System for transporting and processing yarn

Abstract

A device for servicing a twisting machine is provided. The device comprises an automatic guided vehicle (AGV); a robotic arm, the robotic arm having an end effector coupled to the AGV; and the rack is carried by the AGV (Automatic Guided Vehicle). The frame is configured to receive a plurality of empty tubes and a plurality of yarn packages. A controller configured to cause the robotic arm to clamp a row of handles of the twisting machine by the end effector, lower the receptacles of the twisting machine to a loaded position, remove empty 7 tubes from a first of the at least one receptacles, place the empty 7 tubes on the frame, and release the empty 7 tubes from a second of the at least one receptacles. A yarn package is lifted from the frame, the yarn package is placed on the first receptacle, the handle of the row of the plurality of rows of the twister is gripped, and the at least one receptacle is raised to an operating position.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority to and the filing date of U.S. Provisional Patent Application No. 63 / 480,217, filed on January 17, 2023, the entire contents of which are hereby incorporated by reference herein. Technical Field

[0003] The present disclosure relates to systems and methods for handling yarn packages. Background Art

[0004] Conventionally, fiber packages (fiber wound on tubes) for supplying yarn twisting machines are handled by operators. The operator receives a pallet of yarn packages, manually positions the yarn packages on the twisting machine, and then transports the yarn packages formed by the twisting machine to the creel of the heat setting machine. This requires a large number of operators and exposes the operators to typical occupational hazards. Therefore, a method that reduces direct operator interaction is desired. Summary of the Invention

[0005] Various aspects are described herein, including an apparatus for servicing a twisting machine having a plurality of rows, each row having at least one receptacle for receiving a yarn package and a handle for moving the at least one receptacle about and between a loading position and an operating position. The apparatus comprises an automated guided vehicle (AGV) and a robotic arm coupled to the AGV, wherein the robotic arm comprises an end effector. A frame is carried by the AGV. The frame is configured to accommodate a plurality of empty tubes and a plurality of yarn packages. At least one controller is configured to cause the robotic arm to: clamp the handle of one of the multiple rows of the twisting machines by the end effector; lower the at least one accommodating portion to the loading position by the handle; remove the empty tube from the first accommodating portion of the at least one accommodating portion by the end effector; place the empty tube on the frame; lift the yarn package from the frame by the end effector; place the yarn package on the first accommodating portion; clamp the handle of the row of the multiple rows of the twisting machines by the end effector; and raise the at least one accommodating portion to the operating position by the handle.

[0006] In another aspect, a system includes an apparatus and the twisting machine. The system may further include a destacking station. The system may further include a heat setting machine having a creel. The apparatus may be configured to load yarn packages onto the creel of the heat setting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1is a perspective view of a system for handling and processing yarn as disclosed herein.

[0008] Figure 2 yes Figure 1 A top plan view of the depalletizing station of the system.

[0009] Figure 3 yes Figure 1 A perspective view of the system's rack.

[0010] Figure 4 yes Figure 3 A partial perspective view of the lower portion of the rack.

[0011] Figure 5 yes Figure 3 A partial perspective view of the rack.

[0012] Figure 6 is a perspective view of a first apparatus for handling yarn packages as disclosed herein.

[0013] Figure 7 is a perspective view of a second apparatus for transporting yarn packages as disclosed herein.

[0014] Figure 8 is a partial perspective view of a yarn twisting machine as disclosed herein, with one row in an operating position.

[0015] Figure 9 yes Figure 8 Partial perspective view of a yarn twisting machine with the rows in the loading position.

[0016] Figure 10 yes Figure 6 A partial perspective view of the end effector of the robot of the first apparatus.

[0017] Figure 11 yes Figure 1 A partial perspective view of a heat setting machine of a system in which a first device loads unloaded packages onto a machine frame.

[0018] Figure 12 yes Figure 1 Another partial perspective view of the heat setting machine of the system, wherein the first device loads the unloaded rolls onto the frame.

[0019] Figure 13 yes Figure 1 A partial perspective view of a creel of a heat setting machine of a system of FIG. 1 , wherein a first device loads a yarn package onto the creel.

[0020] Figure 14 is a block diagram of a first device as disclosed herein.

[0021] Figure 15is a block diagram of a computing system for controlling the operation of the system as disclosed herein. DETAILED DESCRIPTION

[0022] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all, embodiments of the invention are shown. Indeed, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Throughout the text, like reference numerals refer to like elements. It should be understood that the present invention is not limited to the specific methods and arrangements described, as these may vary. It should be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the scope of the invention.

[0023] Many modifications and other embodiments of the invention set forth herein will occur to one skilled in the art having the benefit of the teachings presented in the foregoing description and the associated drawings. Therefore, it should be understood that the invention is not limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

[0024] As used herein, the singular forms "a," "an," and "the" may optionally include plural referents unless the context clearly indicates otherwise. For example, use of the term "a package" may indicate disclosure of embodiments that provide only a single such package, and may also indicate disclosure of embodiments that provide a plurality of such packages, unless the context indicates otherwise.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0026] In this article, ranges can be expressed as from "about" a specific value and / or to "about" another specific value. When expressing such a range, another aspect includes from a specific value and / or to another specific value. Similarly, when a value is expressed as an approximation by using the antecedent "about", it should be understood that the specific value forms another aspect. It will be further understood that the endpoints of each of the ranges are important relative to the other endpoint and independently of the other endpoint. Optionally, in some aspects, when approximating a value by using the antecedent "about", it is considered that the value within the range of at most 15%, at most 10%, at most 5% or at most 1% (higher or lower) of the specifically specified value can be included in the scope of these aspects. Similarly, in some optional aspects, when approximating a value by using the term "approximately", "substantially" or "generally", it is considered that the value within the range of at most 15%, at most 10%, at most 5% or at most 1% (higher or lower) of the specific value can be included in the scope of these aspects. When used with respect to an identified characteristic or circumstance, "substantially" or "generally" may refer to a degree of deviation that is small enough not to deviate from the identified characteristic or circumstance in measurement, and the exact degree of deviation allowed may in some cases depend on the specific context.

[0027] As used herein, the terms "optional" or "optionally" mean that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event or circumstance occurs and instances where it does not.

[0028] As used herein, the word "or" means any one member of a particular list, and unless the context indicates otherwise, can optionally include any combination of members of that list.

[0029] The following description provides specific details to provide a thorough understanding. However, those skilled in the art will appreciate that the apparatus and associated methods using the apparatus may be implemented and used without employing these specific details. In fact, the apparatus and associated methods may be put into practice by modifying the apparatus and associated methods shown and may be used in conjunction with any other apparatus and techniques conventionally used in the industry.

[0030] As used herein, the term "yarn" refers to a continuous strand or bundle of fibers. Such yarns may include, for example, but are not limited to, monofilament yarns, bulky continuous fiber yarns, staple fiber yarns, fibrillated yarns, multifilament yarns, twisted yarns, covered yarns, and the like.

[0031] introduction

[0032] This article discloses (and references Figure 1) A system 10 for automated yarn handling. The system can receive a pallet 11 containing a plurality of yarn packages 12 at a destacking station 100. The destacking station 100 can remove the padding (wrapping material, etc.) from the pallet 11 and stack the yarn packages 12 on a rack 300. The system 10 can then deliver the yarn packages 12 placed on the rack 300 to a twisting machine 200. The twisting machine 200 can form a twisted yarn package 20 ( Figure 11 ). The system unloads the twisted yarn package 20 from the twisting machine 200 and delivers the twisted yarn package 20 to the creel of the heat setting machine 600.

[0033] Unloading station

[0034] refer to Figure 2 , the depalletizing station 100 can include a robotic arm 120. The depalletizing station 10 can be configured to receive a pallet 110 containing a plurality of yarn packages 12 at a first location 112. In some aspects, the plurality of yarn packages 12 can contain or consist of monofilament yarn. In other aspects, the yarn packages can contain any fiber type, including but not limited to bulk continuous filament yarn. However, it is contemplated that other yarn types can be provided on the yarn packages 12. The first location 112 can include a conveyor 113 (e.g., a belt conveyor and / or a plurality of rollers) that can transport the pallet 110 toward the robotic arm 120.

[0035] The robotic arm 120 can be configured to remove dunnage from the tray 110. For example, the robotic arm 120 can include a vacuum end effector for gripping the dunnage. The robotic arm 120 can discard the removed dunnage in a waste area 114. In some aspects, the waste area 114 can have a waste container for receiving the removed dunnage.

[0036] The robotic arm 120 can be configured to stack the yarn packages 12 from the tray 110 onto the frame 300. For example, in some aspects, the robotic arm 120 can include a gripper configured to contact the outer surface of the yarn package 12 to receive and position the yarn package. Optionally, in these aspects, the gripper can include multiple (e.g., a pair) gripping elements that can move toward and away from each other to grip the outer surface of the yarn package 12. In other aspects, the gripper can be configured to grip the yarn package from within a tube of the yarn package. For example, the gripper can include multiple gripping elements that can move radially outward from each other to grip the tube.

[0037] In some aspects, the tray 11 may contain multiple stacked layers of yarn packages 12. The layers may be separated by partitions, and the entire tray may be wrapped in plastic. The robotic arm 120 may first remove the plastic wrapping and discard it in the waste area 114. The robotic arm 120 may then transfer one layer of yarn packages to the rack 300. The robotic arm 120 may then remove the partition to expose the layer of yarn packages below, placing the partition in the waste area 114. The robotic arm 120 may then transfer the next layer of yarn packages 120 to the rack 300. This sequence may be repeated until all layers of yarn have been transferred to the rack 300. The robotic arm 120 may then transfer the base of the tray to the base stacking area, making room for the next tray in the first location 112.

[0038] Delivery of packages to twisting machine

[0039] refer to Figure 6 and 7 , equipment including an automated guided vehicle (AGV) can deliver the yarn package 12 to the twisting machine 200. In some aspects, reference Figure 6 , the first device 400 can transport the rack 300 to the twisting machine 200. In an alternative aspect, the second device 500 can transport the rack 300 to the temporary storage area 30 before the rack is finally delivered to the twisting machine 200 by the first device 400. In an exemplary aspect, the first device 400 and / or the second device 500 can move under the rack and move upward (e.g., by a scissor lift or elevator 502) to pick up the rack 300. Figure 7 As shown, the second device 500 can include one or more features 504 (e.g., vertically extending protrusions) that engage the housing 300 to inhibit movement of the housing relative to the second device 500. In some aspects, the one or more features 504 can include a tapered (e.g., frustoconical) surface that facilitates positioning of the housing relative to the second device 500. In some aspects, the first device 400 can include similar features. Figure 4 , the housing 300 can include a downwardly extending protrusion 330 that is configured to engage with a corresponding feature (eg, a groove) in the first device 400 and / or the second device 500 .

[0040] like Figure 1 and 8As shown in Figure 9, the twisting machine 200 can include multiple rows 202. Each row 202 can have at least one receptacle for accommodating a yarn package 12. For example, each row 202 can include an upper receptacle 204 and a lower receptacle 206. Each receptacle can include a protrusion that can be accommodated in the tube of the yarn package 12. For example, the upper receptacle 204 and the lower receptacle 206 can each include a cylindrical outer surface that allows the yarn package to rotate relative to the receptacle. Each row 202 can further include a handle 210. The handle 210 can be a conventional handle for moving at least one receptacle around and between a loading (lowered) position and an operating (raised) position. The lowered position of each receptacle can be vertically lower than the operating position and laterally outward from the operating position to allow unimpeded access. Conventionally, an operator repairs the position by removing the remaining empty tube of a used package and replacing the empty tube with a yarn package.

[0041] refer to Figure 6 , the first device 400 can include an AGV 402. A robotic arm 410 can be coupled to the AGV 402. The robotic arm 410 can be, for example, a 6-axis robotic arm, or in some aspects, a 7-axis robotic arm. The robotic arm 410 can include an end effector 412. The first device 400 can define a shelf 404 that is configured to be inserted under the rack 300 and lifted by the AGV 402 (e.g., via a scissor lift) to lift the rack.

[0042] Also refer to Figure 8-9 , the first device 400 may further include at least one controller 420 ( Figure 14 ), the at least one controller is configured to cause the robot arm 410 to grip the handle 210 of one row 202 of the plurality of rows of the twisting machine 200 by the end effector 412. The controller 420 may be further configured to cause the robot arm 410 to lower at least one accommodating portion (e.g., the first accommodating portion 204 and the second accommodating portion 206) to a loading position ( Figure 9 ). The controller 420 can also be configured to cause the robot arm 410 to remove the empty tube 14 (remaining after all yarns are removed from the yarn package 12) from the first accommodating portion (e.g., the upper accommodating portion 204) by the end effector, and place the empty tube 14 on the frame 300. The controller 420 can be further configured to cause the robot arm 410 to lift the yarn package from the frame 300 by the end effector, place the yarn package on the first accommodating portion, clamp the handle of a row in the multiple rows of the twisting machine by the end effector, and raise the upper accommodating portion 204 and the lower accommodating portion 206 to the operating position ( Figure 8 ).

[0043] refer to Figure 6 and 10 In some aspects, the end effector 412 can include a first gripper 414a and a second gripper 414b, the first gripper and the second gripper being configured to move radially outward from each other along a gripping axis 416 to bias against the inner surface of the tube 14 of the yarn package 12 or an empty tube. In this manner, the robotic arm 410 can handle both yarn packages and empty tubes. In some optional aspects, the outer surfaces of the first gripper 414a and the second gripper 414b can include semi-cylindrical surfaces.

[0044] In some aspects, the first device 400 can be configured to remove the empty tube 14 from the first receiving portion (the upper receiving portion 204 or the lower receiving portion 206) by the end effector 412 while the yarn package on the second receiving portion (the other of the upper receiving portion or the lower receiving portion) supplies yarn to the yarn twisting machine. Therefore, the controller 420 can control the movement of the robotic arm 410 to move away from the yarn in the yarn package 12 on the receiving portion that is actively supplying the yarn twisting machine 200.

[0045] In some aspects, the first clamp 414a and the second clamp 414b can define a channel 418 therebetween. The first clamp 414a and the second clamp 414b can be configured to move toward each other along the clamping axis 416 to at least partially (optionally, completely) enclose / surround the handles of the plurality of rows within the channel 418. In some aspects, the channel 418 can be cylindrical or substantially cylindrical. In some aspects, the first clamp 414a and the second clamp 414b can define a semi-cylindrical cutout 419 that cooperates to define the channel 418. The semi-cylindrical cutout 419 can extend perpendicular to the clamping axis 416. The end effector 412 can allow the handle 210 to pivot or slide relative to the end effector.

[0046] Controller 420( Figure 14 ) can control the movement of the robotic arm 410 so that the robotic arm moves along the same path that a human operator moves the row 202 of the twister. In some aspects, at least one controller 420 can be configured to cause the robotic arm 410 to lower the upper and lower receiving portions 204, 206 by the handle by moving the end effector 412 along an arcuate path. Optionally, in these aspects, the arcuate path can have a constant radius. In other aspects, the arcuate path can have a variable radius.

[0047] In some aspects, the first device 400 can be easily adapted to operate different winding machines with different movement paths. In this way, the first device 400 can be applicable to different factories or used in a single factory with different yarn twisting machines 200. In some aspects, at least one controller 420 can store a plurality of movement modes (profiles) corresponding to the corresponding travel paths of a plurality of different yarn twisting machines 200. When the accommodating portion is moved around the loading position and the operating position and between the loading position and the operating position, the corresponding travel path can correspond to the movement of the handle 210 of each row 202 of the corresponding yarn twisting machine. At least one controller 420 can allow selection between a movement mode in a plurality of movement modes.

[0048] The first device 10 may include a laser aligner 430 known in the art. The laser aligner 430 may be configured to scan an area to determine the exact location of a feature (e.g., a position on a handle 210, a tube 14, or a creel). For example, conventional techniques (e.g., using conventional software) may be used to analyze the data from the scan to determine the exact location of the feature to allow the end effector 412 to clamp the feature or position other elements (e.g., a package 12 or an empty tube 14) relative to the feature. The analysis may determine the location of the returned data corresponding to a pattern associated with the structure of the feature (e.g., a handle 210 or a tube 14). Therefore, in an exemplary aspect, the laser aligner 430 may be configured to scan an area to determine the location of the handle 210 of the row 202 of the yarn twisting machine 200. The laser aligner 430 may also be configured to scan an area to determine the exact location of the (empty) tube on each receptacle of each row 202 of the yarn twisting machine 200.

[0049] In some aspects, the laser aligner 430 can be configured to scan across a line extending along a scan axis (e.g., a vertical axis). At least one controller is configured to cause the robotic arm 410 to move the laser aligner 430 along an axis perpendicular to the scan axis (e.g., a horizontal axis). In this manner, the laser aligner 430 can be configured to scan an area. For example, the controller 420 can move the laser aligner 430 across an area where the handle 210 is expected to be located. The data from the scan can be analyzed to determine the exact location of the handle to allow the end effector 412 to grip the handle. The controller 420 can further move the laser aligner 430 across the respective areas where each of the upper and lower receptacles 204, 206 is expected to be located. The data from the scan can be analyzed to determine the location of the tube 14 on the upper and lower receptacles 204, 206 to allow the end effector 412 to grip the tube 14.

[0050] The controller 420 can further control the picking up and dropping off of the rack 300. For example, the controller can cause the AGV 402 to move the first device 400 to a rack unloading location, for example, once the rolls from the rack have been removed and the empty tubes have been placed on the rack. The rack 300 can be configured to be coupled to the AGV 402 by resting on top of the AGV (optionally, coupled to the AGV) or on a surface coupled thereto. Thus, at the rack unloading location, the AGV 402 can be configured to be lowered to decouple the rack 300 from the AGV.

[0051] frame

[0052] In some respects, and with reference to Figure 3-5 The frame 300 may include a plurality of vertically extending guides 310 configured to receive yarn packages thereon. In exemplary aspects, the plurality of vertically extending guides 310 may be arranged in rows and columns. In some aspects, each of the plurality of vertically extending guides 310 may be configured to receive a plurality of yarn packages (e.g., two yarn packages, three yarn packages, four yarn packages, or more yarn packages) thereon in a stacked configuration. The frame 300 may include a platform 312 configured to lift the packages upward along the vertically extending guides such that at least a portion of the tube of the package on the top layer of the stack of yarn packages extends above the corresponding vertically extending guide. (In this manner, the robot 410 can grip the tube from the inside as it extends over the vertically extending guides.) In an exemplary aspect, the platform 312 can include a plurality of tracks (e.g., angled channel members) that extend transversely to the plurality of vertically extending guides 310. The plurality of tracks can be configured to contact the lower surface of the bottom layer of the yarn package 12 on the frame 300. In some aspects, the frame 300 can include a scissor lift 314 configured to move the platform 312 upward and downward. The scissor lift 314 can include an actuator arm 316 ( Figure 4 ). Movement of the actuator arm 316 along the horizontal axis can cause vertical movement of the platform 312. The AGV 402 can include an actuator 440 configured to move the actuator arm 316. For example, the actuator 440 can include a pneumatic or hydraulic piston or an electric linear actuator. The actuator 440 can slide the actuator arm 316 axially to achieve movement of the platform 312. In some aspects, the actuator 440 can further include features (e.g., protrusions, hooks, clamps, etc.) for engaging the actuator arm 316.

[0053] In some aspects, the rack 300 can further include a plurality of vertically extending guides 320 configured to receive the empty tubes 14. For example, in some optional aspects, the vertically extending guides 320 can be positioned along the sides of the rack with the vertically extending guides 310 positioned therebetween. The rack 300 can further include a lift arm 322 extending across the plurality of vertically extending guides 320. The lift arm 322 can be positioned at a lift point 324 ( Figure 5 ) to engage the lower surface of the tube, thereby lifting the tube upwardly above the vertically extending guide 320. The lifting point 324 can include, for example, an opening or recess that can receive a protrusion to enable vertical movement of the lifting arm 322. The end effector 412 of the robotic arm 410 can grip the tube above the vertically extending guide 320 and place the tube in a box or other receptacle for reuse.

[0054] In other aspects, the frame 300 can be configured to accommodate a tray containing a plurality of yarn packages thereon. That is, in some optional aspects, the step of transferring the yarn packages from the tray to a separate frame can be omitted. Instead, the tray 11 containing the yarn packages 12 can be placed on the frame 300. For example, the frame 300 can include a surface on which the tray 11 can rest. In some aspects, the frame 300 can include at least one support feature (e.g., a circumferential wall or a lip) that inhibits lateral movement of the tray 11 on the frame.

[0055] Loading heat setting machine

[0056] refer to Figure 11-12 , the package 20 unloaded from the winder can be loaded onto the rack 350. For example, the first device 400 can receive the unloaded package 20 and load it onto the rack 350.

[0057] refer to Figure 13 The first device 400 can be further configured to deliver the package 20 to the creel 602 of the heat setting machine 600. For example, the first device 400 can be positioned below the rack 350 having a plurality of yarn packages 20 thereon. The AGV 402 can raise the upper surface of the first device 400 to lift the rack 350 and transport it to the creel 602.

[0058] Using a laser aligner 430 ( Figure 14 ), the first device 400 can detect the position 604 of the creel 602. The robotic arm 410 can then place the yarn package 20 thereon.

[0059] In other aspects, the rack 350 can be transported to another location (eg, a storage area) by the second device 500 or, more generally, an AGV that does not necessarily include a robotic arm. The first device 400 can later deliver the rack 350 to the creel 602 of the heat setter 600 .

[0060] computing device

[0061] System 10 may include at least one computing device for controlling system operations. For example, one or more computing devices may control multiple operations, including: movement of robotic arm 120; scheduling of AGV 402; movement of AGV 402; movement of robotic arm 410; coordination with twister 200 and heat setter 600; and operation of the AGVs. In some optional aspects, a single computing device controls multiple such operations. In some aspects, system 10 may include multiple computing devices that coordinate operations. For example, a first computing device (e.g., a controller) may control movement of robotic arm 420, while a second computing device may coordinate movement of AGV 402. Still another computing device may schedule AGV 402. Still another computing device may provide an operator with an interface on a human-machine interface, allowing the operator to control various aspects of the system. Each of these computing devices may optionally be embodied in accordance with computing device 1001, as further disclosed herein.

[0062] Figure 15 An exemplary operating environment 1000 is shown, which includes a system 10 ( Figure 1 ) in conjunction with an exemplary configuration of a computing device 1001.

[0063] Computing device 1001 may include one or more processors 1003, a system memory 1012, and a bus 1013 that couples various components of computing device 1001 including one or more processors 1003 to system memory 1012. With multiple processors 1003, computing device 1001 may utilize parallel computing.

[0064] The bus 1013 may include one or more of several possible types of bus structures, such as a memory bus, a memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures.

[0065] The computing device 1001 can operate on and / or include various computer-readable media (e.g., non-transitory). Computer-readable media can be any available media that can be accessed by the computing device 1001 and includes non-transitory, volatile and / or non-volatile media, removable and non-removable media. The system memory 1012 has computer-readable media in the form of volatile memory, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM). The system memory 1012 can store data such as positioning data 1007 and / or program modules such as the operating system 1005 and the robot control software 1006, which can be accessed and / or operated by the one or more processors 1003.

[0066] The computing device 1001 may also include other removable / non-removable, volatile / non-volatile computer storage media. The mass storage device 1004 may provide non-volatile storage for computer code, computer-readable instructions, data structures, program modules, and other data for the computing device 1001. The mass storage device 1004 may be a hard disk, a removable magnetic disk, a removable optical disk, a magnetic tape cassette or other magnetic storage device, a flash memory card, a CD-ROM, a digital versatile disk (DVD) or other optical storage device, a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0067] Any number of program modules may be stored on the mass storage device 1004. An operating system 1005 and robot control software 1006 may be stored on the mass storage device 1004. One or more of the operating system 1005 and robot control software 1006 (or some combination thereof) may include program modules and robot control software 1006. Positioning data 1007 may also be stored on the mass storage device 1004. Positioning data 1007 may be stored in any of one or more databases known in the art. The database may be centralized or distributed across multiple locations within the network 1015.

[0068] A user may use input devices to enter commands and information into the computing device 1001. Such input devices include, but are not limited to, joysticks, touch screen displays, keyboards, pointing devices (e.g., computer mice, remote controls), microphones, scanners, tactile input devices such as gloves and other body coverings, motion sensors, voice recognition, and the like. These and other input devices may be connected to the one or more processors 1003 using a human-machine interface 1002 coupled to a bus 1013, but may also be connected through other interface and bus structures, such as a parallel port, a game port, an IEEE 1394 port (also known as a FireWire port), a serial port, a network adapter 1008, a Universal Serial Bus (USB), and / or a THUNDERBOLT port.

[0069] The display device 1011 can also be connected to the bus 1013 using an interface such as a display adapter 1009. It is contemplated that the computing device 1001 can have more than one display adapter 1009, and the computing device 1001 can have more than one display device 1011. The display device 1011 can be a monitor, an LCD (liquid crystal display), a light emitting diode (LED) display, a television, a smart lens, smart glass and / or a projector. In addition to the display device 1011, other output peripheral devices can include components that can be connected to the computing device 1001 using an input / output interface 1010, such as a speaker (not shown) and a printer (not shown). Any step and / or result of the method can be output (or caused to be output) to an output device in any form. Such output can be any form of visual representation, including but not limited to text, graphics, animation, audio, tactile, etc. The display 1011 and the computing device 1001 can be part of a device or a separate device.

[0070] Computing device 1001 can operate in a networked environment using logical connections to one or more remote computing devices 1014a, 1014b, and 1014c. Remote computing devices 1014a, 1014b, and 1014c can be personal computers, computing stations (e.g., workstations), portable computers (e.g., laptops, mobile phones, tablet devices), smart devices (e.g., smartphones, smart watches, activity trackers, smart clothing, smart accessories), security and / or monitoring devices, servers, routers, network computers, peer devices, edge devices, or other common network nodes. Remote computing devices 1014a, 1014b, and 1014c can perform corresponding operations of the system. For example, one remote computing device 1014a can be the controller of an AGV. One remote computing device 1014b can control a winding machine. The logical connection between the computing device 1001 and the remote computing devices 1014a, 1014b, 1014c can be made using a network 1015 such as a local area network (LAN) and / or a general wide area network (WAN) or a cloud-based network. Such network connection can be made through a network adapter 1008. The network adapter 1008 can be implemented in both wired and wireless environments. Such networking environments are conventional and common in residential, office, enterprise-wide computer networks, intranets, and the Internet. It is contemplated that the remote computing devices 1014a, 1014b, 1014c can optionally have some or all of the components disclosed as part of the computing device 1001. In various other aspects, it is contemplated that some or all aspects of the data processing described herein can be performed on one or more servers or other remote computing devices through cloud computing. Therefore, at least a portion of the system 1000 can be configured with an Internet connection.

[0071] Exemplary Aspects

[0072] In view of the described products, systems and methods, and variations thereof, certain more particularly described aspects of the invention are described herein below. However, these particularly illustrated aspects should not be construed as having any limiting effect on any different claims containing different or more general teachings described herein, or that the "specific" aspects are limited in some way other than by the inherent meaning of the language literally used therein.

[0073] Aspect 1: An apparatus for servicing a twisting machine having a plurality of rows, each row having at least one container for receiving a yarn package and a handle for moving the at least one container about and between a loading position and an operating position, the apparatus comprising:

[0074] Automated Guided Vehicles (AGVs);

[0075] a robotic arm coupled to the AGV, wherein the robotic arm includes an end effector;

[0076] a frame carried by the AGV, wherein the frame is configured to accommodate a plurality of empty tubes and a plurality of yarn packages; and

[0077] at least one controller configured to cause the robotic arm to:

[0078] clamping the handle of one of the plurality of rows of the twisting machine by the end effector;

[0079] lowering the at least one receptacle to the stowage position by the handle;

[0080] removing an empty tube from a first receiving portion of the at least one receiving portion by the end effector;

[0081] placing the empty tube on the rack;

[0082] The yarn package is lifted from the frame by the end effector;

[0083] placing the yarn package on the first accommodating portion;

[0084] clamping the handle of the row of the plurality of rows of the twisting machine by the end effector; and

[0085] The at least one receptacle is raised to the operating position by the handle.

[0086] Aspect 2: The apparatus of aspect 1, wherein the end effector comprises a first gripper and a second gripper, the first gripper and the second gripper being configured to move radially outward from each other along a gripping axis to bias against an inner surface of a tube or hollow tube of the yarn package.

[0087] Aspect 3: The apparatus of aspect 2, wherein the first clamp and the second clamp define a channel therebetween, wherein the first clamp and the second clamp are configured to move toward each other along the clamping axis to at least partially enclose the handles of the row of the plurality of rows.

[0088] Aspect 4: The apparatus of aspect 3, wherein the channel is cylindrical or substantially cylindrical.

[0089] Aspect 5: The apparatus of aspect 4, wherein the first and second clamps define semi-cylindrical cutouts that cooperate to define the channel, wherein the semi-cylindrical cutouts extend perpendicular to the clamping axis.

[0090] Aspect 6: The apparatus of any preceding aspect, wherein the at least one controller is configured to cause the robotic arm to lower the at least one receptacle from the handle by moving the end effector along an arcuate path having a constant radius.

[0091] Aspect 7: An apparatus according to any one of the preceding aspects, wherein the at least one controller stores a plurality of movement modes, the plurality of movement modes corresponding to respective travel paths of a plurality of different yarn twisting machines, wherein when the at least one receptacle is moved around the loading position and the operating position and between the loading position and the operating position, the respective travel paths correspond to the movement of the handle of each row of the respective yarn twisting machines, wherein the at least one controller allows selection between movement modes among the plurality of movement modes.

[0092] Aspect 8: An apparatus according to any one of the preceding aspects, wherein the at least one accommodating portion further includes a second accommodating portion, wherein the apparatus is configured to remove the empty tube from the first accommodating portion by the end actuator when the yarn package on the second accommodating portion supplies yarn to the yarn twisting machine.

[0093] Aspect 9: The apparatus according to any of the preceding aspects, wherein the robotic arm is a 6-axis robotic arm.

[0094] Aspect 10: The apparatus of any one of the preceding aspects, further comprising a laser aligner, wherein the laser aligner is configured to scan an area to determine the position of the tube on each of the at least one receptacle of each row of the yarn twisting machine.

[0095] Aspect 11: The apparatus of aspect 10, wherein the laser aligner is configured to scan across a line extending along a scan axis, wherein the at least one controller is configured to cause the robotic arm to move the scanner along an axis perpendicular to the scan axis.

[0096] Aspect 12: The apparatus according to any one of the preceding aspects, wherein the at least one controller is configured to cause the apparatus to:

[0097] Navigate to the rack unloading location; and

[0098] The rack is decoupled from the AGV.

[0099] Aspect 13: The apparatus of aspect 12, wherein the rack is configured to be coupled to the AGV by resting on top of the AGV, wherein the AGV is configured to be lowered to decouple the rack from the AGV.

[0100] Aspect 14: The apparatus of any preceding aspect, wherein the AGV is configured to navigate to a rack having a yarn package thereon.

[0101] Aspect 15: The apparatus of any preceding aspect, wherein the frame comprises a plurality of vertically extending guides configured to receive packages thereon.

[0102] Aspect 16: The apparatus of aspect 15, wherein the plurality of vertically extending guides are arranged in rows and columns.

[0103] Aspect 17: An apparatus according to Aspect 15 or Aspect 16, wherein each of the plurality of vertically extending guides is configured to accommodate a plurality of yarn packages thereon in a stacked configuration, wherein the frame includes a platform configured to lift the packages upward along the vertically extending guides so that at least a portion of the tube of the package in the top layer of the stack of yarn packages extends above the corresponding vertically extending guide.

[0104] Aspect 18: The apparatus of Aspect 17, wherein the frame includes a scissor lift configured to move the platform up and down, wherein the scissor lift includes an actuator arm, wherein movement of the actuator arm along a horizontal axis causes vertical movement of the platform, and wherein the AGV is configured to move the actuator arm.

[0105] Aspect 19: The apparatus of any one of the preceding aspects, wherein the frame comprises a plurality of vertically extending guides configured to empty the yarn tubes thereon.

[0106] Aspect 20: The apparatus according to Aspect 19, further comprising a structure configured to move along at least one of the plurality of vertically extending guides, the plurality of vertically extending guides being configured to clear the yarn tubes thereon, wherein the structure is configured to contact the lower surface of the lowest tube on the at least one vertically extending guide.

[0107] Aspect 21: The apparatus of aspect 20, wherein the structure comprises at least one lifting arm extending across the plurality of vertically extending guides.

[0108] Aspect 22: An apparatus according to any one of Aspects 19 to 21, wherein the plurality of vertically extending guides configured to clear yarn tubes thereon are a first plurality of vertically extending guides configured to clear yarn tubes thereon, and the apparatus further comprises a second plurality of vertically extending guides configured to clear yarn tubes thereon, wherein the plurality of vertically extending guides configured to accommodate packages thereon are positioned between the first plurality of vertically extending guides configured to clear yarn tubes thereon and the second plurality of vertically extending guides.

[0109] Aspect 23: A yarn processing system comprising:

[0110] at least one twisting machine having a plurality of rows, each row having at least one receptacle for receiving a package and a handle for moving the at least one receptacle about and between a loading position for loading the at least one receptacle and an operating position; and

[0111] Apparatus according to any of the preceding aspects.

[0112] Aspect 24: The yarn processing system according to aspect 23, further comprising a depalletizing station comprising a robotic arm, wherein the depalletizing station is configured to:

[0113] receiving a pallet containing multiple yarn packages;

[0114] removing dunnage from the pallet using the robotic arm of the depalletizing station; and

[0115] The yarn packages are loaded from the pallet onto a machine frame using the robotic arm of the depalletizing station.

[0116] Aspect 25: The yarn processing system according to aspect 19 or aspect 20, further comprising:

[0117] A heat setter is provided, wherein the heat setter is configured to receive the packages from the twister.

[0118] Aspect 26: A system comprising:

[0119] An apparatus according to any one of aspects 1 to 22; and

[0120] A depalletizing station has a robotic arm unit configured to transfer yarn packages from a pallet at a first location to the frame of the apparatus.

[0121] Although the foregoing invention has been described in some detail by way of illustration and example for purposes of clarity of understanding, certain changes and modifications may be practiced within the scope of the appended claims.

Claims

1. An apparatus for servicing a twisting machine having a plurality of rows, each row having at least one container for receiving a yarn package and a handle for moving the at least one container about and between a loading position and an operating position, the apparatus comprising: Automated Guided Vehicles (AGVs); a robotic arm coupled to the AGV, wherein the robotic arm includes an end effector; a frame carried by the AGV, wherein the frame is configured to accommodate a plurality of empty tubes and a plurality of yarn packages; as well as at least one controller configured to cause the robotic arm to: clamping the handle of one of the plurality of rows of the twisting machine by the end effector; lowering the at least one receptacle to the stowage position by the handle; removing an empty tube from a first receiving portion of the at least one receiving portion by the end effector; placing the empty tube on the rack; The yarn package is lifted from the frame by the end effector; placing the yarn package on the first accommodating portion; clamping the handle of the row of the plurality of rows of the twisting machine by the end effector; and The at least one receptacle is raised to the operating position by the handle.

2. The apparatus of claim 1 , wherein the end effector comprises a first gripper and a second gripper, the first gripper and the second gripper being configured to move radially outward from each other along a gripping axis to bias against an inner surface of a tube or hollow tube of the yarn package.

3. The apparatus of claim 2 , wherein the first clamp and the second clamp define a channel therebetween, wherein the first clamp and the second clamp are configured to move toward each other along the clamping axis to at least partially enclose the handles of the row of the plurality of rows.

4. The apparatus of claim 3, wherein the channel is cylindrical or substantially cylindrical.

5. The apparatus of claim 4, wherein the first and second clamps define semi-cylindrical cutouts that cooperate to define the channel, wherein the semi-cylindrical cutouts extend perpendicular to the clamping axis.

6. The apparatus of claim 1, wherein the at least one controller is configured to cause the robotic arm to lower the at least one receptacle from the handle by moving the end effector along an arcuate path having a constant radius.

7. An apparatus according to claim 1, wherein the at least one controller stores a plurality of movement modes, the plurality of movement modes corresponding to respective travel paths of a plurality of different yarn twisting machines, wherein when the at least one receptacle is moved around the loading position and the operating position and between the loading position and the operating position, the respective travel paths correspond to the movement of the handle of each row of the respective yarn twisting machines, wherein the at least one controller allows selection between movement modes among the plurality of movement modes.

8. The apparatus according to claim 1, wherein the at least one accommodating portion further comprises a second accommodating portion, wherein the apparatus is configured to remove the empty tube from the first accommodating portion by the end effector when the yarn package on the second accommodating portion supplies yarn to the yarn twisting machine.

9. The apparatus of claim 1, wherein the robotic arm is a 6-axis robotic arm.

10. The apparatus of claim 1, further comprising a laser aligner, wherein the laser aligner is configured to scan an area to determine the positioning of the tube on each of the at least one receptacle of each row of the yarn twisting machine.

11. The apparatus of claim 10, wherein the laser aligner is configured to scan across a line extending along a scan axis, wherein the at least one controller is configured to cause the robotic arm to move the scanner along an axis perpendicular to the scan axis.

12. The device of claim 1 , wherein the at least one controller is configured to cause the device to: Navigate to the rack unloading location; and The rack is decoupled from the AGV.

13. The apparatus of claim 12, wherein the rack is configured to be coupled to the AGV by resting on top of the AGV, wherein the AGV is configured to be lowered to decouple the rack from the AGV.

14. The apparatus of claim 1, wherein the AGV is configured to navigate to a rack having a yarn package thereon.

15. The apparatus of claim 1, wherein the frame comprises a plurality of vertically extending guides configured to receive packages thereon.

16. The apparatus of claim 15, wherein the plurality of vertically extending guides are arranged in rows and columns.

17. The apparatus of claim 15 , wherein each of the plurality of vertically extending guides is configured to receive a plurality of yarn packages thereon in a stacked configuration, wherein the frame includes a platform configured to lift the packages upwardly along the vertically extending guides such that at least a portion of the tube of the package at the top layer of the stack of yarn packages extends above the corresponding vertically extending guide.

18. The apparatus of claim 17, wherein the frame includes a scissor lift configured to move the platform up and down, wherein the scissor lift includes an actuator arm, wherein movement of the actuator arm along a horizontal axis causes vertical movement of the platform, wherein the AGV is configured to move the actuator arm.

19. The apparatus of claim 1, wherein the frame comprises a plurality of vertically extending guides configured to empty yarn tubes thereon.

20. The apparatus of claim 19, further comprising a structure configured to move along at least one of the plurality of vertically extending guides configured to clear yarn tubes thereon, wherein the structure is configured to contact a lower surface of a lowermost tube on the at least one vertically extending guide.

21. The apparatus of claim 20, wherein the structure comprises at least one lifting arm extending across the plurality of vertically extending guides.

22. A yarn processing system comprising: at least one twisting machine having a plurality of rows, each row having at least one receptacle for receiving a package and a handle for moving the at least one receptacle about and between a loading position for loading the at least one receptacle and an operating position; and Apparatus according to any preceding claim.

23. The yarn processing system of claim 22, further comprising a depalletizing station comprising a robotic arm, wherein the depalletizing station is configured to: receiving a pallet containing multiple yarn packages; removing dunnage from the pallet using the robotic arm of the depalletizing station; and The yarn packages are loaded from the pallet onto a machine frame using the robotic arm of the depalletizing station.

24. The yarn processing system of claim 23, further comprising: A heat setter is provided, wherein the heat setter is configured to receive the packages from the twister.

25. A system comprising: The apparatus according to any one of claims 1 to 21; and A depalletizing station has a robotic arm unit configured to transfer yarn packages from a pallet at a first location to the frame of the apparatus.

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