Package supply system

Abstract

To provide a package supply system capable of collecting packages hung on both sides in a simple structure and at a low cost.SOLUTION: A package supply system comprises a package hanger stand, a creel robot, and a transfer device. Packages are hung on a first surface and a second surface of the package hanger stand, respectively. The creel robot collects the package on the second surface of the package hanger stand at a first standby position or the package on the first surface of the package hanger stand at a second standby position, to transfer it to a creel stand. The transfer device, after the creel robot transfers the package on the package hanger stand at the first standby position, moves the package hanger stand to the second standby position while maintaining direction of the package hanger stand, thereby causing the first surface of the package hanger stand to face a moving path of the creel robot.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates generally to package delivery systems. [Background technology]

[0002] The yarn feed exchange system of Patent Document 1 includes an overhead transport vehicle and a transfer device. The overhead transport vehicle runs along an overhead rail. The transfer device transfers a package from the overhead transport vehicle to a creel robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-32377 Summary of the Invention [Problem to be solved by the invention]

[0004] The yarn supply exchange system of Patent Document 1 requires a large or complicated structure, which increases the equipment cost and makes it difficult to flexibly accommodate changes in the layout within a factory.

[0005] The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a package supply system which requires low equipment costs and can be flexibly changed in response to changes in the layout within a factory.

[0006] The problem to be solved by the present invention has been described above. Next, the means for solving this problem and the effects thereof will be described.

[0007] According to an aspect of the present invention, there is provided a package supply system having the following configuration. That is, the package supply system includes a package hanging table, a creel robot, a supply device, and a transfer device. The package hanging table has a first surface and a second surface, and a plurality of pegs for hanging packages are provided on each of the first surface and the second surface. The creel robot moves along a movement path between a first standby position and a second standby position of the package hanging table, collects the package hung on the peg on the second surface of the package hanging table at the first standby position, or the peg on the first surface of the package hanging table at the second standby position, and transfers it to a creel stand of a yarn processing machine. The supply device supplies the package hanging table to the first standby position. After the creel robot transfers the package hung on the peg on one of the first and second surfaces of the package hanger at the first waiting position to the creel stand, the transfer device moves the package hanger from the first waiting position to the second waiting position while maintaining the orientation of the package hanger, thereby causing the other of the first and second surfaces of the package hanger to face the movement path of the creel robot.

[0008] This allows packages hung on both sides of the package hanging stand to be collected while maintaining the orientation of the package hanging stand. Therefore, a system for collecting packages can be realized with a simple structure. Also, because the structure is simple, the equipment costs tend to be low and the system can flexibly accommodate changes in the layout within the factory. Furthermore, because standby positions are provided on both sides of the creel robot, even while one package hanging stand is being supplied or transported, packages can be supplied to the creel robot from the other package hanging stand.

[0009] The package supply system preferably includes a transport device for transporting the package hanger to the creel robot.

[0010] This enables the automation of the task of transporting the package hangers to the creel robot.

[0011] In the package supply system, it is preferable that the supply device is provided on the transport device.

[0012] This allows the package hanger transport operation and the package hanger supply operation to be carried out in a single operation.

[0013] In the package supply system, it is preferable that the transport device is provided on the conveying device.

[0014] This allows the transport device to both supply and transport the package cradles.

[0015] In the above package supply system, it is preferable that the transport device is a vehicle.

[0016] This makes it easier to adapt to changes in the layout within a factory compared to equipment such as conveyors.

[0017] The above package supply system is preferably configured as follows: When the package hanger is not present at the first standby position, the supply device supplies the package hanger to the first standby position. The transfer device moves the package hanger from the first standby position to the second standby position. The supply device supplies the package hanger to the first standby position. The supply device retrieves the package hanger from the second standby position.

[0018] This allows smooth supply of package hangers, collection of packages, and collection of the package hangers.

[0019] The package supply system is preferably configured as follows: In plan view, a direction from the first standby position to the second standby position is referred to as a first direction, and the transport device includes a slide portion that moves the package hanger in the first direction.

[0020] This makes it possible to move the package hanger in the first direction (in the direction approaching the second standby position from the first standby position) while maintaining the orientation of the package hanger.

[0021] The above package supply system is preferably configured as follows: That is, the transfer device includes a moving unit that moves the package hanging table in a direction intersecting the first direction in a plan view. After the moving unit moves the package hanging table, which is at the first standby position, in a direction intersecting the first direction in a plan view, the sliding unit moves the package hanging table in the first direction, and thereafter, the moving unit moves the package hanging table in the direction intersecting the first direction in a plan view to position it at the second standby position.

[0022] This makes it possible to move the package hanger from the first standby position to the second standby position while maintaining the orientation of the package hanger.

[0023] In the above-mentioned package supply system, after the creel robot transfers the package hung on the peg on the second surface of the package hanger to the creel stand, it is preferable that the transfer device positions the first surface of the package hanger opposite the movement path of the creel robot.

[0024] This allows the packages on both sides of the package hanger to be collected by collecting the packages on the first side after collecting the packages on the second side of the package hanger.

[0025] The package supply system is preferably configured as follows: A creel stand is provided on each of a first side and a second side of the movement path of the creel robot, and the creel robot is capable of transferring the collected packages to the creel stands on the first side and the second side.

[0026] This enables the creel robot to collect packages on either side of its travel path, and the same function can be used to transfer packages to creel stands on either side of the creel robot's travel path. [Brief description of the drawings]

[0027] [Figure 1] FIG. 2 is a schematic plan view of a supply system according to an embodiment of the present invention; [Diagram 2] A perspective view of the package cart and AGV. [Diagram 3] FIG. 2 is a perspective view of a package cart and a creel robot. [Figure 4] 11 is a flowchart showing a process of transferring packages from a package cart to a creel stand. [Diagram 5] 3A and 3B are schematic plan views showing a first state and a second state of the supply system. [Figure 6] 11A and 11B are schematic plan views showing a third and fourth state of the supply system; [Figure 7] 11A and 11B are schematic plan views showing the fifth and sixth states of the supply system; [Figure 8] 13A and 13B are schematic plan views showing the seventh and eighth states of the supply system; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Next, an embodiment of the present invention will be described with reference to the drawings. First, elements constituting a package supply system 1 will be described with reference to Figs.

[0029] The package supply system 1 supplies a package 50 from a spinning winder (not shown) to a draw texturing machine 60. The draw texturing machine 60 is a type of false twisting machine, which is also a type of yarn processing machine. Other types of yarn processing machines include air processing machines. The draw texturing machine 60 can produce a draw texturing yarn called DTY by drawing and false twisting a semi-drawn yarn (partially oriented yarn) called POY, which is a type of yarn. POY is an abbreviation for Partially Oriented Yarn. DTY is an abbreviation for Draw Textured Yarn. The draw texturing machine 60 has multiple processing positions for drawing and false twisting.

[0030] The package 50 is formed by winding a predetermined length of POY around a core tube. The package 50 is generated when the winding device of the take-up winder winds the POY produced by the spinning device of the take-up winder around a core tube. The package 50 is transferred to and set on a creel stand 61 provided in the draw texturing machine 60. A plurality of packages 50 can be set on the creel stand 61, aligned vertically and horizontally. The yarn is unwound from the package 50 set on the creel stand 61 toward a processing position.

[0031] The package supply system 1 automatically transports the packages 50 and transfers them to the creel stand 61. Automatic transport means that transport is performed using only a transport device without human intervention. However, in the event of an abnormality, worker work may be required. The package supply system 1 of this embodiment can be applied not only to automatic transport but also to semi-automatic transport in which part of the transport is performed by a worker. The package supply system 1 includes a package cart 10, an AGV (Automatic Guided Vehicle) 20, a creel robot 30, and an overall control device 40. The AGV 20 corresponds to the "transport device."

[0032] The package cart 10 is used to collectively stock the packages 50 produced by the take-up winder. The packages 50 produced by the take-up winder are hung on the package cart 10. The task of hanging the packages 50 on the package cart 10 is performed by, for example, a dedicated or general-purpose automatic machine. As shown in FIG. 2 , the package cart 10 includes a base 11, a package hanging stand 12, and wheels 13.

[0033] The base 11 is provided with a package hanger 12 and wheels 13. A bottom portion 11a of the base 11 is used by the AGV 20 to move the package cart 10 (described in detail later).

[0034] The package hanger 12 is provided with a plurality of pegs 12a. The pegs 12a are elongated members whose size is smaller than the inner diameter of the core tube. In this embodiment, the longitudinal directions of all the pegs 12a are parallel to each other. Hereinafter, one side of the longitudinal direction of the pegs 12a (in other words, the axial direction of the core tube of the package 50) is referred to as the first side, and the other side is referred to as the second side. In the package hanger 12, the surface on the first side is referred to as the first surface, and the surface on the second side is referred to as the second surface. Therefore, the first surface is the surface opposite to the second surface. The pegs 12a are provided on each of the first surface and the second surface. This allows the package dolly 10 to hang the packages 50 on each of the first surface and the second surface. The pegs 12a are also arranged in a line in the height direction and the horizontal direction.

[0035] The wheels 13 are provided on the lower part of the package hanging table 12. The wheels 13 are used when an operator pushes and moves the package cart 10. The wheels 13 may be omitted.

[0036] The AGV 20 is a vehicle that transports the package cart 10 from the take-up winder to the creel robot 30. In detail, the AGV 20 retrieves the package cart 10 on which the package 50 is hung, and transports the package cart 10 to a first standby position 101 or a second standby position 102 shown in FIG. 1. The first standby position 101 and the second standby position 102 are locations where the package cart 10 waits in order to transfer the package 50 to the creel stand 61. In addition, the direction from the first standby position 101 toward the second standby position 102 in a plan view is referred to as a first direction. As shown in FIGS. 1 and 2, the AGV 20 includes a main body 21 and a slide table 22.

[0037] The main body 21 is provided with a drive source (motor, etc.) for autonomous travel, a traveling unit 21a driven by the drive source, and a control device. The control device is a PLC, and controls the drive source, etc. to rotate the traveling unit 21a, causing the main body 21 to autonomously travel. The main body 21 is also provided with a mechanism and actuator for changing the direction of the traveling unit 21a. This allows the main body 21 to travel in various directions.

[0038] Additionally, a space for placing a plurality of package carts 10 is provided on the upper surface of the main body 21. The AGV 20 travels with the package carts 10 loaded thereon, thereby transporting the package carts 10. In this embodiment, the number of package carts 10 that can be transported is three, but may be two or four or more.

[0039] The slide table 22 is a device for loading the package cart 10 onto the main body 21 and unloading the package cart 10 from the main body 21. To load the package cart 10 onto the main body 21, first, the slide table is extended and inserted below the bottom 11a. Next, the slide table is lifted and then retracted. The slide table also has a function of holding the package cart 10 while the package cart 10 is being transported. In addition, the control device can move the running part 21a while holding the package cart 10, thereby moving the package cart 10. To unload the package cart 10 from the main body 21, the slide table is extended to position the package cart 10 above the first standby position 101 or the second standby position 102, and then the slide table is lowered.

[0040] By moving the package cart 10 from the first standby position 101 to the second standby position 102 in this manner, it is possible to move the package cart 10 while maintaining the orientation of the package cart 10. This eliminates the need for a structure and space for reversing the package cart 10. Note that maintaining the orientation of the package cart 10 means that the orientation of the package cart 10 is hardly or not reversed at all.

[0041] The AGV 20 functions as a supply device through cooperation between the traveling section 21a, the slide table 22, and the control device. The supply device supplies the package cart 10 (particularly the package hanging table 12, the same applies below) to the first standby position 101 or the second standby position 102, and retrieves the package cart 10 from the first standby position 101 or the second standby position 102.

[0042] The AGV 20 further functions as a transfer device through cooperation between the running unit 21a, the slide table 22, and the control device. The transfer device moves the package cart 10 from the first waiting position 101 to the second waiting position 102. The transfer device also includes a slide unit and a moving unit as functional parts. The slide unit moves the package cart 10 in a first direction. The moving unit moves the package cart 10 in a direction intersecting the first direction (a direction perpendicular to the first direction in this embodiment).

[0043] Also, a slide fork may be used instead of the slide table 22. Also, instead of the slide table 22, a configuration for gripping and lifting the package cart 10 may be provided. Also, at least one of the above-mentioned supply device and transfer device may be provided other than the AGV 20. For example, if interference with other devices can be avoided, a conveyor connecting the first standby position 101 and the second standby position 102 may be provided as the supply device or the transfer device. Also, the supply device and the transfer device may be realized by separate machines. Also, the AGV 20 is an example of a transfer device, and a transfer device that is not a vehicle (for example, a conveyor) may be used instead of the AGV 20.

[0044] The creel robot 30 collects the packages 50 from the package cart 10 placed at the first standby position 101 or the second standby position 102, and transfers them to the creel stand 61. The creel robot 30 moves along a predetermined moving path 100. As shown in FIG. 1, the moving path 100 is located between the first standby position 101 and the second standby position 102 in a plan view. In detail, one side (specifically, the second side) of the package cart 10 at the first standby position 101 faces the moving path 100. Furthermore, one side (specifically, the first side) of the package cart 10 at the second standby position 102 faces the moving path 100. The creel robot 30 can collect the packages 50 hung on the side facing the moving path 100. Furthermore, the moving path 100 is located between the two creel stands 61 in a plan view. The creel robot 30 can transfer the packages 50 to both creel stands 61. As shown in FIG. 3, the creel robot 30 includes a rail 31, a running section 32, a support 33, and a transfer section .

[0045] The rails 31 are provided along the moving path 100. In this embodiment, the rails 31 are formed on both the floor side and the ceiling side, but the rails 31 may be formed on only one of them. The running part 32 is equipped with a drive source (motor, etc.) and wheels, etc., and the drive source drives the wheels. As a result, the running part 32 moves along the rails 31. The running part is provided with a control device. The control device is a PLC, and drives the running part 32 and the transfer part 34 described below by controlling the drive source, etc.

[0046] The support 33 is provided on the running section 32. The support 33 extends in the height direction. The transfer section 34 is provided on the support 33. The transfer section 34 is movable in the height direction along the support 33. The transfer section 34 is extendable and includes a transport rod 34a that can be inserted into the core tube of the package 50. The portion including the transport rod 34a is rotatably attached along a rotation axis parallel to the height direction. The portion including the transport rod 34a can be rotated by the power of an actuator (not shown) to change the orientation of the transport rod 34a. This allows the transfer section 34 to collect both packages 50 from the two package carts 10 arranged on either side of the moving path 100, and to transfer the packages 50 to both of the two creel stands 61 arranged on either side of the moving path 100.

[0047] When collecting the package 50, the creel robot 30 rotates a portion including the transport rod 34a to direct the transport rod 34a to the side where the package 50 to be collected is located. Next, the creel robot 30 moves the traveling section 32 to align the position of the core tube of the package 50 to be collected in the traveling direction of the creel robot 30 with the position of the transport rod 34a. Next, the transfer section 34 moves in the height direction to align the position of the core tube of the package 50 to be collected in the height direction with the position of the transport rod 34a. Next, the transport rod 34a is inserted into the core tube of the package 50 to be collected and lifted up, thereby collecting the package 50. Similarly, when transferring the package 50, the transport rod 34a is directed toward the creel stand 61 to be transferred, and then the position of the peg of the creel stand 61 to be transferred is aligned with the position of the transport rod 34a. Thereafter, the transport rod 34a moves the package 50, passes the core tube of the package 50 through the peg of the creel stand 61, and transfers the package 50.

[0048] In this embodiment, by changing the orientation of the transport rod 34a, it is possible to collect and transfer the packages 50 located on both sides of the traveling direction. Alternatively, by providing two transport rods 34a with different orientations, it is possible to collect and transfer the packages 50 located on both sides of the traveling direction.

[0049] The overall control device 40 is a computer equipped with a CPU, memory, storage, and a communication module. The CPU reads and executes programs stored in the storage, causing the overall control device 40 to execute various controls related to the package supply system 1. For example, the overall control device 40 transmits a command to the AGV 20 to instruct it to collect and supply the package trolleys 10. For example, the overall control device 40 transmits a command to the creel robot 30 to instruct it to collect and transfer the packages 50.

[0050] Next, a process for supplying the package 50 hung on the package cart 10 to the stretch texturing machine 60 will be described with reference to Fig. 4 to Fig. 8. The process shown in Fig. 4 is mainly performed by the overall control device 40, but at least a part of the process may be performed by the control device of the AGV 20 or the creel robot 30.

[0051] First, the supply device of the AGV 20 receives a command from the overall control device 40 to supply the package cart 10 to the first standby position 101 (S101, state 1 in FIG. 5). As a result, the second side of the package cart 10 at the first standby position 101 faces the travel path 100. Next, the creel robot 30 receives a command from the overall control device 40 to collect the packages 50 on the second side of the package cart 10 at the first standby position 101 (S102, state 2 in FIG. 5). The packages 50 collected by the creel robot 30 are transferred to the creel stand 61. In the following, a description of the transfer of the packages 50 to the creel stand 61 will be omitted.

[0052] The overall control device 40 judges whether or not the collection of the packages 50 on the second surface of the package cart 10 at the first waiting position 101 has been completed (S103). When the overall control device 40 judges that the collection of the packages 50 has been completed, it transmits a command to the AGV 20. The transfer device of the AGV 20 receives the command from the overall control device 40 and moves the package cart 10 from the first waiting position 101 to the second waiting position 102 (S104, state 3 in FIG. 6). In detail, the moving unit of the transfer device of the AGV 20 moves the package cart 10 at the first waiting position 101 in a direction intersecting the first direction in a plan view (specifically, a direction perpendicular to the first direction). Next, the slide unit of the transfer device of the AGV 20 travels in the above-mentioned first direction while holding the package cart 10, and moves the package cart 10 in the first direction. Next, the moving section of the transport device of the AGV 20 moves the package cart 10 in a direction intersecting the first direction in a plan view (specifically, a direction perpendicular to the first direction) to position the package cart 10 at the second standby position 102. As a result, the first surface of the package cart 10 at the second standby position 102 faces the movement path 100. Next, upon receiving a command from the overall control device 40, the creel robot 30 collects the packages 50 from the first surface of the package cart 10 at the second standby position 102 (S105).

[0053] Furthermore, by moving the package cart 10 from the first standby position 101 to the second standby position 102, the first standby position 101 becomes vacant, and so the overall control device 40 transmits a command to the AGV 20. In response to the command from the overall control device 40, the AGV 20 supplies a new package cart 10 to the first standby position 101 (S106, state 4 in FIG. 6 ). As a result, the second surface of the new package cart 10 at the first standby position 101 faces the movement path 100.

[0054] Here, during the operation of supplying the package cart 10 to the first standby position 101, the creel robot 30 collects the packages 50 from the package cart 10 located at the second standby position 102. This can improve the work efficiency.

[0055] In this state, the creel robot 30 can collect packages 50 from the package cart 10 located at either the first standby position 101 or the second standby position 102. In this embodiment, the package 50 located at the second standby position 102 is preferentially collected. The overall control device 40 judges whether or not the collection of the packages 50 on the first side of the package cart 10 located at the second standby position 102 has been completed (S107). When the overall control device 40 judges that the collection of the packages 50 has been completed, it transmits a command to the AGV 20. In response to the command from the overall control device 40, the supply device of the AGV 20 collects the package cart 10 located at the second standby position 102 (S108, state 5 in FIG. 7). As a result, the packages 50 on the first and second sides of the package cart 10 can be collected without turning over the package cart 10.

[0056] Here, in the middle of the operation of retrieving the package cart 10 at the second standby position 102, the creel robot 30 retrieves packages 50 from the package cart 10 at the first standby position 101. This improves work efficiency. In summary, in this embodiment, there are two standby positions, and the creel robot 30 can retrieve packages 50 from the package carts 10 at both standby positions. Therefore, even in the middle of supplying or retrieving the package cart 10 at one standby position, the creel robot 30 can retrieve packages from the package cart 10 at the other standby position.

[0057] In addition, the newly supplied package cart 10 in step S106 is treated in the same manner as the initially supplied package cart 10. Hereinafter, the repeated parts will be described briefly. The creel robot 30 collects the packages 50 on the second side of the package cart 10 at the first standby position 101 (S109). When the general control device 40 judges that the packages 50 have been collected (S110), the transport device of the AGV 20 moves the package cart 10 from the first standby position 101 to the second standby position 102 (S104, state 6 in FIG. 7). Next, the creel robot 30 collects the packages 50 on the first side of the package cart 10 at the second standby position 102 (S105). In addition, the supply device of the AGV 20 supplies a new package cart 10 to the first standby position 101 (S106, state 7 in FIG. 8). Thereafter, the package cart 10 at the second waiting position 102 is collected by the AGV 20 after the packages 50 have been collected (S108, state 8 in FIG. 8).

[0058] Furthermore, at an appropriate timing, the AGV 20 returns the package cart 10 from which the package 50 has been collected to the vicinity of the take-up winder, and collects the package cart 10 on which the package 50 is hung in return.

[0059] By repeating the above process, the packages 50 hung on the first and second sides of the package cart 10 can be collected without turning over the package cart 10. Therefore, compared to a configuration in which the package cart 10 is turned over, the structure and space required for turning over are not required, so the packages can be automatically collected with a simple structure and at low cost.

[0060] As described above, the package supply system 1 of the present embodiment includes the package hanging table 12, the creel robot 30, a supply device, and a transfer device. The package hanging table 12 has a first surface and a second surface, and a plurality of pegs 12a for hanging packages 50 are provided on each of the first surface and the second surface. The creel robot 30 moves along a moving path 100 between a first waiting position 101 and a second waiting position 102 of the package hanging table 12, collects the package 50 hung on the peg 12a on the second surface of the package hanging table 12 at the first waiting position 101, or the peg 12a on the first surface of the package hanging table 12 at the second waiting position 102, and transfers it to the creel stand 61 of the yarn processing machine. The supply device supplies the package hanging table 12 to the first waiting position. After the creel robot 30 transfers the package 50 hung on the peg 12a on one side (second side) of the package hanging stand 12 at the first waiting position 101 to the creel stand 61, the transfer device moves the package hanging stand 12 from the first waiting position 101 to the second waiting position 102 while maintaining the orientation of the package hanging stand 12, thereby facing the other side (first side) of the package hanging stand 12 toward the movement path 100 of the creel robot 30.

[0061] As a result, the packages 50 hung on both sides of the package hanger 12 can be collected while maintaining the orientation of the package hanger 12. Therefore, a system for collecting packages can be realized with a simple structure. Also, because the structure is simple, the equipment costs tend to be low and the system can flexibly accommodate layout changes within a factory. Furthermore, since standby positions are provided on both sides of the creel robot 30, even while one package hanger 12 is being supplied or transported, packages 50 can be supplied to the creel robot 30 from the other package hanger 12.

[0062] The package supply system 1 of this embodiment includes an AGV 20 that transports a package hanger 12 to a creel robot 30.

[0063] This enables the task of transporting the package hangers 12 to the AGV 20 to be automated.

[0064] In the package supply system 1 of the present embodiment, the AGV 20 is provided with a supply device.

[0065] This allows the AGV 20 to both supply and transport the package cradles 12 .

[0066] In the package supply system 1 of this embodiment, the AGV 20 is provided with a transport device.

[0067] This allows the AGV 20 to both supply and transport the package cradles 12 .

[0068] In the package supply system 1 of this embodiment, when there is no package hanger 12 at the first standby position 101, the supply device supplies the package hanger 12 to the first standby position 101. The transport device moves the package hanger 12 at the first standby position 101 to the second standby position 102. The supply device supplies the package hanger 12 to the first standby position 101. The supply device collects the package hanger 12 at the second standby position 102.

[0069] This allows smooth supply of the package hangers 12, collection of the packages 50, and collection of the package hangers 12.

[0070] In the package supply system 1 of this embodiment, the direction from the first standby position 101 to the second standby position 102 in a plan view is referred to as a first direction. The transfer device includes a slide portion that moves the package hanger 12 in the first direction.

[0071] This allows the package hanger 12 to be moved in the first direction (from the first standby position 101 toward the second standby position 102) while maintaining the orientation of the package hanger 12.

[0072] In the package supply system 1 of this embodiment, the transfer device includes a moving unit that moves the package hanging table 12 in a direction intersecting with the first direction in a plan view. After the moving unit moves the package hanging table 12 from the first standby position 101 in the direction intersecting with the first direction in a plan view, the sliding unit moves the package hanging table 12 in the first direction, and then the moving unit moves the package hanging table 12 in the direction intersecting with the first direction in a plan view to position it at the second standby position 102.

[0073] This makes it possible to move the package hanger 12 from the first standby position 101 to the second standby position 102 while maintaining the orientation of the package hanger 12.

[0074] In the package supply system 1 of this embodiment, creel stands 61 are provided on both sides of the movement path 100 of the creel robot 30. The creel robot 30 can transfer collected packages 50 to the creel stands 61 on the first and second sides, respectively.

[0075] This allows the creel robot 30 to collect packages 50 on either side of the travel path 100, and by utilizing the same function, the creel robot 30 can transfer packages 50 to creel stands 61 on either side of the travel path 100.

[0076] Although the preferred embodiment of the present invention has been described above, the above configuration can be modified, for example, as follows.

[0077] The flowchart shown in this embodiment is an example, and some processes may be omitted, some processes may be changed, or new processes may be added. For example, the order of the processes of steps S105 and S106 may be changed, or they may be performed simultaneously in parallel. Similarly, the order of the processes of steps S108 and S109 may be changed, or they may be performed simultaneously in parallel. Note that while the AGV 20 is supplying, moving, or collecting the package cart 10, the creel robot 30 is collecting or transferring the packages 50, thereby improving work efficiency. [Explanation of symbols]

[0078] 1 Package supply system 10 Package trolley 12 Package Hanging Stand 20 AGV (Transportation Equipment) 30 Creel Robot

Claims

1. a package hanger having a first surface and a second surface, the first surface and the second surface each having a plurality of pegs for hanging packages; a creel robot that moves along a moving path between a first standby position and a second standby position of the package hanging table, retrieves the packages hung on the pegs on the second surface of the package hanging table at the first standby position or the pegs on the first surface of the package hanging table at the second standby position, and transfers the packages to a creel stand of a yarn processing machine; a supply device for supplying the package stand to the first waiting position; a transfer device that moves the package hanger from the first standby position to the second standby position while maintaining an orientation of the package hanger, after the creel robot has transferred the package hung on the peg on one of the first and second surfaces of the package hanger at the first standby position to the creel stand, thereby causing the other of the first and second surfaces of the package hanger to face a movement path of the creel robot; A package supply system comprising:

2. 2. The package supply system of claim 1, A package supply system comprising a transport device for transporting the package hanger to the creel robot.

3. 3. The package supply system of claim 2, A package supply system, comprising: the supply device provided on the transport device.

4. 4. The package supply system according to claim 2 or 3, A package supply system, characterized in that the transport device is provided on the conveying device.

5. A package supply system according to any one of claims 2 to 4, A package supply system, characterized in that the conveying device is a vehicle.

6. A package supply system according to any one of claims 1 to 5, When the package stand is not present at the first waiting position, the supply device supplies the package stand to the first waiting position; The transfer device moves the package stand from the first standby position to the second standby position, the supply device supplies the package stand to the first waiting position; The package supply system, wherein the supply device retrieves the package hanger located at the second standby position.

7. A package supply system according to any one of claims 1 to 6, A direction from the first standby position toward the second standby position in a plan view is referred to as a first direction, The package supply system according to claim 1, wherein the transport device includes a slide portion that moves the package holder in the first direction.

8. 8. The package supply system of claim 7, the transfer device includes a moving unit that moves the package hanger in a direction intersecting the first direction in a plan view, After the moving unit moves the package hanger from the first standby position in a direction intersecting the first direction in a plan view, the slide portion moves the package stand in the first direction, Thereafter, the moving section moves the package hanger in a direction intersecting the first direction in a plan view to position the package hanger at the second waiting position.

9. A package supply system according to any one of claims 1 to 8, comprising: A package supply system characterized in that after the creel robot transfers the package hung on the peg on the second surface of the package hanger to the creel stand, the transfer device makes the first surface of the package hanger face the movement path of the creel robot.

10. A package supply system according to any one of claims 1 to 9, A creel stand is provided on each of a first side and a second side of the movement path of the creel robot, A package supply system, characterized in that the creel robot is capable of transferring the collected packages to each of the creel stands on the first side and the second side.

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