AGV Yarn Package Handling for Twisting Machine Loading
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Solution Overview
Problem
Conventional yarn handling for twisting machines requires substantial operator interaction, leading to occupational hazards and inefficiencies.
Innovation Solution
An apparatus comprising an automated guided vehicle (AGV) with a robotic arm and end effector is used to automate the handling of yarn packages, including depalletizing, transferring to a twisting machine, and loading onto a creel, reducing direct operator interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual handling by operators is used, then flexibility and adaptability are maintained, but operator exposure to hazards increases and productivity decreases
Solution Approach 1:
The automated handling system is divided into separate functional modules: a robotic arm for picking and placing yarn packages, an AGV for transportation, and a rack system for storage. This segmentation allows each component to be optimized independently while working together to automate the overall handling process, reducing operator exposure to hazards.
Solution Approach 2:
The AGV (automated guided vehicle) acts as an intermediary between the robotic arm and the twisting machine, transporting yarn packages automatically. This intermediary component enables automation of the transportation function, which was previously performed manually by operators, thereby reducing hazard exposure while maintaining system flexibility.
2Ease of operation
If manual positioning of yarn packages is used, then operational flexibility is maintained, but operator safety is compromised
Solution Approach 1:
The system performs self-service through automated means: the robotic arm automatically picks and positions yarn packages on the twisting machine without operator intervention, and the AGV automatically transports packages. This eliminates the need for operators to manually handle yarn packages, thereby removing them from exposure to occupational hazards while maintaining positioning accuracy through automated control.
3Reliability
If automated handling is implemented, then operator safety is improved, but initial system complexity increases
Solution Approach 1:
The robotic arm is designed with multi-functionality, serving as both a picking device and a positioning device. It can grip yarn packages, transport them to the twisting machine, and release them at the correct position. This universal design reduces the need for separate specialized components, thereby managing system complexity while improving operator safety through automation.
Solution Approach 2:
The system merges the functions of picking, transporting, and positioning into an integrated automated handling solution. The robotic arm combines picking and positioning functions, while the AGV combines transportation functions. This merging reduces the number of separate systems needed and simplifies the overall architecture compared to having multiple independent automated devices.
4Productivity
If manual yarn package handling is used, then system simplicity is maintained, but productivity is reduced
Solution Approach 1:
The automated handling system enables continuous operation: the robotic arm continuously picks yarn packages from the rack, the AGV continuously transports them to the twisting machine, and the system operates without interruption. This continuity eliminates idle time and manual transfer delays, significantly improving productivity while the modular design keeps complexity manageable.
Data Source
AI summary
An apparatus for servicing a twisting machine. The apparatus includes an automated guided vehicle (AGV), a robotic arm having an end effector coupled to the AGV, and a rack carried by the AGV. The rack is configured to hold a plurality of empty tubes and a plurality of yarn packages. A controller that is configured to cause the robotic arm to grip, by the end effector, a handle of a row of the twisting machine, lower a receptacle of the twisting machine to a loading position, remove an empty tube from a first receptacle of the at least one receptacle, place the empty tube on the rack, lift a yarn package from the rack, place the yarn package on the first receptacle, grip the handle of the row of the plurality of rows of the twisting machine, and raise the at least one receptacle to the operational position.