Package supply system

Abstract

A package supply system is provided with a package hanger (12), a bobbin creel robot (30), and a transfer device. A package (50) is hung on each of a first surface and a second surface of the package hanger (12). The bobbin creel robot (30) recovers a package on the second surface of the package hanger (12) located at the first standby position or a package (50) on the first surface of the package hanger (12) located at the second standby position, and transfers the package to the bobbin creel (61). After the bobbin creel robot (30) transfers the package (50) of the package hanger (12) located at the first standby position, the transfer device moves the package hanger (12) to the second standby position while maintaining the orientation of the package hanger (12), thereby causing the first surface of the package hanger (12) to face the movement path of the bobbin creel robot (30).

Description

Technical Field

[0001] The present invention mainly relates to a package supply system. Background Art

[0002] Patent Document 1 is Japanese Patent Laid-Open No. 5-32377.

[0003] The yarn supply replacement system of Patent Document 1 includes an overhead transporter and a transfer device. The overhead transporter travels along an overhead rail. The transfer device transfers a package from the overhead transporter to a creel robot. Summary of the Invention

[0004] The yarn supply replacement system of Patent Document 1 requires a large or complex structure, so the equipment cost becomes high. In addition, it cannot flexibly cope with layout changes in the factory.

[0005] The present invention has been completed in view of the above circumstances, and its main object is to provide a package supply system with low equipment cost and capable of flexibly coping with layout changes in the factory.

[0006] The problem to be solved by the present invention is as described above. Next, the means for solving the problem and its effects will be described.

[0007] According to the viewpoint of the present invention, a package supply system having the following configuration is provided. That is, the package supply system includes a package hanger, a creel robot, a supply device, and a transfer device. The package hanger has a first surface and a second surface, and a plurality of studs for hanging packages are provided on the first surface and the second surface, respectively. The creel robot moves along a movement path between a first standby position and a second standby position of the package hanger, retrieves the package hung on the stud on the second surface of the package hanger located at the first standby position, or retrieves the package hung on the stud on the first surface of the package hanger located at the second standby position, and transfers it to the creel of the yarn processing machine. The supply device supplies the package hanger to the first standby position. After the creel robot transfers the package hung on one of the studs on the first surface and the second surface of the package hanger located at the first standby position to the creel, the transfer device moves the package hanger from the first standby position to the second standby position while maintaining the orientation of the package hanger, thereby making the other surface of the first surface and the second surface of the package hanger face the movement path of the creel robot.

[0008] Accordingly, it is possible to recover the packages hung on both sides of the package hanger while maintaining the orientation of the package hanger. Thus, a system for recovering packages can be realized with a simple structure. In addition, due to the simple structure, the equipment cost can be easily reduced, and it is possible to flexibly respond to layout changes in the factory. Furthermore, since standby positions are provided on both sides of the creel robot, even during the supply or transfer of one of the package hangers, it is possible to supply packages from the other package hanger to the creel robot.

[0009] In the above-described package supply system, preferably, the package supply system includes a conveying device that conveys the package hanger to the creel robot.

[0010] Accordingly, it is possible to automate the operation of conveying the package hanger to the creel robot.

[0011] In the above-described package supply system, preferably, the supply device is provided on the conveying device.

[0012] Accordingly, it is possible to perform the operations of conveying the package hanger and supplying the package hanger through a series of processes.

[0013] In the above-described package supply system, preferably, the transfer device is provided on the conveying device.

[0014] Accordingly, it is possible to use the conveying device for both the supply and transfer of the package hanger.

[0015] In the above-described package supply system, preferably, the conveying device is a vehicle.

[0016] Accordingly, it is easier to respond to layout changes in the factory compared to equipment such as conveyor belts.

[0017] In the above-described package supply system, preferably, it has the following configuration. That is, when there is no package hanger at the first standby position, the supply device supplies the package hanger to the first standby position. The transfer device moves the package hanger located at the first standby position to the second standby position. The supply device supplies the package hanger to the first standby position. The supply device recovers the package hanger located at the second standby position.

[0018] Accordingly, it is possible to smoothly perform the supply of the package hanger, the recovery of the package, and the recovery of the package hanger.

[0019] In the above-described package supply system, preferably, it has the following configuration. That is, the direction from the first standby position toward the second standby position when viewed from above is referred to as the first direction. The transfer device includes a sliding portion that moves the package hanger in the first direction.

[0020] Thus, while maintaining the orientation of the bobbin hanger, the bobbin hanger can be moved in the first direction (the direction approaching the second standby position from the first standby position).

[0021] In the above bobbin supply system, the following configuration is preferable. That is, the transfer device includes a moving part that moves the bobbin hanger in a direction that intersects the first direction when viewed from above. After the moving part moves the bobbin hanger located at the first standby position in a direction that intersects the first direction when viewed from above, the sliding part moves the bobbin hanger in the first direction. Then, the moving part moves the bobbin hanger in a direction that intersects the first direction when viewed from above and locates it at the second standby position.

[0022] Thus, while maintaining the orientation of the bobbin hanger, the bobbin hanger located at the first standby position can be moved to the second standby position.

[0023] In the above bobbin supply system, it is preferable that after the magazine robot transfers the bobbin hung on the stud on the second surface of the bobbin hanger to the magazine, the transfer device makes the first surface of the bobbin hanger face the movement path of the magazine robot.

[0024] Thus, after recovering the bobbin on the second surface of the bobbin hanger, the bobbin on the first surface can be recovered, and thus the bobbins on both surfaces of the bobbin hanger can be recovered.

[0025] In the above bobbin supply system, the following configuration is preferable. That is, magazines are provided on the first side and the second side respectively across the movement path of the magazine robot. The magazine robot can transfer the recovered bobbin into the magazines on the first side and the second side respectively.

[0026] Thus, the magazine robot can recover the bobbins located on both sides across the movement path, so the same function can be utilized, and the magazine robot transfers the bobbin into the magazines located on both sides across the movement path. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic top view of a supply system according to an embodiment of the present invention.

[0028] Figure 2 is a perspective view of a bobbin carriage and an AGV.

[0029] Figure 3 is a perspective view of a bobbin carriage and a magazine robot.

[0030] Figure 4 is a flowchart showing a process of transferring the bobbin of the bobbin carriage to the magazine.

[0031] Figure 5 It is a schematic top view showing the first state and the second state of the supply system.

[0032] Figure 6 It is a schematic top view showing the third state and the fourth state of the supply system.

[0033] Figure 7 It is a schematic top view showing the fifth state and the sixth state of the supply system.

[0034] Figure 8 It is a schematic top view showing the seventh state and the eighth state of the supply system. Detailed implementation mode

[0035] Next, the implementation mode of the present invention will be described with reference to the accompanying drawings. First, refer to Figures 1 to 3 The elements constituting the package supply system 1 will be described.

[0036] The package supply system 1 supplies the package 50 from a spinning winding machine (not shown) to the draw texturing machine 60. The draw texturing machine 60 is a kind of false twist processing machine and a kind of yarn processing machine. As a yarn processing machine, there is also an air jet processing machine. The draw texturing machine 60 can produce a draw textured yarn called DTY by stretching and false twist processing a semi-drawn yarn (partially oriented yarn) called POY which is a kind of yarn. POY is the abbreviation of Partially Oriented Yarn. DTY is the abbreviation of Draw Textured Yarn. The draw texturing machine 60 has a plurality of processing positions for stretching and false twist processing.

[0037] The package 50 is formed by winding a specified length of POY around a core tube. The winding device of the spinning winding machine winds the POY generated by the spinning device of the spinning winding machine around the core tube, thereby generating the package 50. The package 50 is transferred and set on the creel 61 provided in the draw texturing machine 60. On the creel 61, a plurality of packages 50 can be arranged and set in the vertical direction and the horizontal direction. The yarn is unwound from the package 50 provided on the creel 61 toward the processing position.

[0038] The package supply system 1 automatically conveys the packages 50 and transfers them to the creel 61. The automatic conveyance means conveyance using only the conveying device without manual operation. However, in the event of an abnormality or the like, the operation of the operator may sometimes be required. In addition, the package supply system 1 of the present embodiment can be applied not only to automatic conveyance but also to semi-automatic conveyance in which a part of the conveyance is performed by the operator. The package supply system 1 includes a package carriage 10, an AGV (Automatic Guided Vehicle) 20, a creel robot 30, and a comprehensive control device 40. The AGV 20 corresponds to the "conveying device".

[0039] The package carriage 10 is used to centrally store the packages 50 generated by the spinning winder. The packages 50 generated by the spinning winder are hung on the package carriage 10. The operation of hanging the package 50 on the package carriage 10 is performed by a dedicated or general-purpose automatic machine, for example. As Figure 2 shown, the package carriage 10 includes a base 11, a package hanger 12, and wheels 13.

[0040] The package hanger 12 and the wheels 13 are provided on the base 11. The bottom 11a of the base 11 is for the AGV 20 to move the package carriage 10 (details will be described later).

[0041] A plurality of studs 12a are provided on the package hanger 12. The studs 12a are slender members having a size smaller than the inner diameter of the core tube. In the present embodiment, the length directions of all the studs 12a are parallel. Hereinafter, one side in the length direction of the stud 12a (in other words, the axial direction of the core tube of the package 50) is referred to as the first side, and the other side is referred to as the second side. The surface of the package hanger 12 on the first side is referred to as the first surface, and the surface on the second side is referred to as the second surface. Thus, the first surface is the surface opposite to the second surface. The studs 12a are respectively provided on the first surface and the second surface. Thereby, the package carriage 10 can hang the packages 50 on the first surface and the second surface, respectively. In addition, the studs 12a are arranged in the height direction and the horizontal direction.

[0042] The wheels 13 are provided at the lower part of the package hanger 12. The wheels 13 are used when the operator pushes to move the package carriage 10. In addition, the wheels 13 can be omitted.

[0043] The AGV 20 is a vehicle that conveys the package carriage 10 from the spinning winder to the creel robot 30. Specifically, the AGV 20 retrieves the package carriage 10 with the package 50 hung thereon and conveys the package carriage 10 to Figure 1The first standby position 101 or the second standby position 102 shown. The first standby position 101 and the second standby position 102 are places where the bobbin truck 10 waits in order to transfer the package 50 to the creel 61. In addition, the direction from the first standby position 101 toward the second standby position 102 when viewed from above is referred to as the first direction. As Figure 1 and Figure 2 shown, the AGV 20 includes a main body portion 21 and a sliding table 22.

[0044] A drive source (such as a motor) for autonomous travel, a travel portion 21a driven by the drive source, and a control device are provided in the main body portion 21. The control device is a PLC, and by controlling the drive source etc., it rotationally drives the travel portion 21a to make the main body portion 21 travel autonomously. In addition, a mechanism and an actuator for changing the orientation of the travel portion 21a are provided in the main body portion 21. Thus, the main body portion 21 can travel in various directions.

[0045] In addition, a space for placing a plurality of bobbin trucks 10 is provided on the upper surface of the main body portion 21. The AGV 20 transports the bobbin truck 10 by traveling in a state where the bobbin truck 10 is placed. In the present embodiment, the number of bobbin trucks 10 that can be transported is 3, but it can also be 2 or 4 or more.

[0046] The sliding table 22 is a device for placing the bobbin truck 10 on the main body portion 21 or unloading the bobbin truck 10 from the main body portion 21. In order to place the bobbin truck 10 on the main body portion 21, first, the sliding table is extended and inserted below the bottom portion 11a. Secondly, after lifting the sliding table, the sliding table is contracted. In addition, the sliding table may also have a function of holding the bobbin truck 10 during the transportation of the bobbin truck 10. In addition, in a state where the bobbin truck 10 is held, the control device makes the travel portion 21a travel, thereby enabling the bobbin truck 10 to move. In order to unload the bobbin truck 10 from the main body portion 21, after the sliding table is extended and the bobbin truck 10 is located above the first standby position 101 or the second standby position 102, the sliding table is unloaded.

[0047] By moving the bobbin truck 10 from the first standby position 101 to the second standby position 102 in this way, the bobbin truck 10 can be moved while maintaining the orientation of the bobbin truck 10. Therefore, a structure and space for reversing the bobbin truck 10 are not required. In addition, maintaining the orientation of the bobbin truck 10 means that the orientation of the bobbin truck 10 is hardly or completely not reversed.

[0048] The AGV 20 collaborates with the traveling unit 21a, the sliding table 22, and the control device to achieve the function as a supply device. The supply device supplies the bobbin trolley 10 (especially the bobbin hanger 12, the same hereinafter) to the first standby position 101 or the second standby position 102, or retrieves the bobbin trolley 10 from the first standby position 101 or the second standby position 102.

[0049] The AGV 20 also collaborates with the traveling unit 21a, the sliding table 22, and the control device to achieve the function as a transfer device. The transfer device moves the bobbin trolley 10 located at the first standby position 101 to the second standby position 102. In addition, the transfer device includes a sliding part and a moving part as functional parts. The sliding part moves the bobbin trolley 10 in the first direction. The moving part moves the bobbin trolley 10 in a direction (orthogonal direction in this embodiment) intersecting the first direction.

[0050] In addition, a sliding fork can be used instead of the sliding table 22. In addition, a configuration for gripping and lifting the bobbin trolley 10 can be provided instead of the sliding table 22. In addition, at least one of the above supply device and transfer device can be provided outside the AGV 20. For example, if interference with other devices can be avoided, a conveyor belt connecting the first standby position 101 and the second standby position 102 can be set as the supply device or the transfer device. In addition, the supply device and the transfer device can also be realized by different machines respectively. In addition, the AGV 20 is an example of a conveying device, and a conveying device that is not a vehicle (such as a conveyor belt) can be used instead of the AGV 20.

[0051] The creel robot 30 retrieves the bobbin 50 of the bobbin trolley 10 provided at the first standby position 101 or the second standby position 102 and transfers it to the creel 61. The creel robot 30 moves along a predetermined movement path 100. As Figure 1 shown, the movement path 100 is located between the first standby position 101 and the second standby position 102 in a top view. Specifically, one side (specifically, the second side) of the bobbin trolley 10 located at the first standby position 101 faces the movement path 100. Furthermore, one side (specifically, the first side) of the bobbin trolley 10 located at the second standby position 102 faces the movement path 100. The creel robot 30 can retrieve the bobbin 50 hanging on the side facing the movement path 100. Furthermore, the movement path 100 is located between the two creels 61 in a top view. The creel robot 30 can transfer the bobbin 50 to both creels 61. As Figure 3 shown, the creel robot 30 includes a track 31, a traveling unit 32, a support column 33, and a transfer unit 34.

[0052] The rail 31 is provided along the movement path 100. In the present embodiment, the rail 31 is formed on both the floor side and the ceiling side, but the rail 31 may be formed only on either side. The traveling unit 32 includes a drive source (such as a motor) and wheels, etc., and the drive source drives the wheels. Thus, the traveling unit 32 moves along the rail 31. A control device is provided in the traveling unit. The control device is a PLC, and drives the traveling unit 32 and the later-described transfer unit 34 by controlling the drive source, etc.

[0053] The support column 33 is provided on the traveling unit 32. The support column 33 extends along the height direction. The transfer unit 34 is provided on the support column 33. The transfer unit 34 can move in the height direction along the support column 33. The transfer unit 34 includes a transfer rod 34a that can be telescoped and inserted into the core tube of the bobbin 50. In addition, the part including the transfer rod 34a is mounted to be rotatable along a rotation axis parallel to the height direction. By omitting the power of an actuator (not shown), the part including the transfer rod 34a is rotated, and the orientation of the transfer rod 34a can be changed. Thus, the transfer unit 34 can retrieve the bobbins 50 of both of the two bobbin trolleys 10 arranged across the movement path 100, and can transfer the bobbins 50 to both of the two creels 61 arranged across the movement path 100.

[0054] When retrieving the bobbin 50, the creel robot 30 rotates the part including the transfer rod 34a to direct the transfer rod 34a toward the side where the bobbin 50 to be retrieved is located. Next, the creel robot 30 moves by the traveling unit 32 so that the position of the core tube of the bobbin 50 to be retrieved in the traveling direction of the creel robot 30 coincides with the position of the transfer rod 34a. Next, by moving the transfer unit 34 in the height direction, the position of the core tube of the bobbin 50 to be retrieved in the height direction coincides with the position of the transfer rod 34a. Next, the bobbin 50 is retrieved by inserting the transfer rod 34a into the core tube of the bobbin 50 to be retrieved and lifting it. The same applies when transferring the bobbin 50. After directing the transfer rod 34a toward the creel 61 at the transfer destination, the position of the stud of the creel 61 at the transfer destination coincides with the position of the transfer rod 34a. After that, the transfer rod 34a moves the bobbin 50 so that the core tube of the bobbin 50 passes through the stud of the creel 61, thereby transferring the bobbin 50.

[0055] In the present embodiment, by changing the orientation of the transfer rod 34a, the retrieval and transfer of the bobbins 50 located on both sides across the traveling direction can be performed. Alternatively, by providing two transfer rods 34a with different orientations, the retrieval and transfer of the bobbins 50 located on both sides across the traveling direction can be performed.

[0056] The integrated control device 40 is a computer equipped with a CPU, a memory, an internal memory, and a communication module. By reading and executing the program stored in the internal memory through the CPU, the integrated control device 40 performs various controls related to the bobbin supply system 1. For example, the integrated control device 40 sends an instruction to the AGV 20 to instruct the retrieval and supply of the bobbin carriage 10. For example, the integrated control device 40 sends an instruction to the creel robot 30 to instruct the retrieval and transfer of the bobbin 50.

[0057] Next, refer to Figures 4 to 8 The process of supplying the bobbin 50 hung on the bobbin carriage 10 to the draw-twist machine 60 will be described. Figure 4 The process shown is mainly performed by the integrated control device 40, but at least a part of the process may be performed by the control device of the AGV 20 or the creel robot 30.

[0058] First, the supply device of the AGV 20 receives an instruction from the integrated control device 40 and supplies the bobbin carriage 10 to the first standby position 101 (S101, Figure 5 state 1). Thereby, the second surface of the bobbin carriage 10 located at the first standby position 101 faces the movement path 100. Next, the creel robot 30 receives an instruction from the integrated control device 40 and retrieves the bobbin 50 on the second surface of the bobbin carriage 10 located at the first standby position 101 (S102, Figure 5 state 2). In addition, the bobbin 50 retrieved by the creel robot 30 is transferred to the creel 61. Hereinafter, the description related to the transfer of the bobbin 50 to the creel 61 will be omitted.

[0059] The integrated control device 40 determines whether the retrieval of the bobbin 50 on the second surface of the bobbin carriage 10 located at the first standby position 101 is completed (S103). When the integrated control device 40 determines that the retrieval of the bobbin 50 is completed, it sends an instruction to the AGV 20. The transfer device of the AGV 20 receives an instruction from the integrated control device 40 and moves the bobbin carriage 10 from the first standby position 101 to the second standby position 102 (S104, Figure 6Status 3). Specifically, the moving part of the transfer device of the AGV 20 moves the bobbin cart 10 located at the first standby position 101 in a direction that intersects the first direction (specifically, an orthogonal direction) when viewed from above. Next, the sliding part of the transfer device of the AGV 20 travels in the first direction while holding the bobbin cart 10 to move the bobbin cart 10 in the first direction. Next, the moving part of the transfer device of the AGV 20 moves the bobbin cart 10 in a direction that intersects the first direction (specifically, an orthogonal direction) when viewed from above, and positions the bobbin cart 10 at the second standby position 102. Thus, the first surface of the bobbin cart 10 located at the second standby position 102 faces the moving path 100. Next, the creel robot 30 receives an instruction from the integrated control device 40 and retrieves the bobbin 50 on the first surface of the bobbin cart 10 located at the second standby position 102 (S105).

[0060] In addition, by moving the bobbin cart 10 from the first standby position 101 to the second standby position 102, the first standby position 101 becomes vacant. Therefore, the integrated control device 40 sends an instruction to the AGV 20. The AGV 20 receives the instruction from the integrated control device 40 and supplies a new bobbin cart 10 to the first standby position 101 (S106, Figure 6 Status 4). Thus, the second surface of the new bobbin cart 10 located at the first standby position 101 faces the moving path 100.

[0061] Here, in the middle of the operation of supplying the bobbin cart 10 to the first standby position 101, the creel robot 30 retrieves the bobbin 50 from the bobbin cart 10 located at the second standby position 102. Thereby, the operation efficiency can be improved.

[0062] In this state, the creel robot 30 can retrieve the bobbin 50 from the bobbin cart 10 located at either the first standby position 101 or the second standby position 102. In this embodiment, the bobbin 50 at the second standby position 102 is preferentially retrieved. The integrated control device 40 determines whether the retrieval of the bobbin 50 on the first surface of the bobbin cart 10 located at the second standby position 102 is completed (S107). When the integrated control device 40 determines that the retrieval of the bobbin 50 is completed, it sends an instruction to the AGV 20. The supply device of the AGV 20 receives the instruction from the integrated control device 40 and retrieves the bobbin cart 10 located at the second standby position 102 (S108, Figure 7 Status 5). According to the above, it is possible to retrieve the bobbins 50 on the first and second surfaces of the bobbin cart 10 without reversing the bobbin cart 10.

[0063] Here, in the middle of the operation of retrieving the bobbin carriage 10 located at the second standby position 102, the creel robot 30 retrieves the bobbin 50 from the bobbin carriage 10 located at the first standby position 101. Thereby, the operation efficiency can be improved. In short, in the present embodiment, there are two standby positions, and the creel robot 30 can retrieve the bobbin 50 from the bobbin carriages 10 at both standby positions. Therefore, the creel robot 30 can retrieve the bobbin from the bobbin carriage 10 at the other standby position during the supply or retrieval of the bobbin carriage 10 at one standby position.

[0064] In addition, the newly supplied bobbin carriage 10 in step S106 is processed in the same manner as the initially supplied bobbin carriage 10. Hereinafter, the repetitive part will be briefly described. The creel robot 30 retrieves the bobbin 50 on the second side of the bobbin carriage 10 located at the first standby position 101 (S109). When the integrated control device 40 determines that the bobbin 50 has been retrieved (S110), the transfer device of the AGV 20 moves the bobbin carriage 10 from the first standby position 101 to the second standby position 102 (S104, Figure 7 state 6). Next, the creel robot 30 retrieves the bobbin 50 on the first side of the bobbin carriage 10 located at the second standby position 102 (S105). In addition, the supply device of the AGV 20 supplies a new bobbin carriage 10 to the first standby position 101 (S106, Figure 8 state 7). After that, the bobbin carriage 10 located at the second standby position 102 is retrieved by the AGV 20 after the bobbin 50 has been retrieved (S108, Figure 8 state 8).

[0065] In addition, the AGV 20 returns the bobbin carriage 10 from which the bobbin 50 has been retrieved to the vicinity of the spinning and winding machine at an appropriate timing, and instead, retrieves the bobbin carriage 10 with the bobbin 50 hung thereon.

[0066] By repeating the above process, the bobbins 50 hung on the first side and the second side of the bobbin carriage 10 can be retrieved without reversing the bobbin carriage 10. Therefore, compared with the configuration that reverses the bobbin carriage 10, the structure and space for reversing are not required, and thus the bobbins can be automatically retrieved with a simple configuration and at low cost.

[0067] As described above, the package supply system 1 of the present embodiment includes a package hanger 12, a creel robot 30, a supply device, and a transfer device. The package hanger 12 has a first surface and a second surface, and a plurality of studs 12a for hanging packages 50 are provided on the first surface and the second surface, respectively. The creel robot 30 moves along a movement path 100 between a first standby position 101 and a second standby position 102 of the package hanger 12, retrieves the package 50 hung on the stud 12a on the second surface of the package hanger 12 located at the first standby position 101 or the stud 12a on the first surface of the package hanger 12 located at the second standby position 102, and transfers it to the creel 61 of the yarn processing machine. The supply device supplies the package hanger 12 to the first standby position. After the creel robot 30 transfers the package 50 hung on the stud 12a on one surface (the second surface) of the package hanger 12 located at the first standby position 101 to the creel 61, the transfer device moves the package hanger 12 from the first standby position 101 to the second standby position 102 while maintaining the orientation of the package hanger 12, whereby the other surface (the first surface) of the package hanger 12 faces the movement path 100 of the creel robot 30.

[0068] Thus, it is possible to retrieve the packages 50 hung on both sides of the package hanger 12 while maintaining the orientation of the package hanger 12. Therefore, a system for retrieving packages can be realized with a simple structure. In addition, since the structure is simple, the equipment cost can be easily reduced, and the layout change in the factory can be flexibly coped with. Furthermore, since standby positions are provided on both sides of the creel robot 30, even during the supply or transfer process of one package hanger 12, the package 50 can be supplied from the other package hanger 12 to the creel robot 30.

[0069] The package supply system 1 of the present embodiment includes an AGV 20 that conveys the package hanger 12 to the creel robot 30.

[0070] Thus, the operation of conveying the package hanger 12 to the creel robot 30 can be automated.

[0071] In the package supply system 1 of the present embodiment, a supply device is provided on the AGV 20.

[0072] Thus, both the supply and transfer of the package hanger 12 can be performed using the AGV 20.

[0073] In the package supply system 1 of the present embodiment, a transfer device is provided on the AGV 20.

[0074] Thus, both the supply and transfer of the package hanger 12 can be performed using the AGV 20.

[0075] In the package supply system 1 of the present embodiment, when there is no package hanger 12 at the first standby position 101, the supply device supplies the package hanger 12 to the first standby position 101. The transfer device moves the package hanger 12 located at the first standby position 101 to the second standby position 102. The supply device supplies the package hanger 12 to the first standby position 101. The supply device retrieves the package hanger 12 located at the second standby position 102.

[0076] Thus, the supply of the package hanger 12, the retrieval of the package 50, and the retrieval of the package hanger 12 can be performed smoothly.

[0077] In the package supply system 1 of the present embodiment, the direction from the first standby position 101 toward the second standby position 102 in a plan view is referred to as the first direction. The transfer device includes a sliding portion that moves the package hanger 12 in the first direction.

[0078] Thus, the package hanger 12 can be moved in the first direction (in the direction approaching the second standby position 102 from the first standby position 101) while maintaining the orientation of the package hanger 12.

[0079] In the package supply system 1 of the present embodiment, the transfer device includes a moving portion that moves the package hanger 12 in a direction intersecting the first direction in a plan view. After the moving portion moves the package hanger 12 located at the first standby position 101 in a direction intersecting the first direction in a plan view, the sliding portion moves the package hanger 12 in the first direction, and then the moving portion moves the package hanger 12 in a direction intersecting the first direction in a plan view to be located at the second standby position 102.

[0080] Thus, the package hanger 12 located at the first standby position 101 can be moved to the second standby position 102 while maintaining the orientation of the package hanger 12.

[0081] In the package supply system 1 of the present embodiment, package racks 61 are provided on the first side and the second side, respectively, with the movement path 100 of the bobbin rack robot 30 therebetween. The bobbin rack robot 30 can transfer the retrieved package 50 to the package racks 61 on the first side and the second side, respectively.

[0082] Thus, the bobbin rack robot 30 can retrieve the packages 50 located on both sides across the movement path 100. Therefore, the same function can be utilized, and the bobbin rack robot 30 transfers the package 50 to the package racks 61 located on both sides across the movement path 100.

[0083] The preferred embodiments of the present invention have been described above, but the above configuration can be changed as follows, for example.

[0084] The flowchart shown in this embodiment is an example, and part of the processing can be omitted, or the content of part of the processing can be changed, or new processing can be added. For example, the order of the processing steps S105 and S106 can be swapped, or they can be performed in parallel at the same time. Similarly, the order of the processing steps S108 and S109 can be swapped, or they can be performed in parallel at the same time. In addition, during the period when the AGV 20 supplies, moves, or retrieves the bobbin trolley 10, the creel robot 30 retrieves or transfers the bobbin 50, thereby improving the operation efficiency.

Claims

1. A package supply system, characterized in that: have: A package hanger having a first surface and a second surface, wherein a plurality of pegs for hanging packages are respectively provided on the first surface and the second surface; a creel robot that moves along a moving path between a first standby position and a second standby position of the package hanger, recovers the package hung on the peg on the second surface of the package hanger at the first standby position, or recovers the package hung on the peg on the first surface of the package hanger at the second standby position, and transfers the package to a creel of a yarn processing machine; a supply device for supplying the package hanger to the first standby position; and A transfer device, after the creel robot transfers the package hung on the peg on one of the first surface and the second surface of the package hanger located at the first standby position to the creel, moves the package hanger from the first standby position to the second standby position while maintaining the orientation of the package hanger, thereby making the other of the first surface and the second surface of the package hanger face the moving path of the creel robot.

2. The package feeding system according to claim 1, characterized in that: The package supply system includes a conveying device that conveys the package hanger to the creel robot.

3. The package feeding system according to claim 2, characterized in that: The supply device is provided on the conveying device.

4. The package supply system according to claim 2 or 3, characterized in that: The transport device is provided with the transfer device.

5. The package feeding system according to any one of claims 2 to 4, characterized in that: The above-mentioned transport device is a vehicle.

6. The package feeding system according to any one of claims 1 to 5, characterized in that: When the package hanger is not present at the first standby position, the supply device supplies the package hanger to the first standby position. The transfer device moves the package hanger located at the first standby position to the second standby position. The supply device supplies the package hanger to the first standby position. The supply device recovers the package hanger located at the second standby position.

7. The package feeding system according to any one of claims 1 to 6, characterized in that: A direction from the first standby position toward the second standby position in a plan view is referred to as a first direction. The transfer device includes a slide portion that moves the package hanger in the first direction.

8. The package feeding system according to claim 7, characterized in that: The transfer device includes a moving portion that moves the package hanger in a direction intersecting the first direction in a plan view. After the moving section moves the package hanger located at the first standby position in a direction intersecting the first direction in a plan view, The sliding portion moves the package hanger in the first direction. Thereafter, the moving section moves the package hanger in a direction intersecting the first direction in a plan view so as to be located at the second standby position.

9. The package feeding system according to any one of claims 1 to 8, characterized in that: After the creel robot transfers the package hung on the pin on the second surface of the package hanger to the creel, the transfer device makes the first surface of the package hanger face the moving path of the creel robot.

10. The package feeding system according to any one of claims 1 to 9, characterized in that: Creels are provided on the first side and the second side across the moving path of the creel robot. The creel robot can transfer the collected package to each of the creels on the first side and the second side.

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