Apparatus and method for inserting yarn sections into a substrate

Abstract

A mobile apparatus (1) configured to insert yarn sections into a substrate (2) comprises a feed device (5) configured to feed a plurality of yarns to a yam insertion zone (8a) defined between the substrate (2) and a yarn insertion unit (9), configured to insert a yarn section cut from the yams into the substrate (2). The yarn insertion unit (9) comprises at least one insertion element (12) configured to translate in a vertical direction, perpendicular to the substrate (2). The feed device (5) comprises a plurality of yarn outlet elements (7) and a pulling gripper (10), movable in a horizontal direction between a first operating position proximal to the yarn outlet elements (7) and a second operating position distal from the yarn outlet elements (7). The pulling gripper (10) is configured to hold an end portion of the yams and transport it away from the yam outlet elements (7). The pulling gripper (10) is further configured to move closer to the yam insertion zone (8a) and hold the end portion of the yarns at least during an initial vertical translation movement of the at least one insertion element (12) and of the plurality of yarns towards the substrate (2). A method for inserting yarn sections into a substrate (2) implemented by means of the apparatus (1) is also described.

Description

[0001] APPARATUS AND METHOD FOR INSERTING YARN SECTIONS INTO A SUBSTRATE DESCRIPTION

[0002] Field of the invention

[0003] The present invention relates to a mobile apparatus configured to insert yarn sections into a substrate, and to a method for inserting yam sections into a substrate.

[0004] The apparatus and the method of the present invention find a preferred, though not exclusive, use in making hybrid-type turf systems for sports fields.

[0005] Related art

[0006] Artificial grass, or synthetic grass, is used in a wide variety of applications. Among these applications, the one of greatest interest is certainly that for sports fields, but other common uses are in the decoration of residential spaces, gardens and exhibition areas, and more generally in the landscaping sector.

[0007] Making substrates including yarn sections, typically yam sections made of synthetic material, for example to make turf systems for sports fields, is known.

[0008] It is also known to make hybrid-type turf systems by inserting the yarn sections, typically yarn sections of synthetic material, directly into the ground. To this end, self-propelled machines configured to insert or plant elongated fibres directly into a substrate, for example into the ground of a playing field, are used.

[0009] For example, document WO9308332A1 discloses a device for inserting elongated fibres of artificial grass into the ground; the device is provided with a frame with at least one insertion pin which is movable up and down in the frame, and with means for positioning a fibre of artificial grass under the insertion pin, in such a way that the fibre in question can be partially inserted into the ground by the insertion pin. The means for positioning the yarn of artificial grass include a movable tube that supplies the yarn and clamping blocks that hold a yam section.

[0010] For example, document WO0179611 Al discloses a device for inserting yarns of synthetic material into a substrate; the yam is transported through a tube to a position under an insertion element and subsequently cut to the desired length by means of an element that is rotatable about an axis; the yam is then inserted into the substrate by means of an insertion element.For example, document WO2020127313A1 discloses a tufting machine, comprising a transfer gripper that positions thread yams which, once cut, are inserted by means of insertion elements; the machine is provided with a yam transport gripper rotatably mounted about a hinge point to perform a swinging movement.

[0011] For example, document DE 102023 128978 B3 discloses a tufting machine comprising a tufting unit for inserting thread sections into a substrate, wherein the tufting unit comprises a tensioning device, one or more gripping elements, one or more retraction elements, a cutting device and one or more insertion elements, wherein a thread yarn is tensioned by the tensioning device, engaged by the gripping element, shaped by the retraction elements and inserted by an insertion element.

[0012] Summary of the invention

[0013] In the Applicant's experience, it is possible to insert yarn sections into a substrate, for example a ground of a sports field to make a so-called “hybrid” turf comprising both natural grass and synthetic grass yams, by feeding a plurality of yarns into a yam insertion zone; these yams are maintained in the yarn insertion zone by means of a plurality of grippers that hold appropriate portions of the yarns. A plurality of insertion elements, such as pins, engage the yarn sections in the yam insertion zone. The yarns are suitably cut to make yarn sections of predetermined length. The insertion elements insert the yam sections into the substrate, up to a depth suitable to fix the yam sections in the substrate with portions of them coming out, simulating a turf.

[0014] In the Applicant's experience, inserting yam sections of synthetic material into a substrate is a delicate job; the yam section of predetermined length must be carefully inserted into the substrate by means of the appropriate insertion pins, and be pushed into the substrate until a considerable depth, for example up to 18 cm or more, is reached. The insertion depth in the ground and the length of the yarn sections can be adjusted to obtain suitable insertion depths and suitable lengths of the yams that remain above the ground.

[0015] In the Applicant's experience, inserting yam sections into a substrate is a time-consuming job, even when carried out by automated machinery. To provide adequate visual coverage of the surface, it is necessary to insert the yarn sections with an appropriate surface density; the machine, therefore, slowly advances on the ground, while the insertion operations must be carried out in a cyclic manner with great speed. By way of example, a regular football pitch can be fully tufted in about 12-14 days, using a single machine and with a staff of operators engaged on a rotating basis on 24-hour work shifts.

[0016] The Applicant has observed that a particularly delicate operation of the insertion cycle isrepresented by the initial step of yam insertion into the substrate that a dedicated insertion element, such as an insertion pin, carries out on the respective yam before the latter is cut into a section of the desired length.

[0017] In the Applicant's experience, the yam must be positioned at the yarn insertion zone, in view of the action provided by the insertion pin, and must also be kept appropriately tensioned during the initial contact with the insertion pin.

[0018] The Applicant has observed that, if the yarn is held with an insufficient tension during the initial pushing action of the insertion pin, such yarn may not be properly inserted into the substrate.

[0019] The Applicant has also observed that, if the yarn and / or the yam section is held with an excessive tension during the initial pushing action of the insertion pin, said yam and / or yarn section can break and can no longer be inserted into the substrate, with the formation of waste debris to be disposed of and with the appearance of one or more untufted portions in the turf being formed, i.e. of small zones without yarns of synthetic material.

[0020] In this situation, the operator must notice the defect in the hybrid turf and must manually carry out the cutting of the necessary yarn sections and the insertion of the sections into the substrate in order to fill the zones that have remained empty after the machine has passed.

[0021] It is easy to understand how such a situation can have a negative effect on the delivery times and / or quality of a hybrid-type turf thus made.

[0022] In the light of what has been observed, the Applicant has therefore set itself the objective of improving the reliability and reproducibility of the cyclic operations of inserting the yarn sections, in particular the reliability and reproducibility of the inserting operations of the yarn sections into the substrate.

[0023] The Applicant has perceived that it is possible to achieve this objective by providing a mobile apparatus configured to insert yarn sections into a substrate with a pulling gripper configured to hold a free end of the yarns and movable in a horizontal direction in a coordinated manner with a vertical translation of a respective yarn insertion element, so as to maintain an appropriate tension on the yam in the initial step of its insertion, until the yam itself is at least partially inserted into the substrate.

[0024] The present invention therefore relates, in a first aspect thereof, to a mobile apparatus configured to insert yam sections into a substrate according to the appended claims.Preferably, the apparatus is movable on the substrate.

[0025] Preferably, the mobile apparatus comprises a feed device configured to feed a plurality of yams to a yam insertion zone, defined between the substrate and a yarn insertion unit configured to insert a yarn section cut from the yarns into the substrate.

[0026] Preferably, the yarn insertion unit comprises at least one insertion element configured to translate in a vertical direction, perpendicular to the substrate.

[0027] Preferably, the feed device comprises at least a plurality of yam outlet elements for the plurality of yarns.

[0028] Preferably, the feed device comprises at least a pulling gripper, movable in a horizontal direction, parallel to the substrate, between a first operating position proximal to the yarn outlet elements and a second operating position distal with respect to the yam outlet elements.

[0029] Preferably, the pulling gripper is configured to hold an end portion of the yarns and transport the end portion away from the yarn outlet elements.

[0030] Preferably, the pulling gripper is configured to move closer to the yam insertion zone and hold the end portion at least during an initial vertical translation movement of the at least one insertion element and of the plurality of yams towards the substrate.

[0031] In a second aspect thereof, the present invention relates to a method for inserting yam sections into a substrate by means of a mobile apparatus configured to insert yam sections according to the appended claims.

[0032] Preferably, the method comprises feeding, by means of a plurality of yarn outlet elements, a plurality of yams to a yarn presentation zone defined in said apparatus between the substrate and a yam insertion unit.

[0033] Preferably, the method comprises positioning a pulling gripper in a first operating position proximal to the yarn outlet elements.

[0034] Preferably, the method comprises grasping an end portion of the yarns by means of the pulling gripper.

[0035] Preferably, the method comprises moving the pulling gripper in a horizontal direction, parallel to the substrate, to reach a second operating position distal with respect to the yam outlet elements and to transport the end portion away from the yarn outlet elements.Preferably, the method comprises translating in the vertical direction towards said substrate at least one insertion element of the yam insertion unit.

[0036] Preferably, the method comprises moving the pulling gripper closer to a yam insertion zone and holding the end portion of the yarns at least during an initial vertical translation movement of the at least one insertion element and of the yams towards the substrate.

[0037] Preferably, the method comprises cutting yarn sections of predetermined length by means of a cutting device.

[0038] Preferably, the method comprises inserting said yam sections into the substrate, by means of the yarn insertion unit.

[0039] The Applicant has verified that by means of the mobile apparatus and of the method of the invention the insertion of the yarn sections into the substrate by means of the insertion elements takes place not only in a well reproducible manner, but also reducing to the maximum and substantially avoiding that unwanted tears of the yarn and / or of the yarn section may appear with the undesired formation of untufted portions in the hybrid and / or natural grass turf.

[0040] More particularly, the Applicant has verified that, thanks to the movement of the pulling gripper towards the yarn insertion zone during the initial movement of the at least one insertion element and of the plurality of yarns, an optimal tension of the yarns and / or yarn sections is maintained during the action of the at least one insertion element, allowing a more precise, accurate and reproducible insertion of the yarn sections into the substrate.

[0041] Furthermore, in particular, the Applicant has verified that thanks to the coordinated movement of the pulling gripper with respect to the at least one insertion element and to the plurality of yarns, it is possible to deliver with precision and reproducibility the yams and / or yam sections to the at least one insertion element during the cyclic insertion steps.

[0042] Without wishing to be bound by any particular interpretative theory, the Applicant considers that by moving the pulling gripper closer to the yam insertion zone and at the same time holding the end portion of the yarns and / or of the yarn sections, at least during the initial vertical translation movement of the at least one insertion element and of the yams towards the substrate, it is possible to achieve an effective and reproducible insertion even at the high speeds required by the cyclic insertion operations of the yam sections into the substrate.

[0043] Within the framework of the present description and in the following claims, all numericalentities indicating amounts, parameters, percentages and so forth are to be understood as being preceded in all instances by the term “about” unless indicated otherwise. Moreover, all the ranges of numerical entities include the maximum and minimum numerical values, all the possible combinations of the maximum and minimum numerical values and all the possible intermediate ranges, in addition to those specifically indicated hereinbelow.

[0044] Within the framework of the present description and in the following claims, “mobile apparatus” is intended to indicate that the apparatus is movable on the substrate by means of suitable elements, for example comprising wheels, rollers or tracks, configured to allow the movement of the apparatus on the substrate itself.

[0045] Within the framework of the present description and in the following claims, the terms “vertical”, “vertically”, “horizontal”, “horizontally”, “high”, “low” with reference to the mobile apparatus configured to insert yarn sections or parts thereof, are intended to indicate directions / positions referred to the lying plane, in use, of the apparatus itself, wherein the lying plane generally coincides with the plane of the surface corresponding to the substrate in which the yarn sections are inserted.

[0046] Within the framework of the present description and in the following claims, the terms “longitudinal” and “transversal” with reference to the apparatus for inserting yam sections or parts thereof, are intended to indicate a first direction parallel to the advancing direction of the mobile apparatus configured to insert yam sections during the insertion operations of the yarn sections and, respectively, a second direction orthogonal to said first direction.

[0047] Within the framework of the present description and in the following claims, the term “substrate” is intended to indicate a material delimited by an upper surface and which is represented in non-limiting examples by a ground, made of soil or sand or of synthetic material; the upper surface is for example flat or substantially flat, as is the case in the ground of a playing field.

[0048] Within the framework of the present description and in the following claims, the term “yarn” means an elongated, thin and flexible body with a preferably constant section; said body is made of natural or synthetic material, for example in the form of fibres.

[0049] Within the framework of the present description and in the following claims, the term “section” means a yarn portion having a certain length, delimited by two ends cut at an appropriate distance from each other.

[0050] Within the framework of the present description and in the following claims, the term “afree end” means a yam segment or yarn section in close proximity to a cut end of the yam or yarn section, which constitutes an end thereof.

[0051] Within the framework of the present description and in the following claims, the term “end portion” means a yarn segment or yarn section in general proximity to a cut end of the yam or yam section, which constitutes a longer segment thereof that includes the free end and a further segment adjacent to the free end.

[0052] In at least one of the aforementioned aspects, the present description may present at least one of the preferred features described below, considered individually or in combination.

[0053] Preferably, the mobile apparatus comprises a frame.

[0054] Preferably, it is provided to move the apparatus and the respective frame on the substrate between an insertion of the yarn sections and a subsequent insertion of the yarn sections.

[0055] Preferably, the mobile apparatus comprises a plurality of rollers or wheels or tracks, preferably motorized, configured to move the apparatus and the respective frame on the substrate.

[0056] Preferably, the feed device is mounted on the frame.

[0057] Preferably, the yam insertion unit is mounted on the frame.

[0058] Preferably, it is provided to move the pulling gripper from the first operating position, proximal to the yarn outlet elements, to the second operating position, distal with respect to the yarn outlet elements, to extract a predetermined length of the yarns from the yarn outlet elements.

[0059] Preferably, the yarns are extracted from the yam outlet elements by pulling them out along a longitudinal advancement direction of the apparatus.

[0060] Preferably, the pulling gripper is further configured for a complete extraction of a predetermined length of the yams from the yarn outlet elements, by holding the end portion of the yarns, with a movement of the pulling gripper from a first operating position, proximal to the yarn outlet elements, to a second operating position, distal with respect to the yarn outlet elements.

[0061] Preferably, the pulling gripper is configured to move further after the complete extraction of the predetermined length of the yams, leaving the second operating position and moving closer to the first operating position.In this way, it is advantageously possible to maintain an optimal tension of the yarns when they are subjected to the action of the at least one insertion element.

[0062] Preferably, at least the pulling gripper is connected to the frame. Preferably, the pulling gripper is mounted, directly or indirectly, to the frame.

[0063] Preferably, the pulling gripper is configured to hold in a releasable manner the end portion of the yarns.

[0064] Preferably, the pulling gripper is configured to receive the end portion of the yarns from above.

[0065] Preferably, the pulling gripper is configured to release the end portion of the yams towards a side facing the yarn insertion zone.

[0066] Preferably, the pulling gripper can be driven between a holding configuration, in which the pulling gripper is closed to hold the end portion of the yarns, and a release configuration, in which the pulling gripper is open to release the end portion of yarns. Preferably, the pulling gripper can also be driven the other way round between the release configuration and the holding configuration.

[0067] In this way, it is advantageously possible for the pulling gripper to reliably and reproducibly grasp the end portion of the yarns, holding it for the subsequent interaction with the at least one insertion element of the yam insertion unit, so that the insertion of the yams takes place in a well reproducible manner, preventing untufted portions from appearing in the hybrid and / or natural grass turf.

[0068] Preferably, the pulling gripper comprises at least a first comb element and at least a second comb element. Preferably, the at least a first comb element and the at least a second comb element are configured to slide with respect to each other. Preferably the at least a first comb element and the at least a second comb element comprise respective rows of teeth configured to hold the end portion of the yarns therebetween.

[0069] Preferably, the teeth of the at least a first comb element and of the at least a second comb element are oriented, in use, vertically and, more preferably, are turned upwards.

[0070] Preferably, the pulling gripper comprises at least a first movable comb element and at least a second fixed comb element. Preferably, the pulling gripper comprises a pair of movable comb elements and a pair of fixed comb elements, arranged in an alternating manner with each other.Preferably, the at least a first movable comb element is configured to slide with respect to the at least a second fixed comb element.

[0071] Preferably, the pulling gripper is configured to assume a holding configuration, in which an interference between the at least a first movable comb element and the at least a second fixed comb element holds the plurality of yams. Preferably, the pulling gripper is configured to assume a release configuration, in which there is no interference between the at least a first movable comb element and the at least a second fixed comb element, and the plurality of yarns is free to slide along its own longitudinal axis through the comb elements.

[0072] In this way, it is advantageously possible for the pulling gripper to reliably and reproducibly release the end portion of the yams, while the yam sections are inserted into the substrate by the yarn insertion unit, so that the insertion thereof takes place in a well reproducible manner, preventing untufted portions from appearing in the hybrid and / or natural grass turf.

[0073] Preferably, the pulling gripper is arranged in the frame along a direction substantially transversal to a longitudinal development direction of the mobile apparatus configured to insert the yarn sections into the substrate.

[0074] Preferably, the advancing direction of the mobile apparatus during the insertion operations of the yarn sections into the substrate is parallel to the longitudinal development direction of the apparatus itself, whereby the pulling gripper is preferably transversally arranged with respect to the advancement direction of the mobile apparatus during the aforementioned insertion operations of the yarn sections into the substrate.

[0075] In this way, it is advantageously possible to realize a pulling gripper that is compact inside the frame of the mobile apparatus, minimizing the overall dimensions with the same insertion rate of the yarn sections into the substrate.

[0076] Preferably, the feed device comprises a drive system of the pulling gripper (hereinafter also referred to as: pulling actuator). Preferably, the pulling actuator is configured to move the pulling gripper in the horizontal direction.

[0077] Preferably, the pulling actuator comprises at least one horizontal guide. Preferably, the at least one horizontal guide is connected to the frame. Preferably, the at least one horizontal guide is longitudinally arranged in the frame. Preferably, the pulling actuator comprises at least one motorized element. Preferably, the motorized element is configured to translate the pulling gripper on the horizontal guide in a controlled manner.Preferably, the at least one motorized element comprises at least one belt mounted on respective pulleys.

[0078] Preferably, the pulling gripper is connected to the at least one belt. Preferably, the pulling gripper is connected to the at least one belt by means of a support upright.

[0079] Preferably, the at least one motorized element comprises at least one electric motor for rotating the at least one belt around the respective pulleys.

[0080] In this way, it is advantageously possible to move the pulling gripper precisely and reliably between the first operating position and the second operating position, and vice versa, during the steps of inserting the yam sections by the mobile apparatus.

[0081] Preferably, the feed device comprises a presentation gripper.

[0082] Preferably, the presentation gripper is movable in the vertical direction and in the horizontal direction.

[0083] Preferably, it is provided to move the presentation gripper in a horizontal direction, parallel to the substrate, and in a vertical direction, perpendicular to the substrate.

[0084] Preferably, the presentation gripper is movable between a first operating position proximal to the yarn outlet elements and a second operating position distal with respect the yam outlet elements.

[0085] Preferably it is provided to reach, by means of the presentation gripper, a second operating position of the presentation gripper distal with respect to the yarn outlet elements.

[0086] Preferably, the presentation gripper is configured to transport a free end of the yams beyond the pulling gripper.

[0087] Preferably, it is provided to transport, by means of the presentation gripper, a free end of the yams beyond the pulling gripper.

[0088] Preferably, the presentation gripper is configured to transport a free end of the yarns at the first operating position of the pulling gripper.

[0089] Preferably, it is provided to transport, by means of the presentation gripper, a free end of the yams at the first operating position of the pulling gripper.

[0090] The Applicant considers that the mobile presentation gripper allows to grasp and transport the yams and / or yarn sections to the insertion zone in a reliable manner, so that theinsertion of the same takes place in a well reproducible manner, preventing untufted portions from appearing in the hybrid and / or natural grass turf.

[0091] Preferably, at least the presentation gripper is connected to the frame. Preferably, the presentation gripper is mounted, directly or indirectly, to the frame.

[0092] Preferably, the presentation gripper is configured to releasably hold the free end of the yarns.

[0093] Preferably, the presentation gripper is configured to receive the free end of the yams from a side facing the feed device.

[0094] Preferably, the presentation gripper is configured to release the free end of the yams along a vertical direction.

[0095] More preferably, the presentation gripper is configured to release the free end of the yams downwards, delivering the free end to the pulling gripper from above.

[0096] Preferably, it is provided to hold the free end of the yarns in the presentation gripper.

[0097] Preferably, the presentation gripper is movable in a combined manner both in the horizontal direction, parallel to the substrate, and in the vertical direction, perpendicular to the substrate, according to a substantially diagonal overall movement.

[0098] Preferably, the presentation gripper is configured to move from the first operating position proximal to the yam outlet elements to the second operating position distal with respect to the yarn outlet elements, following a substantially diagonal overall movement.

[0099] Preferably, the presentation gripper can be driven between a holding configuration, in which the presentation gripper is closed in order to hold the free end of the yarns, and a release configuration, in which the presentation gripper is open in order to release the free end of the yams. Preferably, the presentation gripper can also be driven the other way round between the release configuration and the holding configuration.

[0100] In this way, it is advantageously possible for the presentation gripper to reliably and reproducibly grasp the free end of the yams, delivering the free end to the pulling gripper, so that the insertion of the yam sections takes place in a well reproducible manner, preventing untufted portions from appearing in the hybrid and / or natural grass turf.

[0101] Preferably, the presentation gripper comprises at least a first comb element and at least a second comb element. Preferably, the at least a first comb element and the at least asecond comb element are configured to slide with respect to each other. Preferably the at least a first comb element and the at least a second comb element comprise respective rows of teeth configured to hold the free end of the yarns therebetween.

[0102] Preferably, the presentation gripper is configured to assume a holding configuration, in which an interference between the at least a first comb element and the at least a second comb element holds the plurality of yams. Preferably, the presentation gripper is configured to assume a release configuration, in which there is no interference between the at least a first comb element and the at least a second comb element, and the plurality of yarns is released.

[0103] In this way, it is advantageously possible for the presentation gripper to reliably and reproducibly deliver the end of the yams to the pulling gripper, for the subsequent insertion of the yarn sections by the yarn insertion unit.

[0104] Preferably, the presentation gripper is configured for an initial extraction of the yams from the yarn outlet elements.

[0105] Preferably, the presentation gripper is configured for initial extraction of the yarns by holding the free end of the yarns.

[0106] Preferably, the presentation gripper is configured for initial extraction of the yarns with a movement at least in the vertical direction.

[0107] Preferably, the presentation gripper is configured for initial extraction of the yarns with a movement away from the substrate.

[0108] Preferably, it is provided to move the presentation gripper in the vertical direction, away from the substrate, to provide the initial extraction of the yams from the yam outlet elements.

[0109] In this way, it is advantageously possible for the presentation gripper to quickly extract and deliver the end of the yarns to the pulling gripper, to increase the insertion rate of the yarn sections into the substrate.

[0110] Preferably, the presentation gripper is arranged in the frame along a direction substantially transversal to a longitudinal development direction of the mobile apparatus configured to insert the yam sections into the substrate.

[0111] Preferably, the advancement direction of the mobile apparatus during the insertion operations of the yarn sections into the substrate is parallel to the longitudinaldevelopment direction of the apparatus itself, whereby the presentation gripper is preferably transversally arranged with respect to the advancement direction of the mobile apparatus during the aforementioned transporting operations of the free end of the yarns beyond the pulling gripper at the aforementioned first operating position of the pulling gripper and insertion operations of the yam sections into the substrate.

[0112] Preferably, the presentation gripper is arranged parallel to the pulling gripper.

[0113] In this way, it is advantageously possible to increase the insertion rate of the yams extracted by the presentation gripper into the pulling gripper.

[0114] Preferably, the presentation gripper is configured to deliver the end portion of the yams to the pulling gripper.

[0115] Preferably, the presentation gripper is configured to deliver the end portion of the yams by releasing the free end of the yarns.

[0116] Preferably, the presentation gripper is configured to deliver the end portion of the yams in the first operating position of the pulling gripper.

[0117] Preferably, it is provided to move the pulling gripper closer to the presentation gripper during the initial vertical translation movement of the at least one insertion element and of the plurality of yams towards the substrate.

[0118] Preferably, it is provided to move the pulling gripper closer to the yam outlet elements during the initial vertical translation movement of the at least one insertion element and of the plurality of yams towards the substrate.

[0119] Preferably, it is provided to transport by means of the presentation gripper a free end of the yams from the yarn outlet elements beyond the pulling gripper, at the first operating position of the pulling gripper.

[0120] Preferably, the presentation gripper is configured to deliver the end portion of the yams with a movement at least in the vertical direction towards the substrate.

[0121] Preferably, it is provided to move the presentation gripper at least in the vertical direction towards the substrate, to deliver the end portion of the yarns to the pulling gripper, in the first operating position of the pulling gripper.

[0122] Preferably, the presentation gripper moves closer to the substrate to deliver the end portion of the yams.Preferably, it is provided to release the free end of the yarns from the presentation gripper.

[0123] Preferably, the presentation gripper moves away from the substrate to free a translation path of the pulling gripper.

[0124] Preferably, the presentation gripper moves away from the substrate before moving the pulling gripper in the horizontal direction, to reach the second operating position of the pulling gripper.

[0125] In this way, it is advantageously possible to avoid interference between the presentation gripper and the pulling gripper when the pulling gripper moves in the horizontal direction to reach its second operating position.

[0126] Preferably, the feed device comprises a drive system of the presentation gripper in turn comprising a first presentation actuator. Preferably, the first presentation actuator is configured to move the presentation gripper at least in the vertical direction.

[0127] Preferably, the first presentation actuator comprises at least one motorized element configured to raise and lower the presentation gripper with respect to the substrate.

[0128] Preferably, the motorized element of the first presentation actuator comprises an electric actuator or a hydraulic actuator or a pneumatic actuator.

[0129] Preferably, the first presentation actuator is arranged at an angle with respect to the substrate.

[0130] Preferably, the angle of the first presentation actuator with respect to the substrate is comprised between 30° and 60°.

[0131] Preferably, a vertical excursion of the presentation gripper between a lowered position and a raised position is comprised between 25 mm and 75 mm, more preferably between 40 mm and 60 mm.

[0132] Preferably, the first presentation actuator comprises at least one rod. Preferably, the at least one rod is longitudinally arranged in the frame.

[0133] Preferably, the at least one rod comprises a first end rotatably connected to the feed device.

[0134] Preferably, the at least one rod comprises a second end opposite the first end. Preferably, the presentation gripper is mounted on the second end.Preferably, in the raised position of the presentation gripper the at least one rod defines an angle comprised between 5° and 10° with respect to the substrate.

[0135] Preferably, the first presentation actuator comprises a spring connected to the second end of the rod.

[0136] Preferably, the spring is configured to cooperate to lift the presentation gripper, together with the motorized element.

[0137] In this way, it is advantageously possible to provide a first presentation actuator that is robust and capable of moving the presentation gripper with a speed adequate for a rapid insertion of the yarns into the substrate.

[0138] Preferably, the drive system of the presentation gripper comprises a second presentation actuator.

[0139] Preferably, the second presentation actuator is configured to move, at least in the horizontal direction, the presentation gripper.

[0140] Preferably, a horizontal excursion of the presentation gripper provided by the second presentation actuator is comprised between 25 mm and 75 mm, more preferably, between 30 mm and 50 mm.

[0141] Preferably, the second presentation actuator is configured to move the presentation gripper together with said first presentation actuator.

[0142] Preferably, the second presentation actuator comprises at least one motorized element configured to move the presentation gripper from its first operating position proximal to the yam outlet elements towards its second operating position distal with respect to the yarn outlet elements in the frame of the mobile apparatus.

[0143] Preferably, the motorized element of the second presentation actuator comprises an electric actuator or a hydraulic actuator or a pneumatic actuator. Preferably, the second presentation actuator is horizontally arranged.

[0144] In this way, it is advantageously possible to provide a presentation actuator that is robust and capable of moving the presentation gripper with a speed adequate for a rapid insertion of the yams into the pulling gripper and, subsequently, into the substrate.

[0145] Preferably, the apparatus comprises a yarn storage unit comprising a plurality of housings configured to receive yarn reels.Preferably, the yam storage unit is mounted on the frame.

[0146] Preferably, the plurality of yam outlet elements is fixed to the frame.

[0147] Preferably, the plurality of yam outlet elements comprises a plurality of tubes for the yam passage.

[0148] Preferably, the tubes for the yam passage comprise respective yam outlets parallel to each other.

[0149] Preferably the yarn outlets face the yarn insertion zone.

[0150] In this way, it is advantageously possible to realize a mobile apparatus provided with a sufficient stock of yams lengths, increasing the range of the apparatus and reducing the interruptions of the insertion process of the yarn sections.

[0151] Preferably, the yam insertion unit comprises a plurality of insertion elements configured to translate in a vertical direction. Preferably, a respective insertion element for each yam of the plurality of yarns is provided.

[0152] Preferably, the insertion element is an insertion pin.

[0153] Preferably, the plurality of insertion elements comprises pins. Preferably, the pins are vertically arranged. Preferably, the pins are parallel to each other.

[0154] Preferably, the yarn insertion unit comprises a perforated plate for the passage of the pins. Preferably, the perforated plate is arranged below the pins. Preferably, the perforated plate is arranged parallel to the substrate. Preferably, the pulling gripper is movable above the perforated plate.

[0155] Preferably, the yarn insertion unit comprises at least one insertion actuator. Preferably, the at least one insertion actuator is configured to raise and lower the at least one insertion element.

[0156] In this way, it is advantageously possible to reliably and reproducibly insert the yam sections into the substrate.

[0157] Preferably, the yam insertion unit comprises at least one centring element.

[0158] Preferably, the centring element is configured to translate in the vertical direction.

[0159] Preferably, the centring element is configured to engage the plurality of yarns inalignment with the at least one insertion element.

[0160] In this way, it is advantageously possible to reliably and reproducibly engage the yams by the at least one insertion element.

[0161] Preferably, the centring element is arranged in the frame along a direction substantially transversal to a longitudinal development direction of the mobile apparatus configured to insert the yarn sections into the substrate.

[0162] Preferably, the centring element comprises at least one profile shaped with a plurality of recesses.

[0163] Preferably, the centring element comprises two or more shaped profiles, each with a respective plurality of recesses aligned with recesses of the other shaped profiles.

[0164] Preferably, the shaped profiles comprise substantially V-shaped recesses. Preferably, the recesses are configured to engage respective yams. Preferably, the recesses are configured to engage respective yams in alignment with the respective insertion elements.

[0165] Preferably, the centring element comprises at least one hole for the passage of the at least one insertion element. Preferably, the centring element comprises a plurality of aligned holes for the passage of respective insertion elements of the yam insertion unit.

[0166] Preferably, it is provided to engage the plurality of yams with at least the centring element to align the plurality of yarns with the at least one insertion element.

[0167] Preferably, it is provided to move the pulling gripper closer to the yarn insertion zone during an initial vertical translation movement of the at least one centring element that pushes said plurality of yarns towards said substrate.

[0168] Preferably, the at least one insertion element is mechanically connected to the centring element for an at least partially simultaneous translation in the vertical direction.

[0169] Preferably, the at least one insertion element is configured for a further additional translation in the vertical direction to insert the at least one yam section into the substrate with a movement of the at least one yam section guided by the centring element.

[0170] Preferably, it is provided to align the at least one insertion element with the plurality of yarns by means of the centring element, before inserting the at least one section into the substrate.

[0171] Preferably, it is provided to carry out a final vertical translation movement of the at leastone insertion element and of the yarns towards the substrate, in order to insert the at least one section of the yarns into the substrate.

[0172] Preferably, the yarn insertion unit comprises a level sensor configured to measure a height with respect to the substrate.

[0173] Preferably, the mobile apparatus is configured to adjust a height of the yarn insertion unit with respect to the substrate.

[0174] Preferably, the mobile apparatus is configured to adjust a height of the yarn insertion unit via a feedback based on a signal from the level sensor.

[0175] Preferably, the mobile apparatus comprises a cutting device configured to cut the yam sections from a predetermined length of the yarns.

[0176] Preferably, it is provided to cut the yams to provide the yam sections. Preferably, it is provided to cut a predetermined length of the yams to provide the yarn sections.

[0177] Preferably the cutting device comprises at least one movable blade.

[0178] Preferably, the cutting device is mounted on a side of the presentation gripper. Preferably, the cutting device is mounted on a side of the presentation gripper opposite to the yam outlet elements. Preferably, the cutting device is movable together with the presentation gripper.

[0179] Preferably, the pulling gripper is moved closer to the yam insertion zone before cutting the yam sections.

[0180] Preferably, the pulling gripper releases the end portion substantially simultaneously with cutting of the yam sections.

[0181] Preferably, the pulling gripper releases the end portion and the cutting device cuts the yarn near the presentation gripper, releasing the yam sections for insertion into the substrate.

[0182] Preferably, the presentation gripper holds a further end of the yams while the cutting device cuts the yarn to create the yarn sections.

[0183] In this way, it is advantageously possible to reliably and quickly create the yarn sections starting from the yarns and quickly prepare the apparatus for a subsequent insertion cycle of the yam sections into the substrate.Additional characteristics and advantages of the present invention will be better apparent from the following detailed description of preferred embodiments thereof, made with reference to the appended drawings and provided by way of indicative and non-limiting example.

[0184]

[0185] In the drawings:

[0186] - Figure 1 shows a longitudinal sectional view of a mobile apparatus configured to insert yarn sections into a substrate, according to a preferred embodiment of the invention.

[0187] - Figure 2 shows a perspective view of a yarn insertion unit of the apparatus of Figure 1.

[0188] - Figure 3 shows a side view of part of the yarn insertion unit of Figure 2.

[0189] - Figure 4 shows a detailed perspective view of the yam insertion unit of Figure 3.

[0190] - Figures 5 to 8 show the movement of some elements of the yam insertion unit of Figure 2.

[0191] - Figure 9 shows a perspective view of a presentation gripper of the apparatus of Figure 1.

[0192] - Figure 10 shows an exploded perspective view of the presentation gripper of Figure 9.

[0193] - Figure 11 shows a perspective view of a pulling gripper of the apparatus of Figure 1.

[0194] - Figure 12 shows an exploded perspective view of comb elements of the pulling gripper of Figure 11.

[0195] - Figures 13 to 26 show different insertion steps of the yam sections into a substrate, by means of the mobile apparatus of Figure 1 illustrated in detail in a longitudinal sectional view;

[0196] - Figures 2 IB and 22B are enlarged views, respectively, of details of Figures 21 and 22.

[0197] In the various figures, the same elements will be indicated by the same reference numbers. If there are several similar elements in a figure, only one or some of them may be identified by a respective reference number, for greater visibility, meaning that the other elements are still included in the disclosure.

[0198] Detailed of the embodiments of the inventionIn the attached figures, a mobile apparatus according to a preferred embodiment of the invention configured to insert yam sections into a substrate 2, hereinafter simply referred to as “apparatus”, is generally indicated with the reference number 1.

[0199] The substrate 2 is for example a ground of a sports field, within which the apparatus 1 inserts the yarn sections to make a so-called “hybrid” turf system, i.e. also including blades of natural grass.

[0200] The apparatus 1 preferably comprises a frame 3 supported by a plurality of wheels 4 or rollers, to be able to move in the advancement direction exemplified by the arrow D in Figure 1 and move forward on the substrate 2 in coordination with the insertion operations of the yam sections.

[0201] To this end, the apparatus 1 comprises drive elements, known per se and not illustrated in greater detail, configured to rotate the wheels 4 and allow the desired movement of the apparatus 1 on the substrate 2.

[0202] The apparatus 1 preferably comprises a feed device 5 for feeding, in a coordinated manner with the insertion operations of the yam sections into the substrate 2, a plurality of yams coming from reels stowed in a yarn storage unit 6, to a yam insertion zone 8a defined between the substrate 2 and a yarn insertion unit 9 configured to insert at least a section of said yams into the substrate 2. Both the feed device 5 and the yam storage unit are supported by the frame 3.

[0203] The feed device 5 preferably comprises a plurality of yam outlet elements 7, for example of tubular shape, which transport the yarns coming from the yarn storage unit 6 to a yam presentation zone 8b defined in the apparatus 1 between the yarn insertion zone 8a and a yarn outlet end of the yarn outlet elements 7.

[0204] The feed device 5 is configured to transport the yarns coming from the yarn storage unit 6 conveyed to the yarn presentation zone 8b by the yarn outlet elements 7 up to the yarn insertion zone 8a. The feed device 5 of the apparatus 1 preferably comprises a pulling gripper 10 and a presentation gripper 11 which, at the beginning of each insertion cycle of the yam sections, are arranged on opposite sides with respect to the yam insertion zone 8a.

[0205] More particularly, the pulling gripper 10 is arranged in front of the yam insertion zone 8a, with respect to the longitudinal advancement direction D of the apparatus 1, while the presentation gripper 11 is arranged behind the yarn insertion zone 8a, always with respect to the longitudinal advancement direction D of the apparatus 1.In a preferred embodiment, there are 88 outgoing yams and the grippers 10 and 11 have 88 seats, each adapted to receive a respective yam.

[0206] The presentation gripper 11 carries out a first extraction of the yams from the yarn outlet elements 7, while the pulling gripper 10 extracts and puts in tension the yarns thus extracted for the subsequent insertion into the substrate 2 by means of the yarn insertion unit 9.

[0207] With particular reference to Figures 2 to 8, the yam insertion unit 9 comprises a plurality of pins 12 that act as insertion elements, by engaging the yams in the yam insertion zone 8a and by pushing into the substrate 2 yarn sections obtained from the yarns themselves.

[0208] Preferably, the apparatus 1 comprises a bank of pins 12 arranged side by side and spaced apart from each other by a predetermined distance in a direction perpendicular to the advancement direction of the apparatus 1.

[0209] More particularly, the pins 12 are preferably fixed to a pin-holder beam 38 mounted in the frame 3 and perpendicularly extending to the longitudinal advancement direction of the apparatus 1 (see Fig. 2).

[0210] In the preferred embodiment illustrated, the pins 12 are fixed below the pin-holder beam 38.

[0211] Preferably, the yam insertion unit 9 comprises a raising and lowering system, comprising one or more pistons 9b. The pistons 9b are configured for a vertical movement, to lower or raise, with respect to the ground level, the level of the yam insertion unit 9 within which the bank of pins 12 is located.

[0212] The yarn insertion unit 9 comprises an insertion actuator 13 that drives the vertical translation movement of the pin-holder beam 38, so as to lower the pins 12 that insert the yarn sections into the substrate 2. Preferably, the insertion actuator 13 comprises at least one connecting rod-crank system, in particular two connecting rod-crank systems, each supported at respective ends of the yarn insertion unit 9 which are perpendicularly arranged with respect to the longitudinal advancement direction of the apparatus 1 (see Fig. 2).

[0213] Preferably, each of the aforementioned connecting rod-crank systems is driven by a respective drive motor 36 provided with a respective gear motor 37 (see Fig. 2).

[0214] Preferably, the yarn insertion unit 9 further comprises a centring element 14 which is lowered, preferably by gravity, moving between a starting position and an end positiondefined by end-of-stroke elements 15a-15c, such as for example at least one mechanical puffer comprising a buffer, for example made of rubber, to ensure that the yams are in an appropriate position with respect to the pins 12 for subsequent insertion (see Fig. 5-8).

[0215] Advantageously, the end-of-stroke elements 15a-15c in the form of a mechanical puffer constitute as many damping elements capable of effectively damping the accelerations / decelerations of the yam insertion unit 9.

[0216] Preferably, the centring element 14 comprises a profile shaped with a non-cutting serration, provided with substantially V-shaped recesses. Advantageously, the centring element 14 engages the yarns by tensioning the same along the recesses and keeps them in the appropriate position during the descent of the pins 12, which insert the yam sections.

[0217] The yarn insertion unit 9 comprises a perforated plate 16, provided with a plurality of holes 17, fixed to the frame 3 and which remains parallel to the substrate 2 at the yam insertion zone 8a.

[0218] Preferably, the holes 17 are suitably spaced from each other in a direction perpendicular to the advancement direction of the apparatus 1 by a distance equal to the distance between adjacent pins 12 to allow the passage of the pins 12 within the centring element 14.

[0219] The pins 12 are inserted into the plurality of holes 17 of the perforated plate 16 and, with their end, pass through the perforated plate 16 moving closer to and penetrating the substrate 2 during the insertion of the yarn sections.

[0220] Figures 5 to 8 show the movement of the centring element 14 which comes down together with the pins 12, and which remains in an intermediate position while the pins 12 continue in their descent. To better visualize these movements in the figures, some elements already described have been omitted.

[0221] More particularly, the centring element 14 and the pins 12 are movable on respective linear guides (not shown); the pins 12 are lowered by the action of the insertion actuator 13 (not shown) while the centring element comes down by gravity within the excursion allowed by the end-of-stroke elements 15a-15c.

[0222] In Figure 5, the pins 12 are in a raised position and a first abutment element 14a of the centring element 14 rests by means of a first end-of-stroke element (puffer) 15a on the pin-holder beam 38 which supports the pins 12, keeping the centring element 14 raisedtogether with the pins 12. In this configuration, a further portion 14a’ of the first abutment element 14a is arranged above a second end-of-stroke element (puffer) 15b, positioned on a frame 9a of the yarn insertion unit 9, while the second abutment element 12a is arranged below and in contact with a third end-of-stroke element (puffer) 15c positioned on the frame 9a of the yarn insertion unit 9.

[0223] In Figure 6, the pins 12 begin the descent under the effect of the insertion actuator 13; by gravity, the centring element 14 is lowered together with the pins 12 while always maintaining the contact between the first end-of-stroke element 15a and the pin-holder beam 38, until the aforementioned further portion 14a’ of the first abutment element 14a abuts against the second end-of-stroke element 15b.

[0224] In Figure 7, the pin-holder beam 38 and the pins 12 supported by the same continue to descend under the effect of the insertion actuator 13; the centring element 14 cannot be lowered further, because it is held by the first abutment element 14a that is supported by the second end-of-stroke element 15b positioned on the frame 9a of the yam insertion unit 9. The centring element 14 therefore remains at an appropriate height to engage the yarns putting them under tension. The pin-holder beam 38 and the pins 12 supported by the same move away from the first end-of-stroke element 15a during their further descent towards the substrate 2.

[0225] In Figure 8, the pins have substantially completed their descent, and the centring element 14 remained in place even after insertion of the yams into the substrate 2. With the ascent of the pins 12 by means of the action of the insertion actuator 13 that drives the movement in the vertical direction of the pin-holder beam 38, the latter will return to the condition of Figure 7, will continue the ascent going into abutment with the first end-of-stroke element 15a as in Figure 6 and will raise again the centring element 14 together with the pins 12 pushing on the first abutment element 14a, raising its portion 14a’ away from the abutment position with the second end-of-stroke element 15b and until contacting the third end-of-stroke element 15c thus returning to the configuration of Figure 5.

[0226] A cyclic lowering and raising of the pins 12 and of the centring element 14 functional to the insertion of the yam sections is thus achieved, as will be further described.

[0227] With particular reference to Figures 9 and 10, the presentation gripper 11 preferably comprises a gripper element 18 configured to open and close, defining a release configuration and a holding configuration for a free end of the yarns leaving the yam outlet elements 7, which yarns are held by the teeth of comb elements of the gripper element 18.Preferably, the gripper element 18 is transversally arranged in the frame 3 and associated in a parallel manner to a cutting device 19.

[0228] Preferably, the cutting device 19 is mounted on a side of the presentation gripper 11 opposite the yam outlet elements 7.

[0229] Preferably, the cutting device 19 comprises comb blades, movable and configured to cut the yarns between their own teeth and thus create yarn sections.

[0230] Preferably, the presentation gripper 11 is driven by a first presentation actuator 20 configured to raise the presentation gripper 11 and in particular to raise the gripper element 18 and the cutting device 19.

[0231] Preferably, the first presentation actuator 20 comprises an actuator 21 arranged at an angle with respect to a horizontal plane defined by the substrate 2 and a pair of rods 22 hinged at both ends and which support the gripper element 18 and the cutting device 19, so as to allow the lifting thereof. Preferably, the actuator 21 comprises a brushless electric motor.

[0232] The first presentation actuator 20 may also comprise a spring, which will be described later, which cooperates to lift the presentation gripper 11 / cutting device 19 assembly.

[0233] Preferably, the presentation gripper 11 is associated to a second presentation actuator 23 which moves horizontally the presentation gripper 11 / cutting device 19 assembly, in particular the gripper element 18 and the cutting device 19.

[0234] Preferably, the second presentation actuator 23 comprises an actuator 24 associated to a pair of sliding guides 25 horizontally and longitudinally arranged in the frame 3 of the apparatus 1. Preferably, the actuator 24 comprises a brushless electric motor.

[0235] Preferably, the sliding guides 25 are connected to the first presentation actuator 20, thereby allowing a horizontal translation of the presentation gripper 11 / cutting device 19 assembly in combination with the already described vertical movement.

[0236] With particular reference to Figures 11 and 12, the pulling gripper 10 comprises a gripper element 26 configured to open and close, defining a release configuration and a holding configuration for an end portion of the yams delivered by the presentation gripper 11, which yarns are held by the teeth of the comb elements of the gripper element 26, which is transversally arranged in the frame 3.

[0237] Preferably, the pulling gripper 10 is driven by a first pulling actuator 27 configured to move the pulling gripper 10 and in particular to horizontally translate the gripper element26.

[0238] Preferably, the first pulling actuator 27 comprises a motorized element 28 that rotates a pair of belts 29 protected by a respective casing. The pair of belts 29 is mounted on pulleys and allows the translation of support uprights 30 which the gripper element 26 is connected to.

[0239] Preferably, the gripper element 26 of the pulling gripper 10 comprises a pair of first movable comb elements 31 and a pair of second fixed comb elements 32, arranged in an alternating manner with each other and whose assembly is transversally arranged with respect to the frame 3.

[0240] Preferably, the gripper element 26 comprises a gripper actuator 33 configured to slide the first comb elements 31 with respect to the second comb elements 32 so that the respective comb teeth open and close, defining a release configuration and a holding configuration for an end portion of the yams delivered by the presentation gripper 11.

[0241] Preferably, the apparatus 1 also comprises a sensor wheel 34 configured to measure a distance with respect to the substrate 2 and adjust a height of the yam insertion unit 9 with respect to the ground by means of the pistons 9b of the raising and lowering system, for a convenient insertion of the yam sections.

[0242] With particular reference to Figures 13 to 26, the cyclic insertion steps of the yarn sections into the substrate 2, carried out by means of the feed device 5 and of the yarn insertion unit 9 of the apparatus 1, are described.

[0243] In Figures 13 to 26, the arrow D indicates the longitudinal advancement direction of the apparatus 1 on the substrate 2.

[0244] In Figure 13, the presentation gripper 11 is in the start-of-cycle position and is in a holding configuration of the yarns directly at the exit of the yarn outlet elements 7.

[0245] In this configuration of the apparatus 1, the pins 12 of the yarn insertion unit 9 are raised and the pulling gripper 10 is in its initial operating position, distal from the yarn insertion zone 8 and preferably in the open or release position.

[0246] In this configuration of the apparatus 1, the sensor wheel 34 measures a distance with respect to the substrate 2 and the apparatus adjusts a height of the yam insertion unit 9 for a proper insertion of the yam sections.

[0247] In Figure 14, the presentation gripper 11 which holds the yarns is raised by the action ofthe first presentation actuator 20, providing an initial extraction of the yarns and freeing the space under the presentation gripper 11 for a subsequent positioning of the pulling gripper 10. The spring 35 advantageously cooperates to lift the presentation gripper 11.

[0248] In Figure 15, the presentation gripper 11 advances in a horizontal direction towards the pins 12 of the yarn insertion unit 9, under the action of the second presentation actuator 23, proceeding with the initial extraction of the yams and creating the space proximal to the yam outlet elements 7 to accommodate the arrival of the pulling gripper 10.

[0249] In Figure 16, the pulling gripper 10 advances in a horizontal direction approaching the yarn outlet elements 7, i.e. up to its first operating position proximal to the yam outlet elements 7, under the action of the pulling actuator 27. This movement allows the pulling gripper 10 to reach the defined position to receive the yarns. The pulling gripper 10 is in a release or open configuration and the presentation gripper 11 is in a holding or closed configuration. In this figure, the thin arrow A indicates the translation direction of the pulling gripper 10 towards its first operating position.

[0250] In this preferred embodiment, therefore, the translation direction A of the pulling gripper 10 towards its first operating position is opposite to the advancement direction, exemplified by the arrow D, of the apparatus 1 on the substrate 2.

[0251] In Figure 17, the presentation gripper 11 moves down by the action of the first presentation actuator 20 and reaches a position between the pulling gripper 10 and the pins 12 of the yarn insertion unit 9.

[0252] In this way and as illustrated above, the presentation gripper 11 transports a free end of the yams beyond the pulling gripper 10 at the operating position of the pulling gripper 10 proximal to the yarn outlet elements 7.

[0253] Advantageously, the downward and advancement movement of the presentation gripper 11 allows to obtain in this way the transfer of the yarns to the pulling gripper 10, maintaining a correct tension of the yarn.

[0254] The Applicant has verified that, with this movement of the presentation gripper 11 in particular defined by the particular angles and trajectories of movement, the efficiency of transfer and delivery of the yams to the pulling gripper 10 is close to 100%.

[0255] In a purely exemplary embodiment, the presentation gripper 11, from the yarn gripping position of Figure 1, can for example move upwards by about 57mm corresponding to about 9.5°. Subsequently, the presentation gripper 11 can move forward by about 40mmto create the space for the pulling gripper 10. When the pulling gripper 10 has moved closer, the presentation gripper 11 advances by a further about 5 mm and is lowered by about 57 mm corresponding to about -9.5°, in order to insert the yams into the pulling gripper 10 while keeping them tensioned.

[0256] The exemplified amounts can be modified by a control interface of the apparatus 1 and can be modified at will within the limits imposed by the mechanics of the system.

[0257] In Figure 18, the pulling gripper 10 closes shifting itself into the holding configuration and blocking the yarns. The presentation gripper 11 opens shifting itself into a release configuration and releases the yams that are now held by the pulling gripper 10. The presentation gripper 11 in the open configuration is raised by the action of the first presentation actuator 20, freeing the return path for the pulling gripper 10.

[0258] In Figure 19, the pulling gripper 10 moves away from the yam outlet elements 7 carrying out a complete extraction of the yams, under the action of the pulling actuator 27. In this figure, the thin arrow B indicates the translation direction of the pulling gripper 10 towards its second operating position distal with respect to the yarn outlet elements 7.

[0259] In this preferred embodiment, therefore, the translation direction B of the pulling gripper 10 towards its second operating position is concordant with the advancement direction, exemplified by the arrow D, of the apparatus 1 on the substrate 2.

[0260] The yarn extraction stroke can be adjusted and depends on the desired depth of insertion of the yarn sections and on the length of yam section that will have to remain outside the substrate 2.

[0261] In particular, the yarn extraction stroke is determined such that a midpoint of the yam section lies below the pins 12 during their descent, so that the yarn section is symmetrically inserted into the substrate.

[0262] To adjust the insertion depth of the yam sections, it is possible to adjust the position of the ends of the yarn section during the insertion cycle, such that the distance between the yarn outlet elements 7 and the pulling gripper 10 in the second distal operating position is compatible with the insertion depth reached by the pins 12. While the movement, and thus the position, of the pulling gripper 10 is determined by the control system of the apparatus 1, the position of the yarn outlet elements 7 can be adjusted by dedicated mechanical and / or electrical systems.

[0263] At the same time, the presentation gripper 11 moves away from the yarn insertion unit 9to move again closer to the yam outlet elements 7.

[0264] It should be noted that, taking into account the geometry and the spaces developed in the yarn insertion unit 9, in this step the yam section to be inserted does not have its centre line centred with respect to the point of engagement of the pins 12 but, rather, the yarns have, with respect to this point, a greater length on the side facing the pulling gripper 10.

[0265] In Figure 20, the presentation gripper 11 lowers under the action of the first presentation actuator 23, allowing again that the yarns housing in its own comb seats, without however shifting into the closed position in the holding configuration yet.

[0266] In Figure 21, the presentation gripper 11 closes shifting itself into a holding configuration, in order to block the yarns avoiding any possible further pulling off due to the subsequent lowering movement of the pins 12, better visible in the enlarged view of Figure 21B.

[0267] Advantageously, the yams are kept under tension by the grippers 10 and 11 so that the centring in the pins 12 is maintained by the centring element 14 and does not vary with the descent of the pin-holder beam 38 and of the pins 12 supported by the same of the yarn insertion unit 9.

[0268] The pin-holder beam 38 and the pins 12 supported by the same are lowered by the action of the insertion actuator 13, while the centring element 14 is lowered by gravity, until the yarns are at the vertices of the substantially V-shaped recesses of the centring element 14, visible in the enlarged view of Figure 2 IB.

[0269] The starting position and arrival position that define the stroke of the centring element 14 are defined by the mechanical end-of-stroke elements 15a-15c already described, which constitute an elastic element capable of effectively dampening the accelerations / decelerations of the yarn insertion unit 9, preserving the mechanics thereof.

[0270] In this step of the insertion cycle, moreover, the pulling gripper 10 slightly advances towards the insertion zone 8 to maintain the correct tension of the yams as highlighted by the arrow C in Figure 21.

[0271] In Figure 22 and as best visible in the enlarged view of Figure 22B, the pins 12 are lowered by the action of the insertion actuator 13 which acts on the connecting rod-crank mechanism, until the yarns are housed in a substantially V-shaped vertex seat of the pins 12. The downward movement of the pins 12 allows the engagement of the yarns by directing the yams towards the holes 17 of the perforated plate 16.

[0272] In Figure 23, the descent of the pins 12 and the advancement of the pulling gripper 10towards the yarn insertion zone 8 continue, until the engagement point of the pins 12 on the yams coincides with the centre line of the latter, defined as the “pre-insertion” condition.

[0273] In this step, two critical issues could occur:

[0274] a) a yarn is not centred with respect to the insertion position of the respective pin;

[0275] b) there is an excessive tension increase on a yarn, which causes it to break.

[0276] To solve these critical issues, the pulling gripper 10 provides a specific advancement movement towards the yarn insertion unit 9 until the yam section is centred, in order to always maintain a perfect tension of the yarns.

[0277] In the step illustrated in Figure 24, the following operations take place simultaneously: the cutting of the yarns by the action of the cutting device 19, the opening of the pulling gripper 10 in the release configuration, the initial insertion of the yam section thus created into the substrate 2, by the action of the pins 12 passing through the perforated plate 16.

[0278] In Figure 25, the pins 12 reach the depth defined by the setting of the apparatus 1, inserting the yarn section deep into the substrate 2 and leaving a desired length thereof outside the substrate itself.

[0279] In Figure 26, the pins 12 return to the initial position by the action of the insertion actuator 13 while the pulling gripper 10 returns back to its initial position, i.e. the aforementioned second operating position distal with respect to the yam outlet elements 7. The frame 3 of the apparatus 1 can advance by the desired distance and proceed to a subsequent insertion cycle of further yarn sections into the substrate 2, with procedures similar to those set out above.

[0280] In this way, the apparatus 1 allows to insert yarn sections into the substrate 2 reliably and reproducibly making a hybrid turf.

Claims

CLAIMS1. A mobile apparatus (1) configured to insert yarn sections into a substrate (2), wherein said apparatus (1) comprises a feed device (5) configured to feed a plurality of yams to a yarn insertion zone (8a) defined between said substrate (2) and a yam insertion unit (9) configured to insert a yam section cut from said yams into said substrate (2), said yarn insertion unit (9) comprising at least one insertion element (12) configured to translate in a vertical direction, perpendicular to said substrate (2);wherein said feed device (5) comprises at least:- a plurality of yam outlet elements (7) for said plurality of yarns;- a pulling gripper (10), movable in a horizontal direction, parallel to said substrate (2), between a first operating position proximal to said yam outlet elements (7) and a second operating position distal with respect to said yarn outlet elements (7), said pulling gripper (10) being configured to hold an end portion of said yarns and transport said end portion away from said yarn outlet elements (7);wherein said pulling gripper (10) is configured to move closer to said yam insertion zone (8a) and hold said end portion at least during an initial vertical translation movement of said at least one insertion element (12) and of said plurality of yarns towards said substrate (2).

2. The mobile apparatus (1) according to claim 1, wherein said pulling gripper (10) is configured to releasably hold said end portion of said yarns.

3. The mobile apparatus (1) according to claim 2, further comprising a cutting device (19) configured to cut said yam sections from a predetermined length of said yams, wherein said pulling gripper (10) is configured to move closer to said yam insertion zone (8a) before said cutting device (19) cuts said yarn sections.

4. The mobile apparatus (1) according to claim 3, wherein said pulling gripper (10) is configured to release said end portion after said cutting device (19) has cut said yam sections.

5. The mobile apparatus (1) according to any one of claims 1 to 4, comprising a frame (3), movable on said substrate (2), and further comprising a pulling actuator (27) configured to move said pulling gripper (10) in said horizontal direction;wherein said pulling actuator (27) comprises at least one horizontal guide (29) connected to said frame and further comprises at least one motorised element (28) configured to translate said pulling gripper (10) in a controlled manner on said horizontal guide (29).

6. The mobile apparatus (1) according to any one of claims 1 to 5, comprising apresentation gripper (11) configured to transport a free end of said yams from said yam outlet elements (7) beyond said pulling gripper (10), at said first operating position of said pulling gripper (10);wherein said pulling gripper (10) is further configured to move closer to said presentation gripper (11) during said initial vertical translation movement of said at least one insertion element (12) and of said plurality of yarns towards said substrate (2).

7. The mobile apparatus (1) according to any one of claims 1 to 6, wherein said yam insertion unit (9) further comprises at least one centring element (14) configured to translate in said vertical direction and engage said plurality of yarns in alignment with said at least one insertion element (12),and wherein said pulling gripper (10) is further configured to move closer to said yam insertion zone (8a) during an initial vertical translation movement of said at least one centring element (14) towards said substrate (2).

8. An insertion method for inserting yam sections into a substrate (2) by means of a mobile apparatus (1) configured to insert yarn sections, said method comprising:- feeding, by means of a plurality of yam outlet elements (7), a plurality of yarns to a yam presentation zone (8b) defined in said apparatus (1);- positioning a pulling gripper (10) in a first operating position proximal to said yam outlet elements (7);- grasping an end portion of said yarns by means of said pulling gripper (10);- moving said pulling gripper (10) in a horizontal direction, parallel to said substrate (2), to reach a second operating position distal with respect to said yarn outlet elements (7) and to transport said end portion of said yams away from said yarn outlet elements (7); - translating in a vertical direction towards said substrate (2) at least one insertion element (12) of a yam insertion unit (9);- moving said pulling gripper (10) closer to a yarn insertion zone (8a) and holding said end portion of said yams at least during an initial vertical translation movement of said at least one insertion element (12) and said yarns towards said substrate (2);- cutting yarn sections of a predetermined length by means of a cutting device (19); - inserting said yam sections into said substrate (2), by means of said yarn insertion unit (9).

9. The insertion method according to claim 8, further comprising moving said pulling gripper (10) from said first operating position to said second operating position, to extracta predetermined length of said yams from said yarn outlet elements (7).

10. The insertion method according to claim 9, further comprising moving said pulling gripper (10) closer to said yam insertion zone (8a) before cutting said yam sections.

11. The insertion method according to claim 10, further comprising releasing said end portion of said yams from said pulling gripper (10) substantially simultaneously with cutting said yarn sections.

12. The insertion method according to claim 10, further comprising performing a final vertical translation movement of said at least one insertion element (12) and of said yarn sections towards said substrate (2), to insert said yam sections into said substrate (2).

13. The insertion method according to any one of claims 8 to 12, further comprising moving a frame (3) of said apparatus (1) for inserting yam sections into said substrate (2), wherein at least said pulling gripper (10) is connected to said frame (3).

14. The insertion method according to any one of claims 8 to 13, further comprising: - transporting by means of a presentation gripper (11) a free end of said yarns from said yarn outlet elements (7) beyond said pulling gripper (10), at said first operating position of said pulling gripper (10).

15. The insertion method according to any one of claims 8 to 14, further comprising: - engaging said plurality of yams with at least one centring element (14) to align said plurality of yarns with said at least one insertion element (12),- moving said pulling gripper (10) closer to said yarn insertion zone (8a) during an initial vertical translation movement of said at least one centring element (14) towards said substrate (2).

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