Autonomously mobile device for loading bobbins in a manufacturing facility

Abstract

The invention relates to an autonomously mobile device (12) for loading bobbins (18) in a manufacturing facility (10), the autonomously mobile device comprising a first autonomously mobile carriage (30) on which a robotic arm (32) is mounted, making it possible to move at least one bobbin. The first autonomously mobile carriage also comprises a control unit, means for autonomous movement which are controlled by the control unit, and an electrical energy storage device. The means for autonomous movement and the robotic arm are supplied with electrical energy by the electrical energy storage device of this first carriage (30). The first autonomously mobile carriage (30) also comprises means (40) for electrically recharging its electrical energy storage device via contacts using mechanical friction, or contactlessly using electromagnetic induction.

Description

Autonomous mobile device for loading reels in a manufacturing facility. technical field

[0001] The present invention relates to the automated loading of reels in a manufacturing installation.

[0002] More specifically, the invention relates to the automated loading of spools of yarn onto a feeding rack of a weaving machine. Context

[0003] Textile reinforcements are products that can, for example, be used in the composition of a tire.

[0004] To manufacture these textile reinforcements, manufacturers use weaving machines fed by a large number of spools of yarn. Thus, several dozen to more than a hundred spools can feed a single weaving machine.

[0005] To feed a weaving machine, the bobbins are arranged on long racks comprising hundreds of places to receive bobbins.

[0006] Once empty, the reels must be replaced with full reels.

[0007] According to a prior art solution, operators are responsible for manually replacing empty bobbins with full ones. This solution is not optimal because these manual loading and unloading operations lengthen the cycle time of the weaving machine and can be strenuous for the operators when the full bobbins weigh several tens of kilograms.

[0008] An automated prior art solution is described in EP 3127660. In this document, robotic arms are used to unload empty reels and replace them with full reels on the racks. Each robotic arm is mounted on a trolley that also carries a load of several full reels and a container for the empty reels. One drawback is that each trolley is guided on rails, which can obstruct operators accessing the racks. Indeed, even though the loading and unloading of reels onto the racks is automated, operators still need to access the racks to connect the end of one wire to the beginning of another. Another drawback is that a rail / trolley / robotic arm assembly is required for each aisle between the racks, necessitating a significant investment.

[0009] Document CN113291929 proposes a solution that minimizes the impact on rack accessibility and allows movement between different aisles located between different racks. According to this document, a robotic arm and its load of full reels are placed on an autonomous mobility cart. One drawback of the solution proposed in CN113291929 is that the power and speed of the robotic arm, and therefore its ability to quickly lift heavy reels, must be limited to avoid significantly impacting the autonomous mobility cart's range. Indeed, in the solution proposed in CN113291929, only the electric battery(ies) onboard the autonomous mobility cart can power both the robotic arm and the cart.

[0010] The present invention aims to overcome the drawbacks of the prior art. Summary of the invention

[0011] To this end, the invention relates to an autonomous mobility device for loading reels in a manufacturing installation, the autonomous mobility device comprising a first autonomous mobility trolley on which is mounted a robotic arm enabling the movement of at least one reel, the first autonomous mobility trolley also comprising a control unit, autonomous movement means controlled by the control unit, and an electrical energy storage device, the autonomous movement means and the robotic arm of the first autonomous mobility trolley being supplied with electrical energy by the electrical energy storage device of this first trolley.

[0012] According to the invention, the first autonomous mobility cart also includes means of electrical recharging by mechanical friction contact or contactless by electromagnetic induction of its electrical energy storage device.

[0013] Thanks to electrical recharging methods using mechanical friction or contactless electromagnetic induction, the electrical energy storage device of the first autonomous mobility cart can be recharged while the cart is in operation. Specifically, the electrical energy storage device of the first autonomous mobility cart can be recharged while its robotic arm is moving a coil.

[0014] Advantageously, electrical recharging methods by mechanical friction contact or contactless by electromagnetic induction can also allow electrical energy recharging of the electrical energy storage device of the first cart while that first cart is moving.

[0015] Thanks to electrical recharging methods using mechanical friction contacts or contactless electromagnetic induction, it is possible to equip the first autonomous mobility cart with a fast and powerful robotic arm without penalizing the autonomy of this first autonomous mobility cart.

[0016] For example, the robotic arm of the first autonomous mobility cart is an arm with 6 degrees of mobility and / or allows moving a load weighing up to 40 kilograms, and / or allows moving a load of 40 kilograms at a speed of up to 4 m / s.

[0017] Advantageously, the autonomous mobility device includes a second autonomous mobility trolley on which is mounted a reel supply rack, this second autonomous mobility trolley also including a control unit, autonomous means of movement controlled by the control unit, and an electrical energy storage device, and the autonomous means of movement of this second autonomous mobility trolley being supplied with electrical energy by the electrical energy storage device of this second trolley.

[0018] Preferably, the second autonomous mobility cart also includes means for electrically recharging its electrical energy storage device, either through mechanical friction or contactless electromagnetic induction. Thus, the electrical energy storage device of the second autonomous mobility cart can be recharged while the second cart is in use.

[0019] More generally, the invention also relates to a manufacturing installation comprising at least one feeding rack for at least one machine of the manufacturing installation and at least one autonomous mobility device as just described.

[0020] According to the invention, the means for electrically recharging the first trolley by mechanical friction contacts comprise an electrical connection arm to a power supply rail provided in the manufacturing installation. The manufacturing installation comprises at least one aisle on either side of which are located power supply racks for at least one machine. In the manufacturing facility, at least one power supply rail is attached to a power rack in each aisle of the facility.

[0021] For example, the manufacturing installation including at least one weaving machine, a feeding rack allows to receive bobbins to supply yarn to this weaving machine to manufacture a textile product from these yarns.

[0022] For example, the textile product made by the weaving machine is used for the manufacture of a rubberized product reinforced with this textile product.

[0023] For example, the reinforced rubber product is used for the manufacture of air-filled or airless tires, tracks, or conveyor belts. Description of the drawings

[0024] Other features and advantages of the invention will become apparent in the following description. This description, given by way of example and not limitation, refers to the attached drawings in which: Figure 1 is a top view of part of a manufacturing installation and a self-propelled reel loading device according to the invention, Figure 2 is a side view of part of a manufacturing installation and a self-propelled reel loading device according to the invention, Figure 3 is a perspective view of a first autonomous mobility trolley of an autonomous mobility device for loading reels according to the invention, Figure 4 is a side view of a first autonomous mobility trolley of an autonomous mobility coil loading device according to the invention, Figure 5 is a diagram representing the relationships between the different components of a first autonomous mobility trolley of an autonomous mobility device for loading reels according to the invention, Figure 6 is a perspective view of a second autonomously mobile trolley of an autonomously mobile coil loading device according to the invention, Figure 7 is a diagram representing the relationships between the different components of a second autonomous mobility trolley of an autonomous mobility coil loading device according to the invention. Detailed description

[0025] The invention relates to the automated loading and unloading of reels in a manufacturing installation. Facility

[0026] Figures 1 and 2 represent part of a manufacturing installation 10 in which a self-propelled device 12 for loading reels according to the invention can be used.

[0027] For example, the manufacturing installation 10 includes at least one weaving machine 14 and at least one feed rack 16 for receiving bobbins 18 for supplying yarn 20 to this weaving machine to manufacture a textile product from this yarn. The yarn 20 can be made from nylon or aramid, for example.

[0028] A spool of 18mm thread can weigh up to 12kg.

[0029] For example, the textile product manufactured by weaving machine 14 is used to manufacture a rubberized product reinforced with this textile product. For example, the rubberized product reinforced is used for the manufacture of pneumatic or airless tires, tracks, or conveyor belts.

[0030] As shown in Figures 1 and 2, the manufacturing installation includes at least one aisle 22 on either side of which are located feeding racks 16 for at least one machine 14 of the manufacturing installation, for example, a weaving machine. Autonomous mobility device of reels

[0031] For the automated loading and unloading of reels, the manufacturing installation includes at least one autonomous mobility device 12. This autonomous mobility device 12 moves autonomously within the manufacturing installation. More specifically, the autonomous mobility device 12 moves autonomously along an aisle 22 on either side of which are located feed racks 16.

[0032] Each rack 16 comprises a plurality of reel receiving devices 24. A reel receiving device 24 comprises at least one axis 26 on which a reel 18 can be placed. A reel receiving device 24 comprises, for example, a support 28 comprising several reel receiving axes 26. Preferably, the reel receiving axes 26 are oriented towards the center of an aisle 22 to facilitate automated loading and unloading of reels by the self-propelled reel loading device 12. First cart

[0033] According to the invention and as shown in figures 3 and 4, the autonomous mobility device 12 comprises a first autonomous mobility trolley 30 on which is mounted a robotic arm 32 enabling the movement of at least one reel 18.

[0034] As schematically illustrated in Figure 5, the first autonomous mobility cart 30 also includes a control unit 34, autonomous means of movement 36 controlled by the control unit, and an electrical energy storage device 38.

[0035] The autonomous means of locomotion 36 and the robotic arm 32 of the first autonomous mobility cart 30 are powered by electrical energy from the electrical energy storage device 38 of this first cart 30.

[0036] The robotic arm 32 is for example controlled by the control unit 34, and the control unit 34 is for example supplied with electrical energy by the electrical energy storage device 38 of the first trolley 30.

[0037] The robotic arm 32 of the first trolley 30 is, for example, an arm with 6 degrees of mobility. Thus, the robotic arm 32 can access a large number of reel receiving devices 24 from the same location in an aisle 22. More specifically, the robotic arm 32 includes, for example, a base 42 fixed to the first carriage 30, a base 44 mounted movably in rotation relative to this base 42 around a first axis of mobility A1, a lower arm 46 mounted movably in rotation relative to the base 44 around a second axis of mobility A2, an intermediate arm 48 mounted movably in rotation relative to the lower arm 46 around a third axis of mobility A3, an upper arm 50 mounted movably in rotation relative to the intermediate arm 48 around a fourth axis of mobility A4, and a gripping tool 52, for example of a reel, mounted movably in rotation relative to the upper arm 50 around two axes of mobility A5, A6 perpendicular to each other.

[0038] Preferably, the robotic arm 32 of the first trolley 30 of the first autonomous mobility trolley allows to move a load, and therefore a reel for example, weighing up to 40 kilograms and / or allows to move a load of 40 kilograms at a speed of up to 4 m / s.

[0039] The robotic arm 32 of the first autonomous mobility cart 30 is powered by the electrical energy storage device 38 of this first cart 30. Electric motors are used to set the robotic arm in motion. More specifically, different electric motors are used to rotate the arms 46, 48, 50 and the gripping tool 52 around their axes of mobility.

[0040] Advantageously, the base 42 of the robotic arm is raised by a non-zero height H above the first autonomous mobility trolley 30. Thus, the robotic arm 32 has a greater working height range.

[0041] The autonomous means of movement 36 of the first autonomously mobile cart 30 enable this first cart to move autonomously on the floor S of the manufacturing facility. In particular, the autonomous means of movement 36 enable the first autonomously mobile cart 30 to move autonomously in an aisle 22 of the manufacturing facility.

[0042] These autonomous means of locomotion 36 include, for example, several wheels 54, at least one of these wheels being driven in rotation by an electric motor supplied with electrical energy by the electrical energy storage device 38 of the first trolley and controlled by the control unit 34 of the first trolley.

[0043] In parallel, the autonomous means of movement 36 include, for example, at least one sensor enabling the control unit 34 to analyze the environment of the first trolley in order to operate the movements of the trolley in an environment such as a manufacturing facility 10.

[0044] The control unit 34 of the first carriage 30 includes one or more processors and various memories.

[0045] The electrical energy storage device 38 of this first trolley 30 takes, for example, the form of one or more electric batteries. For example, these batteries are of the lithium type. first cart ic

[0046] According to the invention, the first autonomous mobility cart 30 also includes means of electrical recharging 40 by mechanical friction contact or contactless by electromagnetic induction of its electrical energy storage device 38.

[0047] For example, these electrical charging means 40 allow electrical energy to be recharged of the electrical energy storage device 38 during the use of the robotic arm 32 and / or the first trolley 30.

[0048] For example, and as illustrated in Figure 2, the electrical recharging means 40 by mechanical friction contacts of the first trolley 30 include an electrical connection arm 56 to a power supply rail 54 provided in the manufacturing installation 10. For example, at least one power supply rail 54 is attached to a power rack 16 in each aisle of the installation. A power supply rail 54 can extend over several meters, for example, along the entire floor length of a power rack 16, or along the entire length of an aisle 22.

[0049] In the case where the electric charging means 40 operate without contact and by electromagnetic induction, a first electromagnetic induction device is for example integrated into the floor S of the installation, in particular in an aisle 22, and a second electromagnetic induction device is for example integrated into the first trolley 30. An electromagnetic induction device includes for example one or more induction coils. Second cart

[0050] According to the invention and as shown in figures 1 and 6, the autonomous mobility device 12 can also include a second autonomous mobility trolley 60 on which is mounted a supply rack 62 for reels 18. This second autonomous mobility trolley 60 allows the robotic arm 32 of the first trolley 30 to be supplied with full reels 18.

[0051] As schematically illustrated in Figure 7, the second autonomous mobility cart 60 also includes a control unit 64, autonomous means of movement 66 controlled by the control unit, and an electrical energy storage device 68. The autonomous means of movement 66 are powered by the electrical energy storage device 68 of this second cart 60. The control unit 64, for example, is powered by the electrical energy storage device 68 of this second cart 60.

[0052] According to the invention, the second autonomous mobility cart 60 also includes means of electrical recharging 70 by mechanical friction contact or contactless by electromagnetic induction of its electrical energy storage device 68.

[0053] The autonomous means of movement 66 of the second autonomously mobile cart 60 enable this second cart to move autonomously on the floor S of the manufacturing facility. In particular, the autonomous means of movement 66 enable the second autonomously mobile cart 60 to move autonomously in an aisle 22 of the manufacturing facility.

[0054] These autonomous means of locomotion 66 include for example several wheels (not visible in figure 6), at least one of these wheels being driven in rotation by an electric motor supplied with electrical energy by the electrical energy storage device 68 of the second trolley and controlled by the control unit 64 of this second trolley.

[0055] In parallel, the autonomous means of movement 66 include, for example, at least one sensor enabling the control unit 64 to analyze the environment of the second trolley 60 in order to operate the movements of the second trolley 60 in an environment such as a manufacturing facility 10.

[0056] The control unit 64 of the second carriage 60 includes one or more processors and various memories.

[0057] The electrical energy storage device 68 of this second trolley 60 takes, for example, the form of one or more electric batteries. For example, these batteries are of the lithium type.

[0058] To enable the electrical energy storage device 68 to be recharged during its use, the second trolley 60 may include electrical recharging means 70 by mechanical friction contacts or without contact by electromagnetic induction.

[0059] For example, the electrical charging means 70 by mechanical friction contacts of the second trolley 60 include an electrical connection arm 72 to an electrical supply rail provided in the manufacturing facility 10, and for example to the electrical supply rail 54 used to supply the electrical charging means 40 of the first trolley 30.

[0060] Alternatively, the electrical charging means 70 of the second trolley 60 can operate contactlessly and by electromagnetic induction. In this case, a first electromagnetic induction device is, for example, integrated into the floor S of the installation, in particular in an aisle 22, and a second electromagnetic induction device is, for example, integrated into the second trolley 60. An electromagnetic induction device comprises, for example, one or more induction coils.

[0061] The supply rack 62 for reels 18 of the second trolley 60, for example, takes the form of plates 74 with holes 76 allowing interlocking with the ends of the reels 18. Advantageously, these perforated plates 74 can be handled by the robotic arm 32 of the first trolley 30. Ideally, several perforated plates 74 can be stored on the second trolley 60 before being used for storing reels.

[0062] Advantageously, the first trolley 30 or the second trolley 60 includes a receiving tray 78 for empty reels 18. Preferably, the first trolley 30 includes this receiving tray 78 for empty reels. Process

[0063] The invention also relates to a coil loading method implementing the autonomous mobility device 12 in a manufacturing facility 10.

[0064] According to this coil loading method, the energy storage device 38 of the first trolley 30 is recharged with electrical energy via its electrical charging means 40 by mechanical friction contacts or without contact by electromagnetic induction while the robotic arm 32 loads a coil 18 onto a supply rack 16 of a machine 14 or unloads a coil 18 from a supply rack 16 of a machine 14. Advantageously, the method can also provide that the energy storage device 68 of the second trolley 60 is recharged with electrical energy via its electrical charging means 70 by mechanical friction contacts or without contact by electromagnetic induction while the robotic arm 32 takes a coil 18 from the supply rack 62 of the second trolley 60.

[0065] According to this coil loading method, the energy storage device 38 of the first trolley 30 can be recharged with electrical energy via its electrical charging means 40 by mechanical friction contacts or contactless by electromagnetic induction while the first trolley 30 moves within the manufacturing installation. Advantageously, the method can also provide that the energy storage device 68 of the second trolley 60 is recharged with electrical energy via its electrical charging means 70 by mechanical friction contacts or contactless by electromagnetic induction while the second trolley 60 moves within the manufacturing installation.

Claims

Demands 1. Autonomous mobility device (12) for loading reels (18) in a manufacturing installation (10), the autonomous mobility device comprising a first autonomous mobility trolley (30) on which is mounted a robotic arm (32) enabling the movement of at least one reel, the first autonomous mobility trolley also comprising a control unit (34), autonomous movement means (36) controlled by the control unit, and an electrical energy storage device (38), the autonomous movement means (36) and the robotic arm (32) of the first autonomous mobility trolley being supplied with electrical energy by the electrical energy storage device (38) of this first trolley (30),the autonomous mobility device (12) being characterized in that the first autonomous mobility cart (30) also includes means for electrical recharging (40) by mechanical friction contact or contactless by electromagnetic induction of its electrical energy storage device (38).

2. Autonomous mobility device (12) according to claim 1, wherein the autonomous mobility device comprises a second autonomous mobility trolley (60) on which is mounted a reel supply rack (62), this second autonomous mobility trolley (60) also comprising a control unit, autonomous movement means controlled by the control unit, and an electrical energy storage device, and the autonomous movement means of this second autonomous mobility trolley being electrically powered by the electrical energy storage device of this second trolley.

3. Autonomous mobility device (12) according to claim 2, wherein the second autonomous mobility cart also includes means for electrically recharging (70) by mechanical friction contact or contactless by electromagnetic induction of its electrical energy storage device.

4. Manufacturing installation (10) comprising at least one feeding rack (16) of at least one machine (14) of the manufacturing installation, the manufacturing installation comprising at least one autonomous mobility device (12) according to any one of claims 1 to 3, and electrical recharging means (40) by mechanical friction contacts of the first trolley (30) comprising an arm (56) for electrical connection to an electrical supply rail (54) provided in the manufacturing installation (10).

5. Manufacturing installation (10) according to claim 4, wherein the manufacturing installation comprises at least one aisle (22) on either side of which are located feed racks (16) of at least one machine of the manufacturing installation, at least one electrical supply rail (54) is fixed to a feed rack (16) in each aisle (22) of the installation.

6. Manufacturing installation (10) according to any one of claims 4 or 5, wherein the manufacturing installation includes at least one weaving machine (14), a feeding rack (16) for receiving bobbins (18) for supplying yarn (20) to this weaving machine for manufacturing a textile product from these yarns.

7. Manufacturing installation (10) according to claim 6, wherein the textile product manufactured by the weaving machine (14) is used for the manufacture of a rubber product reinforced with this textile product.

8. Manufacturing installation (10) according to claim 7, in which the reinforced rubber product is used for the manufacture of pneumatic or airless tires, tracks, or conveyor belts. A method for loading a coil (18) in a manufacturing installation (10) according to any one of claims 4 to 8, wherein the energy storage device (38) of the first trolley (30) is recharged with electrical energy via its electrical recharging means (40) by mechanical friction contact or contactless contact by electromagnetic induction while the robotic arm (32) loads a coil (18) onto a feeding rack (16) of a machine (14) or discharges a coil (18) from a feed rack (16) of a machine (14). Coil loading method according to claim 9, wherein the electrical energy storage device (38) of the first trolley (30) is recharged with electrical energy via its electrical recharging means (40) by mechanical friction contacts or without contact by electromagnetic induction while the first trolley (30) moves in the manufacturing installation.

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