EP4559852A1

EP4559852A1 - Package supply system

Info

Publication number: EP4559852A1
Application number: EP24204579.7A
Authority: EP
Inventors: Yasuo Okuyama
Original assignee: TMT Machinery Inc
Current assignee: TMT Machinery Inc
Priority date: 2023-11-24
Filing date: 2024-10-04
Publication date: 2025-05-28
Also published as: JP2025085415A; CN120039720A; TW202521458A

Abstract

A package supply system includes a package hooking stand (12), a creel robot (30), and a transport device. Packages (50) are hooked onto a first surface and a second surface of the package hooking stand (12), respectively. The creel robot (30) collects the packages on the second surface of the package hooking stand (12) at a first standby position or the packages (50) on the first surface of the package hooking stand (12) at a second standby position, and transfers the packages (50) to a creel stand (61). The transport device causes the first surface of the package hooking stand (12) to face a movement route of the creel robot (30) by causing the package hooking stand (12) to be moved in the second standby position while keeping an orientation of the package hooking stand (12) after the creel robot (30) transfers the packages (50) of the package hooking stand (12) at the first standby position.

Description

TECHNICAL FIELD

The present invention mainly relates to a package supply system.

BACKGROUND ART

Patent Literature 1 is Japanese Patent Application Publication No. H05-32377 .
A yarn supply exchange system of PTL 1 includes an overhead hoist transport and a transfer device. The overhead hoist transport travels along an overhead rail. The transfer device transfers packages from the overhead hoist transport to a creel robot.

Summary of Invention

Since the yarn supply exchange system of PTL 1 requires a large or complicated structure, the equipment cost increases and a layout in a factory cannot be flexibly changed.
The present invention has been made in view of the circumstances described above, its main object is to provide a package supply system with a low equipment cost and flexibility to accommodate a layout change in a factory.
Problems to be solved by the present invention are as described above, and next, means for solving the problems and effects thereof will be described.
According to an aspect of the present disclosure, a package supply system having the following configuration is provided. That is, a package supply system includes a package hooking stand, a creel robot, a supply device, and a transport device. The package hooking stand has a first surface and a second surface. On each of the first surface and the second surface, a plurality of pegs for hooking packages is provided. The creel robot is configured to: move along a movement route between a first standby position and a second standby position of the package hooking stand, collect the packages hung on the pegs on the second surface of the package hooking stand located at the first standby position or the packages hung on the pegs on the first surface of the package hooking stand located at the second standby position; and transfer the packages to a creel stand of a yarn processor.
The supply device is configured to supply the package hooking stand to the first standby position. The transport device is configured to cause one of the first surface and the second surface of the package hooking stand to face the movement route of the creel robot by moving the package hooking stand from the first standby position to the second standby position while keeping an orientation of the package hooking stand, after the creel robot transfers the packages hung on the pegs on the other of the first surface and the second surface of the package hooking stand located at the first standby position to the creel stand.
Accordingly, the packages hooked on the opposite sides of the package hooking stand can be collected while keeping the orientation of the package hooking stand. Therefore, a system for collecting the packages can be realized with a simple configuration. Since the configuration is simple, equipment costs are likely to be reduced and a layout in the factory can be flexibly changed. Furthermore, since the standby positions are provided on the opposite sides of the creel robot, one package hooking stand can supply the packages to the creel robot even during the supply or transport of the other package hooking stand.
In the package supply system, it is preferable that the package supply system includes a conveyance device configured to transport the package hooking stand to the creel robot.
This can automate the operation in which the package hooking stand is transported to the creel robot.
In the package supply system, it is preferable that the supply device is provided in the conveyance device.
Accordingly, the operation of transporting the package hooking stand and the operation of supplying the package hooking stand can be performed in a single flow.
In the package supply system, it is preferable that the transport device is provided in conveyance device.
Accordingly, the conveyance device is used to perform both the supply and transfer of the package hooking stand.
In the package supply system, it is preferable that the conveyance device is a vehicle.
Accordingly, as compared with equipment such as conveyors, the layout in the factory can be flexibly changed.
In the package supply system, the following configuration is preferable. That is, the supply device is configured to supply the package hooking stand to the first standby position when the package hooking stand is not located at the first standby position. The transport device is configured to cause the package hooking stand located at the first standby position to be moved to the second standby position. The supply device is configured to supply the package hooking stand to the first standby position. The supply device is configured to collect the package hooking stand located at the second standby position.
This can smoothly perform the supply of the package hooking stand, the collection of the packages, and the collection of the package hooking stand.
In the package supply system, the following configuration is preferable. That is, in a plan view, a direction from the first standby position toward the second standby position is referred to as a first direction. The transport device includes a slide part that causes the package hooking stand to be moved in the first direction.
This allows the package hooking stand to be moved in the first direction (in a direction oriented from the first standby position to the second standby position) while keeping the orientation of the package hooking stand.
In the package supply system, the following configuration is preferable. That is, the transport device includes a movement part that causes the package hooking stand to be moved in a direction intersecting the first direction in a plan view. After the movement part causes the package hooking stand located at the first standby position to be moved in the direction intersecting the first direction in the plan view, the slide part causes the package hooking stand to be moved in the first direction. After that, the movement part causes the package hooking stand to be moved in the direction intersecting the first direction in the plan view to position the package hooking stand at the second standby position.
This allows the package hooking stand at the first standby position to be moved to the second standby position while keeping the orientation of the package hooking stand.
In the package supply system, it is preferable that the transport device is configured to cause the first surface of the package hooking stand to face the movement route of the creel robot after the creel robot transfers the packages hung on the pegs on the second surface of the package hooking stand to the creel stand.
This can collect the packages on the first surface after collecting the packages on the second surface of the package hooking stand, that is, collect the packages on the opposite surfaces of the package hooking stand.
In the package supply system, the following configuration is preferable. That is, creel stands are respectively provided on opposite sides that are a first side and a second side of the movement route of the creel robot. The creel robot is capable of transferring the packages that have been collected, to the respective creel stands on the first side and the second side.
This allows the creel robot to collect the packages on the opposite sides of the movement route. Thus, by utilizing the same function, the creel robot can transfer the packages to the creel stand on the opposite sides of the movement route.

Brief Description of Drawings

FIG. 1 is a schematic plan view of a supply system according to an embodiment of the present invention;
FIG. 2 is a perspective view of a package cart and an AGV;
FIG. 3 is a perspective view of a package cart and a creel robot;
FIG. 4 is a flowchart of a process in which a package of the package cart is transferred to a creel stand;
FIG. 5 is a schematic plan view illustrating first and second states of the supply system;
FIG. 6 is a schematic plan view illustrating third and fourth states of the supply system;
FIG. 7 is a schematic plan view illustrating fifth and sixth states of the supply system, and
FIG. 8 is a schematic plan view illustrating seventh and eighth states of the supply system.

Description of Embodiments

Next, an embodiment of the present application will be described with reference to drawings. Components forming a package supply system 1 will be described with reference to FIG. 1 to FIG. 3.
The package supply system 1 supplies packages 50 from a spinning winder (not illustrated) to a draw false-twist texturing machine 60. The draw false-twist texturing machine 60 is a type of draw false-twist texturing machine and a type of yarn processor. Examples of the yarn processor include an air texturing machine. The draw false-twist texturing machine 60 draws and twists the semi-drawn yarn (partially oriented yarn) called POY, which is a type of yarn, to produce the draw textured yarn called DTY. POY is an abbreviation for Partially Oriented Yarn. DTY is an abbreviation for Draw Textured Yarn. The draw false-twist texturing machine 60 includes a plurality of processing positions for drawing and false-twisting.
Each package 50 is POY with a predetermined length wound around a core tube. The POY produced by a spinning device of the spinning winder is wound around the core tube by a winding device of the spinning winder to form each package 50. The packages 50 are transferred to and set on a creel stand 61 included in the draw false-twist texturing machine 60. The plurality of packages 50 can be set on the creel stand 61 and arranged in a vertical direction and a horizontal direction. The yarn is unwound from each package 50 set on the creel stand 61 toward a processing position.
In the package supply system 1, the packages 50 are automatically conveyed and transferred to the creel stand 61. The term of "automatically conveyed" means that conveyance is performed using only a conveyance device without manual operations. However, at a time of occurrence of abnormality, operations by an operator may be required. The package supply system 1 of the present embodiment may also be applied not only to automatic conveyance, but also to semi-automatic conveyance in which the conveyance is performed partially by the operator. The package supply system 1 includes a package cart 10, an AGV (Automatic Guided Vehicle) 20, a creel robot 30, and an integrated controller 40. The AGV 20 corresponds to the "conveyance device".
The package cart 10 is used to collectively store the packages 50 formed by the spinning winder. The packages 50 formed by the spinning winder are hooked onto the package cart 10. The operation in which the packages 50 are hooked onto the package cart 10 is performed by a dedicated or general-purpose automatic machine, for example. As illustrated in FIG. 2, the package cart 10 includes a base 11, a package hooking stand 12, and wheels 13.
The package hooking stand 12 and the wheels 13 are provided on the base 11. The AGV 20 uses a bottom part 1 1a of the base 11 to cause the package cart 10 to be moved (details will be described later).
A plurality of pegs 12a is provided in the package hooking stand 12. Each of the pegs 12a is an elongated member whose size is smaller than an inner diameter of the core tube. In the present embodiment, longitudinal directions of all the pegs 12a are parallel to each other. Hereinafter, one side in the longitudinal direction of each peg 12a (in other words, an axial direction of the core tube of each package 50) will be referred to as a first side, and the other side will be referred to as a second side. In the package hooking stand 12, a surface on the first side will be referred to as a first surface, and a surface on the second side will be referred to as a second surface. Therefore, the first surface is opposite to the second surface. The pegs 12a are provided on both the first surface and the second surface. This allows the package cart 10 to hook the packages 50 onto both the first surface and the second surface. The pegs 12a are also arranged side by side in a height direction and the horizontal direction.
The wheels 13 are provided in a lower part of the package hooking stand 12. The wheels 13 are used when the operator pushes and moves the package cart 10. The wheels 13 may be omitted.
The AGV 20 is a vehicle that conveys the package cart 10 from the spinning winder toward the creel robot 30. In detail, the AGV 20 collects the package cart 10 onto which the packages 50 are hooked, and conveys the package cart 10 to a first standby position 101 or a second standby position 102 illustrated in FIG. 1. The first standby position 101 and the second standby position 102 are positions where the package cart 10 is on standby to transfer the packages 50 to the creel stand 61. A direction from the first standby position 101 to the second standby position 102 in a plan view is referred to as a first direction. As illustrated in FIGS. 1 and 2, the AGV 20 includes a main body part 21 and a slide table 22.
The main body part 21 includes a driving source (such as a motor) for autonomous traveling, a travel part 21a driven by the driving source, and a controller. The controller corresponding to a PLC controls the driving source and the like, so that the travel part 21a is driven in rotation to cause the main body part 21 to autonomously travel. The main body part 21 also includes a mechanism and actuator for changing an orientation of the travel part 21a. This allows the main body part 21 to travel in various orientations.
A space for placing a plurality of package carts 10 is provided on an upper surface of the main body part 21. The AGV 20 travels with the package carts 10 loaded thereon to convey the package carts 10. In the present embodiment, three package carts 10 can be transported, but the number of package carts 10 may be two or four or more.
The slide table 22 is a device for loading the package cart 10 onto the main body part 21 and unloading the package cart 10 from the main body part 21. To load the package cart 10 onto the main body part 21, firstly, the slide table is extended and inserted below the bottom part 11a, and then, the slide table is lifted and retracted. The slide table also has a function of holding the package cart 10 during conveyance of the package cart 10. With the package cart 10 being held, the controller causes the travel part 21a to travel, so that the package cart 10 is moved. To unload the package cart 10 from the main body part 21, the slide table is extended to place the package cart 10 above the first standby position 101 or the second standby position 102, and then the slide table is lowered.
In such a manner, the package cart 10 is moved from the first standby position 101 to the second standby position 102, so that the package cart 10 can be moved while keeping the orientation of the package cart 10. Therefore, a structure and a space for causing the package cart 10 to be reversed are not required. Keeping of the orientation of the package cart 10 means that the orientation of the package cart 10 is rarely or never reversed.
The AGV 20 functions as a supply device by cooperation of the travel part 21a, the slide table 22, and the controller. The supply device supplies the package cart 10 (particularly the package hooking stand 12, the same applies below) to the first standby position 101 or the second standby position 102, and collects the package cart 10 from the first standby position 101 or the second standby position 102.
The AGV 20 further functions as a transport device by cooperation of the travel part 21a, the slide table 22, and the controller. The transport device causes the package cart 10 located at the first standby position 101 to be moved to the second standby position 102. The transport device also includes a slide part and a movement part serving as functional parts. The slide part causes the package cart 10 to be moved in the first direction. The movement part causes the package cart 10 to be moved in a direction intersecting the first direction (in the present embodiment, a direction perpendicular to the first direction).
Instead of the slide table 22, a slide fork can be used. Instead of the slide table 22, a configuration in which the package cart 10 is held and lifted may be provided. At least one of the above-mentioned supply device and transport device may be provided on a component other than the AGV 20. For example, a conveyor that connects the first standby position 101 and the second standby position 102 may be provided as the supply device or the transport device as long as an interference with other devices can be avoided. The supply device and the transport device may be realized by separate machines. The AGV 20 is an example of the conveyance device. Instead of the AGV 20, a conveyance device that is not a vehicle (for example, a conveyor) may be used.
The creel robot 30 collects the packages 50 of the package cart 10 located at the first standby position 101 or the second standby position 102 and transfers the collected packages 50 to the creel stand 61. The creel robot 30 moves along a predetermined movement route 100. As illustrated in FIG. 1, the movement route 100 is set between the first standby position 101 and the second standby position 102 in a plan view. Specifically, one surface (specifically, second surface) of the package cart 10 located at the first standby position 101 faces the movement route 100. Furthermore, the other surface (more specifically, first surface) of the package cart 10 located at the second standby position 102 faces the movement route 100. The creel robot 30 can collect the packages 50 hooked onto the surface facing the movement route 100. Furthermore, the movement route 100 is set between two creel stands 61 in a plan view. The creel robot 30 can transfer the packages 50 to both of the creel stands 61. As illustrated in FIG. 3, the creel robot 30 includes a rail 31, a travel part 32, a support 33, and a transfer part 34.
The rail 31 is provided along the movement route 100. Although the rail 31 is formed on both a floor side and an overhead side in the present embodiment, the rail 31 may be formed on only one of the both sides. The travel part 32 includes a driving source (such as a motor), wheels and the like. The driving source drives the wheels, so that the travel part 32 moves along the rail 31. A controller is provided in the travel part 32. The controller corresponding to a PLC controls the driving source and the like, so that the travel part 32 and the transfer part 34 which will be described later are driven.
The support 33 is provided in the travel part 32. The support 33 extends in the height direction. The transfer part 34 is provided in the support 33. The transfer part 34 is movable along the support 33 in the height direction. The transfer part 34 can be expanded and contracted, and includes a conveyance rod 34a capable of being inserted into the core tube of each package 50. A part of the transfer part 34 including the conveyance rod 34a is attached and rotatable along a rotation axis parallel to the height direction. The power of an actuator (not illustrated) rotates the part of the transfer part 34 including the conveyance rod 34a, so that an orientation of the conveyance rod 34a can be changed. As a result, the transfer part 34 can collect both packages 50 of two package carts 10 arranged on opposite sides of the movement route 100, and can transfer the packages 50 to both of the two creel stands 61 arranged on the opposite sides of the movement route 100.
At a time of collection of the packages 50, the creel robot 30 causes the part of the transfer part 34 including the conveyance rod 34a to rotate, so that the conveyance rod 34a is directed to a side where the packages 50 to be collected are positioned. Next, by the travel of the travel part 32, the creel robot 30 aligns the position of the core tube of each package 50 to be collected with the position of the conveyance rod 34a in the travel direction of the creel robot 30. Subsequently, by the movement of the transfer part 34 in the height direction, the position of the core tube of each package 50 to be collected is aligned with the position of the conveyance rod 34a in the height direction. Then, the conveyance rod 34a is inserted into the core tube of each package 50 to be collected and lifted up, which collects the packages 50. As with transferring of the packages 50, the conveyance rod 34a is directed toward the creel stand 61 as a destination, and then, the position of a peg of the creel stand 61 as the destination is aligned with the position of the conveyance rod 34a. After that, the conveyance rod 34a causes each package 50 to be moved, and the core tube of each package 50 passes through the peg of the creel stand 61 to transfer each package 50.
In the present embodiment, the orientation of the conveyance rod 34a is changed, which can collect and transfer the packages 50 positioned on the opposite sides of the conveyance rod 34a in the travel direction. Alternatively, two conveyance rods 34a with different orientations may be provided, which collects and transfers the packages 50 positioned on the opposite sides of each conveyance rod 34a in the travel direction.
The integrated controller 40 is a computer including a CPU, a memory, a storage, and a communication module. The integrated controller 40 executes various controls related to the package supply system 1 by the CPU reading and executing programs stored in the storage. For example, the integrated controller 40 transmits commands to the AGV 20 to collect and supply the package cart 10. For example, the integrated controller 40 transmits commands to the creel robot 30 to collect and transfer the packages 50.
Next, a process in which the packages 50 hooked onto the package cart 10 are supplied to the draw false-twist texturing machine 60 will be described with reference to FIG. 4 to FIG. 8. The integrated controller 40 mainly executes the process illustrated in FIG. 4, but the controller of the AGV 20 or the creel robot 30 may execute at least a part of the process.
Firstly, the supply device of the AGV 20 receives the commands from the integrated controller 40 and supplies the package cart 10 to the first standby position 101 (S101, State 1 in FIG. 5). As a result, the second surface of the package cart 10 located at the first standby position 101 faces the movement route 100. Next, upon receiving the commands from the integrated controller 40, the creel robot 30 collects the packages 50 on the second surface of the package cart 10 located 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, the description of the transfer of the packages 50 to the creel stand 61 will be omitted.
The integrated controller 40 determines whether the collection of the packages 50 on the second surface of the package cart 10 located at the first standby position 101 has been completed (S103). When the integrated controller 40 determines that the collection of the packages 50 has been completed, the integrated controller 40 transmits the commands to the AGV 20. Upon receiving the commands from the integrated controller 40, 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 3 in FIG. 6). In detail, the movement part of the transport device of the AGV 20 causes the package cart 10 located at the first standby position 101 to be moved in a direction intersecting the first direction in a plan view (specifically, a direction perpendicular to the first direction). Next, the slide part of the transport device of the AGV 20 travels in the above-mentioned first direction while holding the package cart 10, and causes the package cart 10 to be moved in the first direction. Subsequently, the movement part of the transport device of the AGV 20 causes the package cart 10 to be moved in the direction intersecting the first direction in the plan view (specifically, the direction perpendicular to the first direction), so that the package cart 10 is located at the second standby position 102. As a result, the first surface of the package cart 10 located at the second standby position 102 faces the movement route 100. Then, upon receiving the commands from the integrated controller 40, the creel robot 30 collects the packages 50 on the first surface of the package cart 10 located at the second standby position 102 (S105).
When the package cart 10 is moved from the first standby position 101 to the second standby position 102, the first standby position 101 becomes vacant. Thus, the integrated controller 40 transmits commands to the AGV 20. Upon receiving the commands from the integrated controller 40, the AGV 20 supplies a new package cart 10 to the first standby position 101 (S106, State 4 in FIG. 6). Accordingly, the second surface of the new package cart 10 located at the first standby position 101 faces the movement route 100.
Here, in the middle of the operation in which the package cart 10 is supplied 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 work efficiency.
In such a state, the creel robot 30 can collect the packages 50 from the package cart 10 located at both the first standby position 101 and the second standby position 102. In the present embodiment, the packages 50 located at the second standby position 102 are preferentially collected. The integrated controller 40 determines whether collection of the packages 50 on the first surface of the package cart 10 located at the second standby position 102 has been completed (S107). When the integrated controller 40 determines that collection of the packages 50 has been completed, the integrated controller 40 transmits the commands to the AGV 20. Upon receiving the commands from the integrated controller 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 above, the packages 50 on the first surface and the second surface of the package cart 10 can be collected without reversing the package cart 10.
Here, in the middle of the operation in which the package cart 10 located at the second standby position 102 is collected, the creel robot 30 collects the packages 50 from the package cart 10 located at the first standby position 101. This can improve work efficiency. In summary, in the present embodiment, there are two standby positions, and the creel robot 30 can collect the packages 50 from the package carts 10 at both of the two standby positions. Therefore, even when the creel robot 30 is in the middle of supplying or collecting the packages 50 of the package cart 10 located at one standby position, the creel robot 30 can collect the packages from the package cart 10 located at the other standby position.
The package cart 10 that is newly supplied in Step S106 is treated in the same way as the package cart 10 that is first supplied. In the following, the repeated descriptions will be explained briefly. The creel robot 30 collects the packages 50 on the second surface of the package cart 10 located at the first standby position 101 (S109). When the integrated controller 40 determines that the packages 50 have been collected (S110), the transport device of the AGV 20 causes the package cart 10 to be moved 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 surface of the package cart 10 located at the second standby position 102 (S105). 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). After that, the package cart 10 located at the second standby position 102 is collected by the AGV 20 after the packages 50 are collected (S108, State 8 in FIG. 8).
The AGV 20 returns the package cart 10 in which the packages 50 have been collected, to the vicinity of the spinning winder at an appropriate time. The AGV 20 collects the package cart 10 onto which the packages 50 have been hung, alternatively.
The above-mentioned processes are repeated, which can collect the packages 50 hung on the first and second surfaces of the package cart 10, without the package cart 10 being reversed. Therefore, compared to a configuration in which the package cart 10 is reversed, a structure and space required for reversing the package cart 10 are not required. Thus, the packages can be automatically collected with a simple structure and low cost.
As described above, the package supply system 1 of the present embodiment includes the package hooking stand 12, the creel robot 30, the supply device, and the transport device. The package hooking stand 12 has the first surface and the second surface, and the plurality of pegs 12a onto which the packages 50 are hung is provided on each of the first surface and the second surface. The creel robot 30 moves along the movement route 100 between the first standby position 101 and the second standby position 102 of the package hooking stand 12, and collects the packages 50 hung on the pegs 12a on the second surface of the package hooking stand 12 located at the first standby position 101 or the packages 50 hung on the pegs 12a on the first surface of the package hooking stand 12 located at the second standby position 102. The creel robot 30 then transfers the packages 50 to the creel stand 61 of the yarn processor. The supply device supplies the package hooking stand 12 to the first standby position. After the creel robot 30 transfers the packages 50 hung on the peg 12a on one surface (second surface) of the package hooking stand 12 located at the first standby position 101 to the creel stand 61, the transport device causes the package hooking stand 12 to be moved from the first standby position 101 to the second standby position 102 while keeping the orientation of the package hooking stand 12. This allows the other surface (first surface) of the package hooking stand 12 to face the movement route 100 of the creel robot 30.
Accordingly, the packages 50 hung on opposite sides of the package hooking stand 12 can be collected while keeping the orientation of the package hooking stand 12. Thus, a system for collecting the packages can be achieved with a simple structure. Since the structure is simple, the equipment cost is likely to be low and the layout in the factory can be flexibly changed. In addition, since the standby positions are provided on opposite sides of the creel robot 30, the packages 50 can be supplied from one package hooking stand 12 to the creel robot 30 even during the supply or transport of the other package hooking stand 12.
The package supply system 1 of the present embodiment includes the AGV 20 that transports the package hooking stand 12 to the creel robot 30.
This can automate the operation in which the package hooking stand 12 is transported to the creel robot 30.
In the package supply system 1 of the present embodiment, the supply device is provided in the AGV 20.
Accordingly, the AGV 20 is used to perform both the supply and transfer of the package hooking stand 12.
In the package supply system 1 of the present embodiment, the transport device is provided in the AGV 20.
Accordingly, the AGV 20 is used to perform both the supply and transfer of the package hooking stand 12.
In the package supply system 1 of the present embodiment, when the package hooking stand 12 is not located at the first standby position 101, the supply device supplies the package hooking stand 12 to the first standby position 101. The transport device causes the package hooking stand 12 located at the first standby position 101 to be moved to the second standby position 102. The supply device supplies the package hooking stand 12 to the first standby position 101. The supply device collects the package hooking stand 12 located at the second standby position 102.
This can smoothly perform the supply of the package hooking stand 12, the collection of the packages 50, and the collection of the package hooking stand 12.
In the package supply system 1 of the present embodiment, a direction from the first standby position 101 to the second standby position 102 is referred to as the first direction. The transport device includes the slide part that allows the package hooking stand 12 to be moved in the first direction.
This allows the package hooking stand 12 to be moved in the first direction (in a direction approaching the second standby position 102 from the first standby position 101) while keeping the orientation of the package hooking stand 12.
In the package supply system 1 of the present embodiment, the transport device includes the movement part that causes the package hooking stand 12 to be moved in the direction intersecting the first direction in the plan view. After the movement part causes the package hooking stand 12 located at the first standby position 101 to be moved in the direction intersecting the first direction in the plan view, the slide part causes the package hooking stand 12 to be moved in the first direction. After that, the movement part causes the package hooking stand 12 to be moved in the direction intersecting the first direction in the plan view and to be located at the second standby position 102.
This allows the package hooking stand 12 located at the first standby position 101 to be moved to the second standby position 102 while keeping the orientation of the package hooking stand 12.
In the package supply system 1 of the present embodiment, the creel stand 61 is provided on each of the first and second sides of the movement route 100 of the creel robot 30. The creel robot 30 can transfer the collected packages 50 to each creel stand 61 on the first and second sides.
This allows the creel robot 30 to collect the packages 50 on the opposite sides of the movement route 100. Thus, by utilizing the same function, the creel robot 30 can transfer the packages 50 to the creel stand 61 on the opposite sides of the movement route 100.
Although a preferred embodiment of the present invention has been described as above, the above-described configuration may be modified as follows, for example.
The flowchart illustrated in the present embodiment is an example. A part of the process may be omitted, and contents of the part of the process may be modified. A new process may be added. For example, the order of Step S105 and Step S106 may be exchanged, or they may be performed simultaneously in parallel. Similarly, the order of Step S108 and Step S 109 may be exchanged, or they may be performed simultaneously in parallel. The creel robot 30 collects or transfers the packages 50 while the AGV 20 performs supply, movement, or collection of the package cart 10, which improves work efficiency.

Claims

A package supply system (1) comprising:
a package hooking stand (12) having a first surface and a second surface,
the first surface and the second surface on which a plurality of pegs (12a) for hooking packages (50) is provided;

a creel robot (30) configured to:
move along a movement route between a first standby position and a second standby position of the package hooking stand (12);

collect the packages (50) hung on the pegs (12a) on the second surface of the package hooking stand (12) located at the first standby position or the packages (50) hung on the pegs (12a) on the first surface of the package hooking stand (12) located at the second standby position; and

transfer the packages (50) to a creel stand (61) of a yarn processor;

a supply device configured to supply the package hooking stand (12) to the first standby position; and

a transport device configured to cause one of the first surface and the second surface of the package hooking stand (12) to face the movement route of the creel robot (30) by moving the package hooking stand (12) from the first standby position to the second standby position while keeping an orientation of the package hooking stand (12), after the creel robot (30) transfers the packages (50) hung on the pegs (12a) on the other of the first surface and the second surface of the package hooking stand (12) located at the first standby position to the creel stand (61).
The package supply system (1) according to claim 1, wherein
the package supply system (1) comprises a conveyance device (20) configured to convey the package hooking stand (12) to the creel robot (30).
The package supply system (1) according to claim 2, wherein
the supply device is provided in the conveyance device (20).
The package supply system (1) according to claim 2 or 3, wherein
the transport device is provided in the conveyance device (20).
The package supply system (1) according to any one of claims 2 to 4, wherein
the conveyance device (20) is a vehicle.
The package supply system (1) according to any one of claims 1 to 5, wherein
the supply device is configured to supply the package hooking stand (12) to the first standby position when the package hooking stand (12) is not located at the first standby position,

the transport device is configured to cause the package hooking stand (12) located at the first standby position to be moved to the second standby position,

the supply device is configured to supply the package hooking stand (12) to the first standby position, and

the supply device is configured to collect the package hooking stand (12) located at the second standby position.
The package supply system (1) according to any one of claims 1 to 6, wherein
in a plan view, a direction from the first standby position toward the second standby position is referred to as a first direction, and

the transport device includes a slide part that causes the package hooking stand (12) to be moved in the first direction.
The package supply system (1) according to claim 7, wherein
the transport device includes a movement part that causes the package hooking stand (12) to be moved in a direction intersecting the first direction in a plan view,

after the movement part causes the package hooking stand (12) located at the first standby position to be moved in the direction intersecting the first direction in the plan view,

the slide part causes the package hooking stand (12) to be moved in the first direction, and

after that, the movement part causes the package hooking stand (12) to be moved in the direction intersecting the first direction in the plan view to position the package hooking stand (12) at the second standby position.
The package supply system (1) according to any one of claims 1 to 8, wherein
the transport device is configured to cause the first surface of the package hooking stand (12) to face the movement route of the creel robot (30) after the creel robot (30) transfers the packages (50) hung on the pegs (12a) on the second surface of the package hooking stand (12) to the creel stand (61).
The package supply system (1) according to any one of claims 1 to 9, wherein
creel stands (61) are respectively provided on opposite sides that are a first side and a second side of the movement route of the creel robot (30), and

the creel robot (30) is capable of transferring the packages (50) that have been collected, to the respective creel stands (61) on the first side and the second side.