Reel taking-out equipment and method

Abstract

Provided are a reel take-out apparatus and method in which a reel can be taken out in response to an arrangement angle of a shaft of a transfer cart to prevent the reel from being damaged during take-out and improve take-out workability. The reel take-out apparatus includes: a gripper unit that grips a reel core of one or more reels sequentially mounted to a shaft of a transfer cart; a first driving unit connected to the gripper unit to lift the gripper unit in a first direction; a second drive unit connected to the first drive unit to move the first drive unit in a second direction; and a controller that controls driving of the gripper unit, the first driving unit, and the second driving unit, in which the controller controls the first and second driving units to simultaneously drive to take out the reel in response to an arrangement angle of the shaft in the second direction in a state in which the gripper unit grips the reel core.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority of Korean Patent Application No. 10 - 2023 - 0192784, filed with the Korean Intellectual Property Office on December 27, 2023, and all rights arising under 35 U.S.C. 119, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a reel - take - out device and method. Background Art

[0004] In the process of manufacturing a battery, raw materials for manufacturing the battery or the manufactured battery are transferred to the next process in the form of a reel wound around a hollow core.

[0005] The raw materials or batteries supplied in the form of a reel are large in volume and have a high load, making it impossible for workers to manually handle them. Therefore, the raw materials or batteries are transported between processes using a separate transport cart.

[0006] The transport cart can be manually operated by a worker according to an operation mode or can be operated by following an input program, and many transport carts move with one or more reels installed.

[0007] However, in the process of installing a reel in the transport cart or supplying the installed reel to production equipment, since workers directly check the position or orientation of the reel, the time required for work is increased, and the labor cost of workers is increased.

[0008] Meanwhile, generally, the axis of a transport cart with one or more reels installed is set upward at a certain angle (e.g., 0.2°) according to the driving direction of the transport cart in response to the high load of the reel.

[0009] However, when the axis of a transport cart that is set upward at a certain angle or to which multiple reels are installed so that it can be switched to a downward arrangement intends to take out the reel in a straight line by gripping the core of the reel, the core of the reel and the axis may get stuck or installed with each other, so that during the take - out of the reel, the reel may not be taken out or the gripped core of the reel may be lost. For this reason, the reel can be damaged and it is difficult to take out the reel, thus deteriorating the workability. Summary of the Invention

[0010] An object of the present disclosure is to provide a winch removal device and method that can remove a winch in response to the arrangement angle of the shaft of a transport vehicle, prevent damage to the winch during the removal process, and improve the removability of the winch.

[0011] The object of the present disclosure is not limited to those mentioned above, and those skilled in the art will clearly understand additional objects of the present disclosure not mentioned herein from the following description of the present disclosure.

[0012] According to one aspect of the present disclosure, a winch removal device designed to achieve the above object includes: a gripper unit that grips the winch core of one or more winches sequentially installed on the shaft of a transport vehicle; a first drive unit that is connected to the gripper unit to lift and lower the gripper unit in a first direction; a second drive unit that is connected to the first drive unit to move the first drive unit in a second direction; a controller that controls the driving of the gripper unit, the first drive unit, and the second drive unit, wherein, in a state where the gripper unit grips the winch core, the controller controls the first drive unit and the second drive unit to be driven simultaneously in response to the arrangement angle of the shaft in the second direction to remove the winch.

[0013] According to another aspect of the present disclosure, a capstan take-out device designed to achieve the above object includes: a gripper unit that grips the capstan core of one or more capstans sequentially installed on the shaft of a transport vehicle; a first driving unit that is connected to the gripper unit to lift and lower the gripper unit in a first direction; a second driving unit that is connected to the first driving unit to move the first driving unit in a second direction; a controller that controls the driving of the gripper unit, the first driving unit, and the second driving unit; and a sensor unit that projects from the lower part of the first driving unit in the first direction toward a side guided toward the transport vehicle in the second direction, wherein the sensor unit is connected to the controller and includes: a first sensor that maps the position of the installed capstan when the number of capstans installed on the shaft is counted by the second driving unit according to the movement of the first driving unit in the second direction; a second sensor that senses the outer circumferential surface of the capstan core; and a third sensor that senses the outer circumferential surface of the shaft. The first sensor, the second sensor, and the third sensor are in the form of displacement sensors. The controller determines an error state in which the second sensor does not sense the outer circumferential surface of the capstan core covered by the capstan during winding defects of the capstan, determines an error state in which both the second sensor and the third sensor sense the outer circumferential surface of the capstan core when the first driving unit moves excessively in the second direction, determines an error state in which both the second sensor and the third sensor sense the outer circumferential surface of the shaft when the first driving unit moves slightly in the second direction, calculates the difference in height between the capstan core sensed by the second sensor and the third sensor and the shaft, and controls the simultaneous driving of the first driving unit and the second driving unit to take out the capstan in response to the arrangement angle of the shaft in the second direction according to the difference in the state where the gripper unit grips the capstan core.

[0014] According to one aspect of the present disclosure, a method for removing a reel includes: providing a reel removal device, the reel removal device including: a gripper unit that grips a core portion of one or more reels sequentially mounted on a shaft of a transport vehicle; a first drive unit that is connected to the gripper unit to lift and lower the gripper unit in a first direction; a second drive unit that is connected to the first drive unit to move the first drive unit in a second direction; a controller that controls the driving of the gripper unit, the first drive unit, and the second drive unit; and a sensor unit that projects from a lower portion of the first drive unit in the first direction toward a side oriented toward the transport vehicle in the second direction; when the controller moves the first drive unit to one side in the second direction and counts the number of reels mounted on the shaft by a first sensor of the sensor unit, mapping the positions where the reels are mounted; moving the first drive unit again to the other side in the second direction by the controller to return to its original position; moving the first drive unit in the second direction by the controller such that the first drive unit is disposed at a position corresponding to the core portion of the reel on the other side of the shaft in the second direction; determining, by the controller, a winding defect of the reel and an excessive or slight movement of the first drive unit in the second direction through sensing by a second sensor and a third sensor of the sensor unit; calculating, by the controller, a difference between the height of the core portion of the reel sensed by the second sensor and the third sensor and the height of the shaft; lowering the gripper unit from the first drive unit by the controller; gripping the core portion of the reel by the gripper unit by the controller; and in response to an arrangement angle of the shaft in the second direction, controlling, by the controller, simultaneous driving of the first drive unit and the second drive unit according to the difference to remove the reel and transfer the reel to a port.

[0015] Details of other embodiments are included in the detailed description and the drawings.

[0016] In a reel removal device and method according to some embodiments of the present disclosure, a difference between the height of a core portion of a reel and a shaft can be calculated by a sensor unit, and the first drive unit and the second drive unit can be controlled to be simultaneously driven according to the difference in height to remove the reel in a case corresponding to an arrangement angle of a shaft of a transport vehicle, thereby preventing damage to the reel and improving the efficiency of the reel removal operation.

[0017] The effects of the embodiments according to the present disclosure are not limited to those mentioned above, and more various effects are included in the following description of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Referring to the accompanying drawings, the above and other aspects and features of the present disclosure will become apparent from the following detailed description of embodiments of the present disclosure.

[0019] Figure 1 FIG. 1 is a schematic perspective view showing a spool removal device according to an embodiment of the present disclosure;

[0020] Figure 2 FIG. 2 is a schematic partial perspective view showing a gripper unit of the spool removal device according to some embodiments of the present disclosure;

[0021] Figure 3 and Figure 4 FIG. 3 is a schematic cross-sectional view showing the spool removal device according to some embodiments of the present disclosure;

[0022] Figure 5 FIG. 4 is a schematic conceptual diagram showing the connection relationship between a controller of the spool removal device and various components according to some embodiments of the present disclosure;

[0023] Figure 6 FIG. 5 is a schematic partial cross-sectional view showing a sensor unit of the spool removal device according to some embodiments of the present disclosure;

[0024] Figures 7 to 10 FIG. 6 is a schematic partial cross-sectional view showing that the sensor unit of the spool removal device senses the winding defect state of the spool and the degree of excessive or slight movement of a first driving unit according to some embodiments of the present disclosure;

[0025] Figure 11 FIG. 7 is a partial cross-sectional view showing that the sensor unit of the spool removal device senses the height between a spool core and a shaft according to some embodiments of the present disclosure;

[0026] Figure 12 FIG. 8 is a schematic flow chart showing a spool removal method according to some embodiments of the present disclosure; and

[0027] Figures 13 to 18 FIG. 9 is a schematic perspective view showing the spool removal method according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] In the following, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The advantages and features of the present disclosure, as well as the methods for achieving the advantages and features, will be apparent from the following embodiments, which will be described in more detail with reference to the accompanying drawings. However, it should be noted that the present disclosure is not limited to the following embodiments and can be implemented in various forms. The embodiments are provided only to disclose the present disclosure and enable those skilled in the art to understand the scope of the present disclosure. In the drawings, the embodiments of the present disclosure are defined by the scope of the claims. Throughout the specification, the same reference numerals denote the same elements.

[0029] The terms used herein are for the purpose of the embodiments and are not intended to limit the present disclosure. In the present disclosure, unless otherwise mentioned, the singular forms are intended to include the plural forms. The terms "comprise" and / or "comprising" used herein specifically point out the stated elements, steps, operations, and / or objects, but do not exclude the existence or addition of one or more other elements, steps, operations, and / or objects.

[0030] Figure 1 FIG. shows a schematic perspective view of a spool removal device according to an embodiment of the present disclosure.

[0031] Reference Figure 1 , the spool removal device 100 according to some embodiments of the present disclosure may include a gripper unit 110, a first driving unit 120, a second driving unit 130, and a controller 140.

[0032] Figure 2 FIG. shows a schematic partial perspective view of the gripper unit of the spool removal device according to some embodiments of the present disclosure.

[0033] Referring Figure 1 and Figure 2 , the gripper unit 110 may grip the spool cores 11 of one or more spools 10 sequentially inserted into the shaft 2 of the transport vehicle 1.

[0034] The gripper unit 110 may include a coupling plate 112, an extension plate 113, a gripper 114, a linear motion LM guide 115, a linear motion LM block 116, a rotating shaft S, a drive motor 117, a driving pulley 118, and a timing belt 119.

[0035] The coupling plate 112 may be coupled to the lifting block 111 of the first driving unit 120. The coupling plate 112 may have a shape with its other side along the third direction D3 coupled to the lifting block 111. The coupling plate 112 may rise or fall simultaneously with the lifting and lowering of the lifting block 111.

[0036] In this case, the lifting block 111 of the first driving unit 120 may have a shape that is coupled to the lifting guide rails 121 provided on both sides of the first driving unit 120 along the second direction D2. The lifting block 111 may be coupled to the lifting guide rails 121 to rise or fall along the first direction D1.

[0037] The extension plate 113 may have a shape extending from the coupling plate 112. The extension plate 113 may extend from one side of the coupling plate 112 along the second direction D2. The extension plate 112 may have a shape extending from the coupling plate 112 along the third direction D3.

[0038] The extension plate 112 may include an extension groove H formed in a central portion along the third direction D3. The timing belt 119 may have a shape extending along the second direction D2 through the extension groove H.

[0039] The gripper 114 may be provided on the extension plate 113. The gripper 114 may be provided on one side of the extension plate 113 facing the transport vehicle 1 along the second direction D2. The gripper 114 may extend downward from the extension plate 113 along the first direction D1 toward the winch 10.

[0040] The grippers 114 may be provided in pairs and be spaced apart from each other along the third direction D3.

[0041] The pair of grippers 114 may grip the winch core 11. The pair of grippers 114 may surround and grip the outer peripheral surface of the winch core 11.

[0042] The linear motion LM guide rails 115 may be provided on the extension plate 113. The linear motion LM guide rails 115 may be provided on one side of the extension plate 113 along the second direction D2. The linear motion LM guide rails 115 may be provided at the lower end of the extension plate 113 along the first direction D1. The linear motion LM guide rails 115 may be provided in pairs and be spaced apart from each other along the third direction D3 in the extension plate 113.

[0043] The pair of linear motion LM guide rails 115 may extend along the third direction D3.

[0044] The linear motion LM blocks 116 may be respectively provided on the pair of linear motion LM guide rails 115. The linear motion LM blocks 116 may be provided to be linearly movable along the third direction D3.

[0045] Each of the pair of linear motion LM blocks 116 may have a shape in which the gripper 114 is coupled to one side along the second direction D2.

[0046] The rotation axis S can be provided on the extension plate 113. The rotation axis S can be provided on one side of the extension plate 113 along the second direction D2. The rotation axis S can have a shape that is provided above the linear motion LM guide 115 along the first direction D1.

[0047] The rotation axis S can be coupled to the gripper pair 114 while passing through the gripper pair 114. The rotation axis S can be coupled to the gripper pair 114 through the coupler C. Even if the coaxial (concentric axis) of the rotation axis S is not misaligned during the movement of the gripper pair 114, the coupler C can keep the rotation axis S rotating axially along a predetermined direction.

[0048] The rotation axis S can have a shape that connects the gripper pair S. The rotation axis S can move the gripper pair 114 along the third direction D3 by the driving force transmitted by the drive motor 117.

[0049] The rotation axis S can have a ball screw shape. The rotation axis S can convert the rotational movement of the drive motor 117 into the linear movement of the gripper pair 114 provided on the rotation axis S.

[0050] The rotation axis S can be rotated by the drive motor 117 to linearly move the gripper pair 114 along the third direction D3.

[0051] The rotation axis S can move the gripper pair 114 along the third direction D3 simultaneously.

[0052] The rotation axis S can move either one of the gripper pair 114 from one side to the other side along the third direction D3. The rotation axis S can move the other one of the gripper pair 114 from the other side to one side along the third direction D3.

[0053] In addition, the rotation axis S can move either one of the gripper pair 114 from the other side to one side along the third direction D3. The rotation axis S can move the other one of the gripper pair 114 from one side to the other side along the third direction D3.

[0054] As a result, the rotation axis S can widen or narrow the gap between the gripper pairs 114.

[0055] The rotation axis S can narrow the gap between the gripper pairs 114 so that the gripper pairs 114 can grip the outer peripheral surface of the winch core 11.

[0056] The rotation axis S can widen the gap between the gripper pairs 114 to release the grip on the winch core 11.

[0057] The drive motor 117 can be disposed on the other side of the extension plate 113 along the second direction D2. The drive motor 117 can be disposed on the opposite side of the gripper pair 114 on the extension plate 113. The drive motor 117 is connected to the rotating shaft S to transmit driving force to the rotating shaft S. The drive motor 117 is connected to the rotating shaft S through the drive pulley 118.

[0058] The drive motor 117 generates a rotational force to transmit driving force to the rotating shaft S having a ball screw shape. The drive motor 117 can be connected to the controller 140. The controller 140 can actuate the drive motor 117. When the drive motor 117 is driven by the controller 140, the gap formed by the gripper pair 114 can be widened or narrowed through the rotating shaft S.

[0059] The drive pulley 118 can be disposed on the rotating shaft S. The drive pulley 118 can also be disposed on the shaft of the drive motor 117.

[0060] The timing belt 119 can have a shape that connects the drive pulley 118 of the rotating shaft S to the drive pulley 118 of the drive motor 117. The timing belt 119 can extend along the second direction D2 from the drive pulley 118 of the drive motor 117 through the extension groove H of the extension plate 113 and connect to the drive pulley 118 of the rotating shaft S. The timing belt 119 can rotate the rotating shaft S by transmitting driving force from the drive motor 117 to the rotating shaft S.

[0061] Figure 3 and Figure 4 is a schematic cross-sectional view showing a capstan take-out device according to some embodiments of the present disclosure.

[0062] Referring Figures 1 to 4 , the first driving unit 120 can be disposed along the first direction D1. The first driving unit 120 can be in the form of a frame having a predetermined thickness along the third direction D3.

[0063] The first driving unit 120 can include a lifting block 111. The lifting block 111 can have a shape that is coupled to the lifting guide rails 121 disposed on both sides of the first driving unit 120 along the second direction D2. The lifting block 111 can be coupled to the lifting guide rails 121 to rise or fall along the first direction D1.

[0064] The lifting block 111 can be connected to a separate power source. In this case, the power source can have a shape that is connected to the controller 140. The lifting block 111 can be driven by the controller 140 to rise and fall.

[0065] The first driving unit 120 may include lifting guide rails 121 formed on both sides along the second direction D2. The first driving unit 120 may be connected to the gripper unit 110. The first driving unit 120 may have a shape connected to the gripper unit 110 through a lifting block 111.

[0066] The lifting guide rails 121 may have a shape that allows the lifting block 111 to be coupled to move up or down. The gripper unit 110 may be lifted or lowered along the first direction D1 through the lifting block 111 coupled to the lifting guide rails 121.

[0067] The second driving unit 130 may be disposed along the second direction D2. The second driving unit 130 may be in the form of a frame having a predetermined thickness along the third direction D3.

[0068] The second driving unit 130 may include a driving guide rail 131 disposed on a side facing the gripper unit 110 and guiding along the third direction D3. The second driving unit 130 may be connected to the first driving unit 120. The second driving unit 130 may include a driving block 132 movably coupled to the driving guide rail 131 along the second direction D2. The second driving unit 130 may have a shape connected to the first driving unit 120 through the driving block 132. The first driving unit 120 may be coupled to one side and the other side of the driving block 132 along the first direction D1.

[0069] The driving block 132 may have a shape in which the other side of the first driving unit 120 is coupled along the third direction D3. The driving block 132 may move the first driving unit 120 along the second direction D2 when coupled to the driving guide rail 131. The driving block 132 may be connected to a separate power source. In this case, the power source may have a shape connected to the controller 140. The driving block 132 may be moved by the controller 140 along the second direction D2.

[0070] Figure 5 A schematic conceptual diagram showing the connection relationship between the controller of the winch removal device and various components according to some embodiments of the present disclosure.

[0071] Referring to Figures 1 to 5 , the controller 140 may be connected to the gripper unit 110, the first driving unit 120, and the second driving unit 130.

[0072] The controller 140 may be connected to the driving block 132 of the second driving unit 120 to move the first driving unit 120 along the second direction D2.

[0073] The controller 140 may be connected to the lifting block 111 of the first driving unit 120 such that the first driving unit 120 may lift or lower the gripper unit 110 along the first direction D2.

[0074] The controller 140 is connected to the drive motor 117 of the gripper unit 110, so that the gripper pair 114 can grip or release the grip on the winch core 11.

[0075] The controller 140 can control the first drive unit 120 and the second drive unit 130 to drive them simultaneously in a state where the gripper unit 110 grips the winch core 11, so that the winch 10 can be taken out in response to the arrangement angle of the shaft 2 according to the second direction D2.

[0076] That is, the controller 140 can simultaneously control the lifting block 111 and the drive block 132 in response to the arrangement angle of the shaft 2 according to the second direction D2, so that the winch 10 can be corrected upward or downward at an angle along the first direction D1. Therefore, it can be taken out obliquely.

[0077] Figure 6 FIG. is a schematic partial cross-sectional view of a sensor unit of a winch removal device according to some embodiments of the present disclosure. Figures 7 to 10 FIG. is a schematic partial cross-sectional view of a sensor unit of a winch removal device according to some embodiments of the present disclosure, where the sensor senses the winding defect state of the winch and the degree of excessive or slight movement of the first drive unit. Figure 11 FIG. is a partial cross-sectional view of a sensor unit of a winch removal device according to some embodiments of the present disclosure, sensing the height of the winch core and the shaft.

[0078] Referring to Figures 6 to 11 , the winch removal device 100 according to some embodiments of the present disclosure may further include a sensor unit 150, which is arranged to project from the lower part of the first drive unit 120 along the first direction D1 toward the side guided toward the transport vehicle 1 along the second direction D2.

[0079] The sensor unit 150 can be connected to the controller 140. The sensor 150 can include a first sensor 151, a second sensor 152, and a third sensor 153.

[0080] The first sensor 151 can be connected to the controller 140. The first sensor 151 can be in the form of a displacement sensor.

[0081] When counting the number of one or more winches 10 installed on the shaft 2 according to the movement of the first drive unit 120 along the second direction D2 by the second drive unit 130, the first sensor 151 maps the position where the winch 10 is installed.

[0082] In Figures 7 to 11In [description], the reference numeral "S1" denotes a sensing line S1 sensed by the first sensor 151 to map the number of the capstans 10 and the positions where the capstans 10 are installed.

[0083] The second sensor 152 may be connected to the controller 140. The second sensor 152 may be in the form of a displacement sensor.

[0084] The second sensor 152 senses the outer peripheral surface of the capstan core 11.

[0085] In Figures 7 to 11 In [description], the reference numeral "S2" denotes a sensing line S2 sensed by the second sensor 151 to sense the outer peripheral surface of the capstan core 11.

[0086] The third sensor 153 may be connected to the controller 140. The third sensor 153 may be in the form of a displacement sensor.

[0087] The third sensor 153 senses the outer peripheral surface of the shaft 2.

[0088] In Figures 7 to 11 In [description], the reference numeral "S3" denotes a sensing line S3 sensed by the third sensor 151 to sense the outer peripheral surface of the shaft 2.

[0089] Refer to Figure 8 , when the winding state of the capstan 10 is a defective state such as an inclined state, the controller 140 may determine an error state in which the second sensor 152 does not sense the outer peripheral surface of the capstan core 11 covered by the capstan 10.

[0090] Refer to Figure 9 , when the first driving unit 120 moves excessively to one side in the second direction D2, the controller 140 may control the second driving unit 130 by determining an error state in which both the second sensor 152 and the third sensor 153 sense the outer peripheral surface of the capstan core 11, so as to move the first driving unit 120 to the other side in the second direction D2.

[0091] Refer to Figure 10 , when the first driving unit 120 moves slightly to one side in the second direction D2, the controller 140 may control the second driving unit 130 by determining an error state in which both the second sensor 152 and the third sensor 153 sense the outer peripheral surface of the shaft 2, so as to further move the first driving unit 120 to one side in the second direction D2.

[0092] Refer to Figure 11 , the controller 140 may calculate the difference between the height H1 of the capstan core 11 sensed by the second sensor 152 and the height H2 of the shaft 2 sensed by the third sensor 153.

[0093] While the gripper unit 110 holds the core 11 of the reel, the controller 140 controls the simultaneous driving of the first driving unit 120 and the second driving unit 130 according to the difference between the height H1 of the core 11 of the reel and the height H2 of the shaft 2, so that the reel 10 can be taken out in response to the arrangement angle of the shaft 2 in the second direction D2.

[0094] That is, while the gripper pair 114 holds the core 11 of the reel, the controller 140 can simultaneously control the lifting block 111 and the driving block 132 according to the height difference between the height H1 of the core 11 of the reel and the height of the shaft 2, so that the reel 10 can be corrected at an angle upward or downward in the first direction D1 in response to the arrangement angle of the shaft 2 in the second direction D2, and thus the reel 10 can be taken out obliquely.

[0095] Figure 12 It is a schematic flowchart showing a method for taking out a reel according to some embodiments of the present disclosure. Figures 13 to 18 It is a schematic perspective view showing a method for taking out a reel according to some embodiments of the present disclosure.

[0096] Refer to Figures 12 to 14 , the second driving unit 130 is first driven by the controller 140 so that the first driving unit 120 moves to one side in the second direction D2, and when counting the number of one or more reels 10 mounted on the shaft 2 of the transport vehicle 1 (S110), the first sensor 151 of the sensor unit 150 maps the positions where one or more reels 10 are mounted.

[0097] Refer to Figure 12 and Figure 15 , when the number of reels 10 has been counted and the mapping of the mounting positions of the reels 10 is completed, the controller 140 drives the second driving unit 130 again so that the first driving unit 120 moves back to the other side in the second direction and returns to its original position (S120).

[0098] After the first driving unit 120 returns to its original position, the controller 140 drives the second driving unit 130 again to take out the reel 10, so that the first driving unit 120 moves to one side in the second direction D2.

[0099] At this time, the first driving unit 120 is disposed at a position corresponding to the core 11 of the reel 10 on the other side of the shaft 2 in the second direction (S130).

[0100] The controller 140 stops driving the second driving unit 130.

[0101] Subsequently, the controller 140 determines the winding defect of the winch 10 and the degree of excessive or slight movement of the first driving unit 120 in the second direction D2 by sensing the sensing of the second sensor 152 and the third sensor 153 of the sensor unit 150 (S140).

[0102] The controller 140 calculates the difference between the height of the winch core 11 sensed by the second sensor 152 and the third sensor 153 and the height of the shaft 2 (S150).

[0103] Refer to Figure 12 and Figure 16 and, the lifting block 111 is driven by the controller 140 so that the gripper unit 110 descends from the first driving unit 120 (S160).

[0104] Refer to Figure 12 、 Figure 16 and Figure 17 and, the drive motor 117 is driven by the controller 140 so that the gripper pair 114 of the gripper unit 140 grips the winch core 11 (S170).

[0105] Refer to Figure 12 and Figure 18 and, the controller controls the simultaneous driving of the first driving unit 120 and the second driving unit 130 according to the difference between the height of the winch core 11 and the height of the shaft 2, so that the winch 10 is taken out in response to the arrangement angle of the shaft 2 in the second direction D2, and then it is transferred to the port (S180).

[0106] That is to say, in the state where the gripper pair 114 grips the winch core 11, according to the height difference between the height H1 of the winch core 11 and the height of the shaft 2, the lifting block 111 and the drive block 132 can be simultaneously controlled by the controller 140, so that the winch 10 is corrected at an upward or downward angle in the first direction D1 in response to the arrangement angle of the shaft 2 in the second direction D2, and then taken out obliquely.

[0107] As described above, in the winch taking-out device and method according to some embodiments of the present invention, the difference between the height of the winch 11 and the shaft 2 is calculated by the sensor unit 150, and the first driving unit 120 and the second driving unit 130 are controlled to perform simultaneously according to the difference between the heights, so that the winch 10 can be taken out in response to the arrangement angle of the shaft 2 of the transport vehicle 1, thereby preventing damage to the winch 10 and improving the efficiency of the winch 10 taking-out work.

[0108] Although embodiments of the present disclosure have been described with reference to the accompanying drawings, it is apparent to those skilled in the art that the present disclosure can be embodied in other specific forms without departing from the technical spirit and basic characteristics of the present disclosure. Therefore, the above-described embodiments are considered illustrative rather than restrictive in all respects.

Claims

1. A winch pulley removal device, comprising: a gripper unit that grips the capstan core of one or more capstans that are sequentially mounted to the axle of the transport vehicle; a first driving unit connected to the gripper unit to lift and lower the gripper unit in a first direction; a second driving unit connected to the first driving unit to move the first driving unit in a second direction; as well as a controller that controls driving of the gripper unit, the first driving unit, and the second driving unit, Wherein, in a state where the clamp unit clamps the core of the reel, the controller controls the first driving unit and the second driving unit to drive simultaneously in response to the arrangement angle of the shaft along the second direction to remove the reel.

2. The winch removal device according to claim 1, wherein: The gripper unit comprises: a coupling plate coupled to a lifting block, the lifting block coupled to a lifting rail along the first direction, the lifting rail being disposed on both sides of the first driving unit along the second direction; an extension plate having a shape extending from the coupling plate in a third direction; A pair of grippers is disposed on one side of the extension plate, the pair of grippers is directed toward the transport vehicle along the second direction and is disposed to be spaced apart from each other along the third direction.

3. The winch removal device according to claim 2, wherein: The gripper unit comprises: a pair of linear motion LM guides spaced apart from each other in the third direction on a surface of one side of the extension plate in the second direction; and A linear motion LM block is provided on each of the linear motion LM guide pair to linearly move in the third direction and has one side to which the clamper is coupled in the second direction.

4. The winch removal device according to claim 3, wherein: The gripper unit comprises: a rotating shaft, the rotating shaft being disposed above the linear motion LM guide in the first direction on one side of the extension plate in the second direction and being coupled to the clamp pair by a coupler while passing through the clamp pair; a driving motor, the driving motor being arranged on the other side of the extension plate along the second direction; a drive pulley provided on each of the rotating shaft and the drive motor; and A timing belt connects the drive pulley of the rotating shaft and the drive pulley of the drive motor.

5. The winch removal device according to claim 4, wherein: The extension plate includes an extension groove formed at a central portion along the third direction, and the timing belt extends from the drive pulley of the drive motor along the second direction and is connected to the drive pulley of the rotation shaft through the extension groove.

6. The capstan removal device according to claim 4, wherein: The drive motor is connected to the controller.

7. The winch removal device according to claim 6, wherein: A gap between the pair of grippers spaced apart from each other in the third direction is widened or narrowed in the third direction by driving of the driving motor.

8. The winch removal device according to claim 2, wherein: The lifting block is connected to a power source, and The power supply is connected to the controller.

9. The winch removal device according to claim 2, wherein: The second driving unit comprises: a drive rail provided on a side directed toward the gripper unit along the third direction; and A driving block is coupled to the driving rail to move along the second direction.

10. The capstan removal device according to claim 9, wherein: The first driving unit is coupled to the driving block along the other side of the third direction so that the first driving unit moves along the second direction.

11. The capstan removal device according to claim 10, wherein: The driver block is connected to a power supply, and The power supply is connected to the controller.

12. The capstan removal device according to claim 1, wherein: The apparatus further includes a sensor unit protruding from a lower portion of the first driving unit in the first direction toward a side directed toward the transport vehicle in the second direction.

13. The capstan removal device according to claim 12, wherein: The sensor unit is connected to the controller.

14. The capstan removal device according to claim 12, wherein: The sensor unit comprises: a first sensor that maps the position where the capstan is mounted when the number of the capstans mounted to the shaft is counted by the second drive unit according to the movement of the first drive unit in the second direction, a second sensor that senses an outer peripheral surface of the reel core, and A third sensor senses an outer peripheral surface of the shaft.

15. The capstan removal device according to claim 14, wherein: The first sensor, the second sensor and the third sensor are in the form of displacement sensors, The controller calculates a difference between the heights of the reel core and the shaft sensed by the second sensor and the third sensor, and In a state where the gripper unit grips the reel core, the first driving unit and the second driving unit are controlled to be driven simultaneously according to the difference in response to the arrangement angle of the shaft along the second direction to remove the reel.

16. The capstan removal device according to claim 15, wherein: The controller determines an error state in which the second sensor does not sense an outer circumferential surface of the reel core covered by the reel during a winding defect of the reel.

17. The capstan removal device according to claim 15, wherein: The controller determines that when the first driving unit excessively moves in the second direction, both the second sensor and the third sensor sense an error state of the outer peripheral surface of the reel core.

18. The capstan removal device according to claim 15, wherein: The controller determines that when the first driving unit slightly moves in the second direction, both the second sensor and the third sensor sense an erroneous state of the outer circumferential surface of the shaft.

19. A capstan removal device, comprising: a gripper unit that grips the capstan core of one or more capstans that are sequentially mounted to the axle of the transport vehicle; a first driving unit connected to the gripper unit to lift and lower the gripper unit in a first direction; a second driving unit connected to the first driving unit to move the first driving unit in a second direction; a controller that controls driving of the gripper unit, the first driving unit, and the second driving unit, and a sensor unit protruding from a lower portion of the first driving unit in the first direction toward a side directed toward the transport vehicle in the second direction, wherein the sensor unit is connected to the controller, and comprising a first sensor, a second sensor and a third sensor, wherein the first sensor maps the position where the capstan is installed, when the number of the capstans installed to the shaft is counted by a second driving unit according to the movement of the first driving unit in the second direction; and the second sensor senses the outer peripheral surface of the capstan; and a third sensor that senses an outer peripheral surface of the shaft, The first sensor, the second sensor and the third sensor are in the form of displacement sensors, the controller determines an error state in which the second sensor does not sense the outer circumferential surface of the reel core covered by the reel during a winding defect of the reel, determining that when the first drive unit excessively moves in the second direction, both the second sensor and the third sensor sense an error state of the outer peripheral surface of the reel core, determining that when the first driving unit is slightly moved in the second direction, both the second sensor and the third sensor sense an error state of the outer peripheral surface of the shaft, calculating a difference between the heights of the reel core and the shaft sensed by the second sensor and the third sensor, and In a state where the gripper unit grips the reel core, the first driving unit and the second driving unit are controlled to be driven simultaneously according to the difference in response to the arrangement angle of the shaft along the second direction to remove the reel.

20. A method for removing a capstan, the method comprising: A capstan take-out device is provided, the capstan take-out device comprising: a gripper unit that grips a capstan core of one or more capstans sequentially mounted to an axle of a transport vehicle; a first drive unit that is connected to the gripper unit to lift and lower the gripper unit in a first direction; a second drive unit that is connected to the first drive unit to move the first drive unit in a second direction; a controller that controls driving of the gripper unit, the first drive unit, and the second drive unit; and a sensor unit that protrudes from a lower portion of the first drive unit in the first direction toward a side directed toward the transport vehicle in the second direction; mapping the positions where the capstans are mounted, in a case where the number of capstans mounted to the shaft is counted by the first sensor of the sensor unit according to moving the first driving unit to one side in the second direction by the controller; Move the first driving unit again to the other side along the second direction by the controller to return to its original position; moving the first drive unit along the second direction by the controller so that the first drive unit is disposed at a position corresponding to the reel core of the reel on the other side of the shaft along the second direction; The controller determines a winding defect of the capstan and an excessive or slight movement of the first driving unit in the second direction through sensing by the second sensor and the third sensor of the sensor unit; calculating, by the controller, a difference between the heights of the reel core and the shaft sensed by the second sensor and the third sensor; causing the gripper unit to descend from the first drive unit by the controller; The reel core is clamped by the clamp unit through the controller; In response to the arrangement angle of the shaft along the second direction, the first driving unit and the second driving unit are controlled by the controller to be driven simultaneously according to the difference to take out the reel and transfer the reel to a port.

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