The yarn Y sucked by the suction 34a is discharged together with the compressed air through the discharge pipe 36. The cutter 34b is used to cut the middle part of the yarn Y when the threading unit 34 takes over the yarn Y spun from the spinning device 2. The threading unit 34 has various other devices, but the description of these devices will be omitted.

[0052] The supply pipe 35 is a pipe for supplying compressed air to various devices including the suction 34a. The supply pipe 35 is attached to the robot body 31. A part of the supply pipe 35 is arranged, for example, outside the robot body 31. At least the part of the supply pipe 35 arranged outside the robot body 31 includes, for example, a flexible hose. One end of the supply pipe 35 is connected to the threading unit 34. That is, a part of the supply pipe 35 moves in response to the movement of the threading unit 34. Another part of the supply pipe 35 is housed, for example, in the robot body 31. The other end of the supply pipe 35 is configured to be detachable from, for example, a supply duct (not shown) provided near each spinning take-up machine 3. The supply duct extends, for example, in the left-right direction. The supply duct is connected to a compressed air supply source (not shown).

[0053] The discharge pipe 36 is a pipe for discharging the compressed air supplied to the suction 34a etc. through the supply pipe 35. The discharge pipe 36 is attached to the robot body 31. A part of the discharge pipe 36 is arranged, for example, outside the robot body 31. At least the part of the discharge pipe 36 arranged outside the robot body 31 includes, for example, a flexible hose. One end of the discharge pipe 36 is connected to the threading unit 34. That is, a part of the discharge pipe 36 moves in response to the movement of the threading unit 34. Another part of the discharge pipe 36 is housed, for example, in the robot body 31. The other end of the discharge pipe 36 is configured to be detachably attached to, for example, an exhaust duct (not shown) provided near each spinning take-up 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) in which the yarn Y is disposed.

[0054] In addition, two area sensors 40 (i.e., a first area sensor 41 and a second area sensor 42) for detecting an object (obstacle) are attached to 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.

[0055] (Electrical configuration of spinning take-off equipment) Next, the electrical configuration of the yarn take-up facility 1 will be described with reference to the block diagram of FIG. 3. As shown in FIG. 3, in the yarn take-up facility 1, each yarn take-up machine 3 is provided with a take-up control device 101. The take-up control device 101 controls the operation of the first godet motor 111, the second godet motor 112, the traverse motor 113, the turret motor 114, the take-up motor 115, and the like. Each yarn take-up machine 3 is provided with two take-up motors 115, but FIG. 3 illustrates only one take-up motor 115. Also, FIG. 3 illustrates only one traverse motor 113, but each yarn take-up machine 3 may be provided with multiple traverse motors 113.

[0056] In the yarn take-up facility 1, the threading robot 4 is provided with a robot control device 102. As described above, the robot control device 102 is provided, for example, inside the robot body 31. The robot control device 102 has a CPU, a ROM, a RAM, etc., and controls the operations of the threading unit 34, 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. Note that the robot arm 33 has a plurality of arm motors 122 corresponding to the plurality of joint parts 33b, but only one arm motor 122 is illustrated in FIG. 3. The other arm motors 122 are omitted in FIG. 3.

[0057] The robot control device 102 is configured to be able 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 that an object has been detected from the first area sensor 41 or the second area sensor 42, it controls the movement motor 121 and the arm motor 122 to stop the operation (travel, threading, etc.) of the threading robot 4.

[0058] The yarn take-up facility 1 also includes a general control device 100 for controlling the entire facility. The general control device 100 is, for example, a general computer device. The general control device 100 is electrically connected to a plurality of take-up control devices 101 provided in the plurality of yarn take-up machines 3, and a robot control device 102. The general control device 100 controls the entire yarn take-up facility 1 in cooperation with the plurality of take-up control devices 101 and the robot control device 102.

[0059] (Overview of threading operation by threading robot) Next, an overview of the operation of threading the yarn take-up machine 3 by the yarn threading robot 4 will be described with reference to Fig. 6(a) to Fig. 6(d). Fig. 6(a) to Fig. 6(d) are explanatory diagrams showing the operation of threading the yarn on the first regulating guide 12, the first godet roller 13, the second regulating guide 14, and the second godet roller 15. The following mainly describes the control contents by the robot control device 102. The robot control device 102 communicates with the overall control device 100 as necessary. The overall control device 100 requests the winding control device 101 of the yarn take-up machine 3 that is the subject of threading to perform a predetermined control.

[0060] Before threading starts, the winding control device 101 of the yarn take-up machine 3 that is the subject of threading moves the second godet roller 15 along the guide rail 16 to a threading position (see dashed line in FIG. 2) close to the first godet roller 13. The winding control device 101 also brings the multiple fulcrum guides 21 together at the threading position forward of the winding position and brings them close to each other.

[0061] In the above state, the robot control device 102 controls the movement motor 121 to move the robot body 31 to a position where it overlaps in the front-rear direction with the yarn take-off machine 3 that is the subject of yarn threading. Next, the robot control device 102 controls the arm motor 122 and the yarn threading unit 34 to suck and hold the multiple yarns Y (see FIG. 6(a)) spun from the spinning device 2 in the suction 34a. Specifically, the robot control device 102 causes the suction 34a to suck the yarns Y while causing the cutter 34b to cut the yarns Y. As a result, the cut yarns Y are sucked and held in the suction 34a (see FIG. 6(b)).

[0062] Next, the robot control device 102 moves the tip of the threading unit 34 downward by the robot arm 33 (see FIG. 6(c)). Furthermore, the robot control device 102 moves the tip of the threading unit 34 to thread the yarn Y sequentially around the first regulating guide 12, the first godet roller 13, the second regulating guide 14, and the second godet roller 15 (see FIG. 6(d)).

[0063] The robot control device 102 also causes the movable unit 32 to thread the yarn around the multiple fulcrum guides 21. Furthermore, the robot control device 102 controls the movable unit 32 to thread the yarn around the multiple traverse guides 22 and the slits (not shown) of the multiple bobbins B. For details of these threading operations, see, for example, JP 2017-082379 A.

[0064] Here, when the threading robot 4 travels in the left-right direction, it is required to detect obstacles located on the left side of the robot body 31 and obstacles located on the right side of the robot body 31. Also, when the threading robot 4 is performing threading, it is required to detect obstacles located on the front side (front side) of the robot body 31 in addition to obstacles located on the left side of the robot body 31 and obstacles located on the right side of the robot body 31. In other words, it is required to detect a person or object approaching the threading robot 4 from the front.

[0065] In this embodiment, in order to ensure a wide obstacle detection area while avoiding an increase in the number of area sensors 40 that detect obstacles, the threading robot 4 has the following configuration.

[0066] (Area sensor) First, a simple configuration of each of the two area sensors 40 (first area sensor 41 and second area sensor 42) provided on the threading robot 4 will be described with reference to FIG. 4, FIG. 7(a), and FIG. 7(b). FIG. 7(a) is a view of the area sensor 40 viewed from a direction perpendicular to a predetermined axial direction. FIG. 7(b) is a view of the area sensor 40 viewed from the axial direction. The up-down direction on the paper surface of FIG. 7(a) is defined as the axial direction. The lower side on the paper surface of FIG. 7(a) is defined as one side in the axial direction. The upper side on the paper surface of FIG. 7(a) is defined as the other side in the axial direction. In FIG. 7(b), the radial direction of a detection unit 40b (described later) is defined as the radial direction. The direction perpendicular to both the axial direction and the radial direction is defined as the circumferential direction.

[0067] The area sensor 40 is, for example, a known reflective area sensor. That is, the area sensor 40 is configured to emit laser light with excellent directivity and convergence, and detect the laser light reflected by an object, thereby determining the presence or absence of an object located within a predetermined planar area. The laser light (i.e., a type of light) corresponds to the detection medium of the present invention.

[0068] As shown in FIG. 7(a) and FIG. 7(b), the area sensor 40 has, for example, a housing 40a and a detection unit 40b. The housing 40a is formed, for example, roughly in a rectangular parallelepiped shape. The shape of the housing 40a is not limited to this. The housing 40a may be formed, for example, in a substantially cylindrical shape, or may have other shapes. The housing 40a is configured to be able to accommodate various components that constitute the area sensor 40. The detection unit 40b is fixed to the housing 40a. The housing 40a is disposed on one side of the detection unit 40b in the axial direction.

[0069] The detection unit 40b is formed, for example, in a generally disk shape. The detection unit 40b is fixed to the housing 40a. The detection unit 40b is disposed on the other side of the housing 40a in the axial direction and protrudes from the housing 40a to the other side in the axial direction. The detection unit 40b has, for example, a light emitting unit (not shown) that emits laser light and a light receiving unit (not shown) that detects the laser light.

[0070] In the detection unit 40b, a predetermined detection origin OD (see FIG. 7(b)) is defined. The detection unit 40b is configured to be able to detect an object located within a detection area A that is set with the detection origin OD as a reference point. The detection area A is substantially planar. That is, the detection area A is an area having a predetermined area included in a predetermined virtual plane. The shape and area of ​​the detection area A can be changed arbitrarily 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 setting or setting change of the detection area A. As a specific example of the detection area A, an approximately sector-shaped area with the detection origin OD as the center and a central angle θ can be set. The central angle and radius of the detection area A can be changed arbitrarily within the range of the specifications. For example, the central angle of the detection area A may be changeable within a range of, for example, 30° to 270°. The radius of the detection area A may be changeable within a range of, for example, 2000 mm to 8000 mm. Alternatively, the shape of the detection area A may be set to a shape more complicated than a sector shape.

[0071] In this embodiment, the first area sensor 41 and the second area sensor 42 have the same configuration. That is, the first area sensor 41 has a housing 41a and a detection unit 41b (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 specifications of the first area sensor 41. The shape of the first detection area A1 may be a substantially sector shape centered on the detection origin OD (first detection origin OD1) of the detection unit 41b and with a central angle of θ1. The second area sensor 42 has a housing 42a and a detection unit 42b (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 specifications of the second area sensor 42. The shape of the second detection area A2 may be a substantially sector shape centered on the detection origin OD (second detection origin OD2) of the detection unit 42b and with a central angle of 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.

[0072] As shown in Fig. 4, the first area sensor 41 is attached, for example, to the left portion of the lower end of the robot body 31. The axial direction of the first area sensor 41 is, for example, substantially parallel to the vertical direction. That is, the first detection area A1 is substantially parallel to the horizontal direction. However, for example, the housing 41a of the first area sensor 41 is disposed above the detection unit 41b. That is, the upper side (i.e., the upper side of the paper in Fig. 4) corresponds to one side in the axial direction.

[0073] 4, the detection unit 41b of the first area sensor 41 is disposed, for example, below the robot body 31. Moreover, the detection unit 41b is disposed so as to be contained within the movable area of ​​the movable part 32 in the up-down direction. More specifically, for example, the detection unit 41b is disposed above the lower end of the supply pipe 35 and the lower end of the discharge pipe 36.

[0074] As shown in Fig. 4, the second area sensor 42 is housed inside the robot body 31. More specifically, for example, a housing section 31a housing 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 housing section 31a is not limited thereto. An opening 31b is formed at the right side of the housing section 31a. The opening 31b is disposed so that the detection section 42b can irradiate laser light to the outside of the housing section 31a and can detect laser light returning from the outside of the housing section 31a.

[0075] The axial direction of the second area sensor 42 is inclined with respect to, for example, the vertical direction. In other words, the second detection area A2 is inclined with respect to the horizontal direction (see FIG. 4). More specifically, the second detection area A2 extends diagonally downward to the right (i.e., at least downward) from the second detection origin OD2 when viewed from, for example, the front-rear direction. The first detection area A1 and the second detection area A2 are inclined with respect to each other, for example. The position and angle of the second area sensor 42 with respect to the robot body 31 are fixed so that the second detection area A2 does not overlap with the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32. This makes it possible to prevent the robot body 31 and the movable part 32 from entering the second detection area A2 when the threading robot 4 is traveling and when the threading robot 4 is threading. Therefore, the second area sensor 42 can detect an obstacle located on the right side of the threading robot 4 while avoiding erroneous detection of the robot body 31 and the movable part 32.

[0076] (Robot body 31) Next, the configuration of the robot body 31 will be described in further detail with reference to Fig. 4, Fig. 8 and Fig. 9. Fig. 8 is a perspective view showing the vicinity of the lower end portion of the robot body 31. Fig. 9 is a side view of the threading robot 4.

[0077] The robot body 31 has, for example, a cover 43 for covering at least a part of the housing 41a of the first area sensor 41. The cover 43 is disposed at the lower end of the robot body 31 (see the thick line shown in FIG. 4). The cover 43 is disposed at the front end of the robot body 31 (see the two-dot chain line shown in FIG. 8 and the thick line shown in FIG. 9). The cover 43 has, for example, approximately the same length as the length of the robot body 31 in the left-right direction. The cover 43 is disposed on the front side of the housing 41a. For example, the housing 41a is fixed to the cover 43 by a fixing device not shown. The cover 43 is disposed so as to cover at least a part of the housing 41a when viewed from the front side. This improves the balance of the appearance of the robot body 31 in the left-right direction. Therefore, the aesthetic appearance of the entire threading robot 4 can be improved. The cover 43 also functions as a protective cover that protects the housing 41a and the like from dirt and obstacles.

[0078] The cover 43 has a front end 43a (see FIG. 4) extending in the left-right and up-down directions, and a lower end 43b extending rearward from the lower end of the front end 43a. The lower end 43b is formed with, for example, a notch 43c and a pipe accommodating portion 43d. The notch 43c is formed along the outer shape of the housing 41a. The pipe accommodating portion 43d is a portion for accommodating a portion of the supply pipe 35 and the discharge pipe 36 in the space behind the cover 43.

[0079] Furthermore, the robot body 31 has, for example, a first support member 45 and a second support member 46.

[0080] The first support member 45 (see FIGS. 8 and 9) is configured to support, for example, the first area sensor 41 and the cover 43. The first area sensor 41 and the cover 43 are fixed to the first support member 45, for example. The first support member 45 is attached to, for example, the lower end portion of the robot body 31. The first support member 45 supports the second support member 46.

[0081] The second support member 46 extends in the left-right direction, for example. 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 from the first support member 45 to the right. The second support member 46 may be, for example, a substantially U-shaped member with the left side open when viewed from above. In the front-rear direction, a part of the supply pipe 35 and a part of the discharge pipe 36 may be disposed between the straight portion 46a and the straight portion 46b of the second support member 46 that are arranged side by side in the front-rear direction and extend in the left-right direction. A cover 43 may be fixed to the second support member 46.

[0082] A part of the supply pipe 35 and a part of the discharge pipe 36 may be fixed to the second support member 46. More specifically, for example, a middle part of the supply pipe 35 located outside the robot body 31 may be configured with a joint 48. The joint 48 may be a known elbow part made of metal. A middle part of the discharge pipe 36 located outside the robot body 31 may be configured with a joint 49. The joint 49 may be a known elbow part made of metal like the joint 48. The joint 48 and the joint 49 correspond to a "part of the pipe part" of the present invention. The joint 48 and the joint 49 are fixed to the second support member 46 by, for example, welding. Alternatively, the joint 48 and the joint 49 may be fixed to the second support member 46 by a means other than welding (for example, by a fixing tool not shown).

[0083] Alternatively, the joints 48 and 49 may not be fixed to the second support member 46, but may simply be sandwiched between the straight portion 46a and the straight portion 46b.

[0084] Next, a more specific state of the yarn threading robot 4 will be described with reference to Figures 9 and 10. Figure 10 is a diagram showing a first detection area A1 defined by the first area sensor 41 and a second detection area A2 defined by the second area sensor .

[0085] In this embodiment, the first detection area A1 is approximately coincident with a first virtual plane P1 (see FIG. 10) described below. The first virtual plane P1 is a fan-shaped virtual plane that starts from a first detection origin OD1 and extends to the left of both the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32 (see FIG. 4) without overlapping with either of these areas (see FIG. 10). The first virtual plane P1 is, for example, approximately perpendicular to the up-down direction. This allows the first area sensor 41 to detect at least an obstacle located to the left of the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32.

[0086] The second detection area A2 is substantially coincident with a second imaginary plane P2 (see FIG. 10) described below. The second imaginary plane P2 is a fan-shaped imaginary plane (see FIG. 10). The second imaginary plane P2 starts from the second detection origin OD2 and extends to the right of both the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32 without overlapping either of them (see FIG. 4). The second imaginary plane P2 extends at least downward from the second detection origin OD2. This allows the second area sensor 42 to detect an obstacle located to the right of the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32. The central angle and radius of the second detection area A2 are the same when the above-mentioned member group is located at the traveling position and when it is located at the threading position (see FIG. 10).

[0087] 9, the cover 43 protrudes, for example, forward from the front end of the robot body 31. Also, at least a part of the housing 41a and the detection unit 41b of the first area sensor 41 protrudes, for example, forward from the front end of the robot body 31. More specifically, it is preferable that the detection unit 41b is disposed spaced forward from the robot body 31 in the front-rear direction. The first detection origin OD1 is disposed forward from the movable area of ​​the movable part 32.

[0088] The first detection area A1 is included in the first virtual plane P1. The first virtual plane P1 includes a first virtual line segment L1 and a second virtual line segment L2. The first virtual line segment L1 is a virtual line segment that starts from the first detection origin OD1 and extends forward of both the placement area of ​​the robot body 31 and the movable area of ​​the movable part 32 without overlapping with either of them. In FIG. 10, a virtual line segment that extends along the front-rear direction is shown as an example of the first virtual line segment L1. The second virtual line segment L2 is a virtual line segment that starts from the first detection origin OD1 and extends to the right without overlapping with either the placement area of ​​the robot body 31 and the movable area of ​​the movable part 32, and extends to the right of both the placement area and the movable area.

[0089] The central angle of the first imaginary plane P1 is, for example, 180° or more (225° in the specific example shown in FIG. 11). In other words, the above-mentioned θ1 can be set to 180° or more.

[0090] As described above, at least a portion of the detection unit 41b protrudes further forward than the front end of the robot body 31. This allows the detection unit 41b to detect obstacles over a wide range without being hindered by the robot body 31 and the movable unit 32. Therefore, it is possible to detect obstacles in a necessary and sufficient range while avoiding an increase in the number of detection units.

[0091] In addition, it is preferable that the detector 41b is disposed at a distance from the front side of the robot body. In such a configuration, the detector 41b can detect obstacles over a wider range without being obstructed by the robot body 31 and the movable part 32.

[0092] In addition, the first detection origin OD1 is disposed forward of the movable area of ​​the movable part 32. Therefore, the detector 41b can detect obstacles over a wide range without being obstructed by the robot body 31 and the movable part 32.

[0093] Further, a sector-shaped first imaginary plane P1 including the first detection area A1 includes a first imaginary line segment L1 and a second imaginary line segment L2. This allows the detection unit 41b to detect obstacles over a wide range without being obstructed by the robot body 31 and the movable part 32.

[0094] Moreover, the central angle of the first imaginary plane P1 is equal to or greater than 180°. Therefore, the detector 41b can detect obstacles over a wide range.

[0095] In this embodiment, the detection unit 42b is disposed so that the second virtual plane P2 extends to the right of the movable area of ​​the movable part 32 while avoiding the movable area. Here, depending on the positional relationship between the second detection area A2 and the movable area of ​​the movable part 32, a blind spot may occur 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 over a wide range in the left-right direction without being hindered by the robot body 31 and the movable part 32. This allows the detection unit 41b (first area sensor 41) to monitor an area that needs monitoring but cannot be monitored by the detection unit 42b (second area sensor 42). Therefore, the occurrence of a blind spot can be suppressed.

[0096] Furthermore, the detector 41b is disposed so as to be located inside the movable area of ​​the movable part 32 in the vertical direction. If the detector 41b is disposed outside the movable area of ​​the movable part 32 in the vertical direction, there is a risk that the space available for arranging members other than the threading robot 4 will be narrowed. In this embodiment, it is possible to prevent the space available for arranging other members from being narrowed due to the presence of the detector 41b.

[0097] In addition, the threading robot 4 is suspended from a rail member 37. This allows the robot body 31 to be located at a high position in the vertical direction. This further reduces the risk of people and objects coming into contact with the threading robot 4. Also, necessary devices and / or components can be located below the robot body 31.

[0098] Moreover, the threading robot 4 includes a cover 43. At least a part of the housing 41a of the first area sensor 41 is covered and hidden by the cover 43. This prevents the aesthetic appearance of the threading robot 4 from being marred. Furthermore, the cover 43 protects the housing 41a and the like from dirt and obstacles.

[0099] Moreover, an obstacle can be detected by the area sensor 40, which is a commonly used optical area sensor.

[0100] Next, a modified example of the embodiment will be described, in which the same reference numerals will be used to designate components similar to those in the embodiment, and the description thereof will be omitted as appropriate.

[0101] (1) In the embodiment described above, the joints 48 and 49 are fixed to the cover 43 by 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 to this. For example, a part of the supply pipe 35 and a part of the discharge pipe 36 may be fixed to the cover 43 by a clamp member (not shown).

[0102] (2) In the above embodiment, the joints 48 and 49 are fixed relative to the cover 43. However, this is not limited to the above. The joints 48 and 49 may be fixed relative to the robot body 31, for example. For example, as shown in FIG. 12, a fixed member 51 fixed to the robot body 31 may be provided instead of the second support member 46. The fixed member 51 may have, for example, a straight portion 51a and a straight portion 51b arranged side by side in the front-rear direction. The joints 48 and 49 may be arranged between the straight portion 51a and the straight portion 51b in the front-rear direction, for example. The joints 48 and 49 may be fixed to the straight portion 51a and the straight portion 51b by welding or other means, for example. This can suppress the vibration of the portions of the supply pipe 35 and the discharge pipe 36 that are arranged outside the robot body 31. Therefore, the occurrence of erroneous detection by the area sensor 40 can be suppressed. The means for fixing the supply pipe 35 and the discharge pipe 36 to the robot body 31 is not limited to this.

[0103] (3) The portions of the supply pipe 35 and the discharge pipe 36 that are disposed outside the robot body 31 do not have to be fixed to the cover 43 or the robot body 31 .

[0104] (4) In the above embodiments, the area sensor 40 is an optical area sensor that uses laser light as a detection medium. However, this is not limited to this. The area sensor 40 may detect light other than laser light as a detection medium. The area sensor 40 may also detect, for example, ultrasonic waves as a detection medium. Instead of the area sensor 40, two cameras (not shown in the figure) (the first detection unit and the second detection unit of the present invention) may be provided. Even in these cases, the first detection unit and the second detection unit can detect an object located within a predetermined planar area.

[0105] (5) In the above-described embodiment, the detection unit 41b is arranged so as to be located inside the movable area of ​​the movable part 32 in the vertical direction. However, this is not limited to this. The detection unit 41b may be arranged outside the movable area of ​​the movable part 32 in the vertical direction.

[0106] (6) In the above embodiments, the second imaginary plane P2 (and the second detection area A2) extends 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 arrangement 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 have to extend downward from the second detection origin OD2.

[0107] (7) In the above embodiments, the robot body 31 is suspended from the rail member 37. However, this is not limited to this. The robot body 31 may be configured to travel on a track installed on the floor of a factory, for example.

[0108] (8) In the above embodiments, the central angle of the first imaginary plane P1 is 180° or more. However, this is not limited to this. The central angle of the first imaginary plane P1 may be slightly smaller than 180°. Even in this case, it is possible to detect objects located to the left, right, and front of the threading robot 4.

[0109] (9) In the above embodiment, the detector 41b is configured to be able to change at least one of the shape and area of ​​the first detection region A1 by settings. However, this is not limited to this. The detector 41b does not have to be configured to be able to change the shape and area of ​​the first detection region A1.

[0110] (10) In the above embodiments, it is preferable that the detection unit 41b is disposed at a distance forward from the robot body 31. However, for example, only a portion of the detection unit 41b in the front-rear direction may be disposed forward of the front end of the robot body 31. Also, at least a portion of the housing 41a and the detection unit 41b protrudes forward of the front end of the robot body 31. However, this is not limited to this. The housing 41a and the detection unit 41b do not have to protrude forward of the front end of the robot body 31.

[0111] (11) In the above embodiment, the threading robot 4 is provided with the cover 43. However, this is not limited to this. The threading robot 4 does not have to be provided with the cover 43.

[0112] (12) In the above embodiment, the first detection origin OD1 is disposed in front of the movable area of ​​the movable part 32. However, this is not limited to this. The first detection origin OD1 may be disposed, for example, behind the front end of the movable area of ​​the movable part 32. Also, the first imaginary plane P1 is a sector 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 P1 does not have to include the first imaginary line segment L1 and / or the second imaginary line segment L2. Also, the first imaginary plane P1 does not have to be a sector. That is, the first detection area A1 may have any shape extending with the first detection origin OD1 as a reference point.

[0113] (13) In the above embodiment, the first detection area A1 is assumed to coincide with the first virtual plane P1. The second detection area A2 is assumed to coincide with the second virtual plane P2. However, this is not limited to this. The first detection area A1 may be a part of the first virtual plane P1. That is, a first virtual plane P1 may be defined that is wider than the first detection area A1 and does not overlap with both the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32. The first virtual plane P1 may be a shape other than a sector. The first detection area A1 may be set to a shape other than a sector. Similarly, the second detection area A2 may be a part of the second virtual plane P2. That is, a second virtual plane P2 may be defined that is wider than the second detection area A2 and does not overlap with both the arrangement area of ​​the robot body 31 and the movable area of ​​the movable part 32. The second virtual plane P2 may be a shape other than a sector. The second detection area A2 may be set to a shape other than a sector.

[0114] (14) The present invention may be applied to a threading robot (not shown) that threads a yarn onto a yarn winding machine (not shown) that winds the yarn (not shown), other than the threading robot 4 that threads the yarn onto the yarn take-up machine 3. [Explanation of symbols]

[0115] 3. Yarn take-up machine (yarn winding machine) 4. Threading robot 31 Robot body 32 Moving parts 33 Robot arm (arm mechanism) 34a Suction (suction part) 35 Supply piping (piping section) 36 Discharge piping (piping section) 37 Rail components (rails) 41a Case 41b detection unit (first detection unit) 42b detection unit (second detection unit) 43 Cover A1 First detection area A2 Second detection area L1 First virtual line segment L2 Second virtual line segment OD1 First detection origin OD2 Second detection origin P1 First virtual plane P2 Second virtual plane Y Thread

Claims

1. A threading robot configured to be able to thread yarn on a plurality of yarn winding machines arranged side by side in a first direction intersecting a vertical direction, a robot main body configured to be movable in the first direction while being disposed on one side of the plurality of yarn winding devices in a second direction perpendicular to both the vertical direction and the first direction; a movable unit attached to the robot body and configured to be able to perform the threading by moving within a predetermined movable area relative to the robot body; a first detection unit attached to the robot body and configured to be able to detect an object located within a predetermined first detection area; The first detection unit a threading robot, at least a portion of which protrudes to the one side beyond the one end of the robot body in the second direction.

2. The first detection unit The yarn threading robot according to claim 1 , wherein the yarn threading robot is disposed at a distance from the robot body to the one side in the second direction.

3. the first detection area extends with a predetermined first detection origin as a reference point; The yarn threading robot according to claim 1 , wherein the first detection origin is located on the one side in the second direction of the movable area of ​​the movable part.

4. The first detection area extends with a predetermined first detection origin as a reference point, The yarn threading robot according to claim 2 , wherein the first detection origin is located on the one side of the movable area of ​​the movable part in the second direction.

5. The first detection area is a predetermined first detection origin is used as a reference point, and the robot body extends beyond both an arrangement area of ​​the robot body and the movable area of ​​the movable part to at least one side in the first direction; The first detection unit a predetermined imaginary plane having the first detection origin as a starting point and extending beyond both the placement area of ​​the robot body and the movable area of ​​the movable part in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part is defined as a first imaginary plane, and the first detection area is arranged so as to be included in the first imaginary plane; The first virtual plane is a first virtual line segment that has the first detection origin as a starting point and extends to the one side in the second direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part; a second virtual line segment that has the first detection origin as a starting point, extends along the first direction to the other side in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and extends beyond both the placement area and the movable area to the other side in the first direction.

6. The first detection area is a predetermined first detection origin is used as a reference point, and the robot body extends beyond both an arrangement area of ​​the robot body and the movable area of ​​the movable part to at least one side in the first direction; The first detection unit a predetermined imaginary plane having the first detection origin as a starting point and extending beyond both the placement area of ​​the robot body and the movable area of ​​the movable part in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part is defined as a first imaginary plane, and the first detection area is arranged so as to be included in the first imaginary plane; The first virtual plane is a first virtual line segment that has the first detection origin as a starting point and extends to the one side in the second direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part; a second virtual line segment that has the first detection origin as a starting point, extends along the first direction to the other side in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and extends beyond both the placement area and the movable area to the other side in the first direction.

7. The first detection area is a predetermined first detection origin is used as a reference point, and the robot body extends beyond both an arrangement area of ​​the robot body and the movable area of ​​the movable part to at least one side in the first direction; The first detection unit a predetermined imaginary plane having the first detection origin as a starting point and extending beyond both the placement area of ​​the robot body and the movable area of ​​the movable part in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part is defined as a first imaginary plane, and the first detection area is arranged so as to be included in the first imaginary plane; The first virtual plane is a first virtual line segment that has the first detection origin as a starting point and extends to the one side in the second direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part; a second virtual line segment that has the first detection origin as a starting point, extends along the first direction to the other side in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and extends beyond both the placement area and the movable area to the other side in the first direction.

8. The first detection area is a predetermined first detection origin is used as a reference point, and the robot body extends beyond both an arrangement area of ​​the robot body and the movable area of ​​the movable part to at least one side in the first direction; The first detection unit a predetermined imaginary plane having the first detection origin as a starting point and extending beyond both the placement area of ​​the robot body and the movable area of ​​the movable part in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part is defined as a first imaginary plane, and the first detection area is arranged so as to be included in the first imaginary plane; The first virtual plane is a first virtual line segment that has the first detection origin as a starting point and extends to the one side in the second direction beyond both the placement area of ​​the robot body and the movable area of ​​the movable part without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part; a second virtual line segment that has the first detection origin as a starting point, extends along the first direction to the other side in the first direction without overlapping with either the placement area of ​​the robot body or the movable area of ​​the movable part, and extends beyond both the placement area and the movable area to the other side in the first direction.

9. The yarn threading robot according to claim 5 , wherein a central angle of the first imaginary plane is equal to or greater than 180°.

10. A threading robot as described in Claim 6, wherein the central angle of the first virtual plane is 180° or more.

11. A threading robot as described in Claim 7, wherein the central angle of the first virtual plane is 180° or more.

12. A threading robot as described in Claim 8, wherein the central angle of the first virtual plane is 180° or more.

13. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 1 , wherein a portion of the piping section that is arranged outside the robot body is fixed to the robot body.

14. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 2 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

15. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 3 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

16. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 4 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

17. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 5 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

18. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 6, wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

19. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 7 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

20. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 8 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

21. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 9 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

22. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 10 , wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

23. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 11, wherein a portion of the piping section that is arranged outside the robot body is fixed to the robot body.

24. The movable part is a suction section configured to be able to suction and hold a running yarn; a piping section connected to the suction section, configured to be able to supply a fluid to the suction section to generate a negative pressure that sucks and holds the yarn, and to be able to discharge the fluid from the suction section, The yarn threading robot according to claim 12, wherein a part of the piping section that is arranged outside the robot body is fixed to the robot body.

25. at least a part of the movable region of the movable part is disposed on the other side of the robot main body in the first direction, a second detection unit attached to the robot body and configured to be able to detect an object located within a predetermined second detection area that extends at least to the other side in the first direction beyond both an arrangement area of ​​the robot body and the movable area of ​​the movable unit, using a predetermined second detection origin as a reference point; The second detection unit The yarn threading robot according to any one of claims 1 to 24, wherein when a predetermined imaginary plane is defined as a second imaginary plane that has the second detection origin as a starting point and that does not overlap with either the placement area of ​​the robot main body or the movable area of ​​the movable part, but extends to the other side in the first direction beyond both the placement area and the movable area, the second detection area is arranged to be included in the second imaginary plane.

26. The yarn threading robot according to any one of claims 1 to 24, wherein the first detection unit is arranged so as to be located inside the movable area of ​​the movable unit in the vertical direction.

27. ​​A threading robot as described in Claim 25, wherein the first detection unit is positioned so as to be located inside the movable area of ​​the movable unit in the vertical direction.

28. The yarn threading robot according to any one of claims 1 to 24, wherein the robot body is configured to be suspended from a rail extending in the first direction.

29. A threading robot as described in Claim 25, wherein the robot body is configured to be suspended from a rail extending in the first direction.

30. A threading robot as described in Claim 26, wherein the robot body is configured to be suspended from a rail extending in the first direction.

31. A threading robot as described in Claim 27, wherein the robot body is configured to be suspended from a rail extending in the first direction.

32. a housing attached to the robot body and having the first detection unit fixed thereto; The yarn threading robot according to any one of claims 1 to 24, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

33. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 25, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

34. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 26, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

35. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 27, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

36. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 28, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

37. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 29, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

38. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 30, further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

39. A housing attached to the robot body and to which the first detection unit is fixed; The yarn threading robot according to claim 31 , further comprising: a cover arranged to cover at least a portion of the housing when viewed from the one side in the second direction.

40. The yarn threading robot according to any one of claims 1 to 24, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

41. A threading robot as described in Claim 25, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

42. A threading robot as described in Claim 26, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

43. A threading robot as described in Claim 27, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

44. A threading robot as described in Claim 28, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

45. A threading robot as described in Claim 29, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

46. A threading robot as described in Claim 30, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

47. A threading robot as described in Claim 31, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

48. A threading robot as described in Claim 32, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

49. A threading robot as described in Claim 33, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

50. A threading robot as described in Claim 34, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

51. A threading robot as described in Claim 35, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

52. A threading robot as described in Claim 36, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

53. A threading robot as described in Claim 37, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

54. A threading robot as described in Claim 38, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

55. A threading robot as described in Claim 39, wherein the first detection unit is included in an area sensor configured to be able to detect a detection medium reflected by an object located within a predetermined virtual plane.

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