KR102457971B1 - Apparatus for automatic feeding of yarn - Google Patents

Abstract

The present invention relates to an apparatus for automatically inputting yarn, which is able to automatically input a plurality of yarns loaded on a supply cart, being wound on each bobbin, into a transport conveyor in an automated method without a worker, thereby promoting worker safety and rapidly completing the yarn packaging process. As such, the present invention aims to successively input yarns, which are held on a holding rod of a supply cart located at a first position by being wound on each bobbin to be classified by the unit of a certain number, into a transport conveyor at a second position one by one in order at regular time intervals for packaging process. The apparatus comprises: a yarn gripping unit arranged between the first position and the second position, gripping the yarns loaded respectively on each holding rod by the unit of a certain number, and transporting the yarns to the second position; a yarn holding unit arranged at the second position and receiving and holding the yarns by the unit of a certain number transported from the yarn gripping unit; and a yarn input unit gripping the yarns held on the yarn holding unit by the unit of a certain number one by one, and inputting the yarns in order into the transport conveyor.

Description

Yarn automatic feeding device {Apparatus for automatic feeding of yarn}

The present invention promotes the safety of workers and enables rapid packing by enabling the operation of putting a plurality of yarns loaded on the supply cart in the state wound on each bobbin to the transfer conveyor in an automated manner without an operator. It relates to an automatic yarn feeding device.

In general, spandex is a polyurethane synthetic fiber that has elasticity similar to rubber, and is widely used as a material fiber for swimwear, sports clothing, socks, airbags, etc.

Such spandex is mass-produced by manufacturing it in the form of fibers by melt-spinning a spinning dope, a raw material.

Special yarns mass-produced by melt spinning, such as spandex, are wrapped around a bobbin and bundled in a packaging box for safe delivery to fabric manufacturers or clothing manufacturers who use this material as a material. have to go through

That is, for the packaging operation, a process of loading a large amount of yarn manufactured by the spinning machine in a state of being wound on a bobbin on a supply cart, a process of moving a supply cart loaded with a large amount of yarn to a transfer line, and a supply cart moved to the transfer line It is necessary to go through the process of picking up the yarn one by one from the feeder one by one, putting it on a transfer conveyor, and transferring it to the packaging line, and the process of packing the yarn transferred to the packaging line by the transfer conveyor in a certain number of units in a packing box in turn.

However, among the above processes necessary for the packaging operation, the process including the operation of moving the yarn one by one in turn is not automated, so all the workers are doing it manually.

In particular, when carrying out the process of lifting the yarn loaded on the supply cart one by one and putting it on the transfer conveyor, a large amount of yarn is loaded on the supply cart, so the number of repetitions is high and workability is greatly reduced due to the high height of the supply cart. The weight is also heavy, around 2-3 kg, so the worker's physical stamina consumption is inevitably high.

As described above, as the worker directly handles the yarn, the work that uses force must be repeated countless times, which makes the worker physically hard and gives a lot of fatigue. There is a problem.

Therefore, in order to relieve workers' troubles and enable rapid packaging work, it is possible to quickly and accurately perform the operation of putting a large amount of yarn loaded on the supply cart into the transfer conveyor one by one in an automated way without inputting the operator. It is necessary to research and develop an automatic yarn feeding device with

Republic of Korea Patent Publication No. 10-1901640, 2018.09.28. Announcement. Republic of Korea Patent Publication No. 10-1269583, 2013.06.05. Announcement.

The present invention was invented to solve the above problems, and a large amount of yarn loaded on the supply cart is put into the transfer conveyor one by one in order to promote the safety of workers and to quickly perform the yarn packing operation. An object of the present invention is to provide an automatic yarn inputting device that can perform the operation in an automated manner without an operator.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned can be clearly understood from the description below and can be sufficiently included in the object of the present invention.

The automatic yarn input apparatus according to the present invention for achieving the above object is a second position for packing the yarns, each wound on a bobbin and separately placed in a predetermined number of units, on a holding rod of a supply cart located at a first position. As for putting one by one on the transfer conveyor located in turn with a time difference; a yarn holding unit provided between the first position and the second position, holding the yarn loaded on the holding rod in units of a predetermined number and transferring the yarn to the second position; a yarn holder provided at the second position and configured to receive and hold a predetermined number of units of the yarn transferred from the yarn holding unit; and a yarn input unit that grips the yarn of a predetermined number of units mounted on the yarn holder one by one and sequentially puts the yarn into the transfer conveyor.

The yarn gripping part is provided between the first position and the second position, has a structure movable in a multi-joint form, and has a multi-axial joint with an end accessible to the first position and the second position according to the multi-joint movement, respectively. robot; It is provided at the end of the multi-axis joint robot and has a structure capable of gripping operation, and when approaching the first position according to the multi-joint motion of the multi-axis joint robot, a predetermined number of units of the yarn respectively mounted on the holding rod are gripped, a gripper which is mounted on the yarn holder by obliquely dropping a predetermined number of units of the held yarn when approaching the second position; and when the gripper approaches the first position according to the multi-joint motion of the multi-axis jointed robot, whether the yarn is mounted on the holding rod is sensed through a vision processing method, and the gripper is gripped according to the detection result. It may be composed of; yarn detection means for generating a detection signal.

The gripper may include a body fixed to an end of the multi-axis joint robot; an outer diameter enlargement induction rod that is installed at the end of the body so as to move forward and backward according to the operation of the driving cylinder, and in which a plurality of outer diameter enlargement wedges having an inclined surface on the outer circumferential surface protrude at regular intervals; A fixing pipe installed at the end of the body and having a hollow into which the outer diameter enlarged induction rod is inserted so that the outer diameter enlarged induction rod is nested, and a plurality of cut-out holes communicating with the hollow along the longitudinal direction at regular angular intervals on the outer circumferential surface are formed; and a plurality of slanted grooves inserted into the inside of the fixed tube at a predetermined interval, movable in the radial direction of the fixed tube, the outer diameter expanding wedge is inserted into each inner circumferential surface, and a plurality of inclined grooves provided with an inclined guide surface corresponding to the inclined surface. Pressing protrusions that are depressed at regular intervals and protrude to the outside of the fixed tube through the cut-out holes are formed on each outer circumferential surface, and are pushed in the outer direction by the outer diameter expanding wedge according to the forward movement of the outer diameter enlargement induction rod. It may be composed of a; pressing bar to which the outer diameter formed between each other is enlarged to hold the yarn by pressing the inner peripheral surface of the bobbin of the yarn.

The yarn holder body; a rotating plate that is rotatably installed on the body and rotates according to the operation of the rotating cylinder; A plurality of pieces are installed on the rotating plate at regular angular intervals from each other so that one of the plurality is positioned at an upward inclined angle on the upper side according to the rotation of the rotating plate, and the other one is positioned at a horizontal angle on the lower part and at an upward inclined angle. a holding bar positioned at a horizontal angle according to the rotation of the rotating plate after holding a predetermined number of units of the yarn falling from the yarn holding unit; and a push bar installed on the body and configured to push the yarn mounted on the mounting bar positioned at a horizontal angle according to the operation of the driving cylinder to the end of the mounting bar.

The yarn input unit may include a body; a linear moving block installed on the body and moving forward toward the end of the holding bar according to the operation of the driving cylinder; a rotating plate that is rotatably installed on the linear moving block and rotates according to the operation of the rotating cylinder; A plurality of fingers are installed on the rotating plate at regular angular intervals from each other, and a plurality of fingers are installed at each end for a gripping operation according to the operation of the driving cylinder, and one of the plurality is located at the upper part at a horizontal angle according to the rotation of the rotating plate. and one of the remaining ones is positioned at a vertical angle in the lower part, holding the yarn held on the holding bar at a horizontal angle with the finger, and dropping the yarn held by the finger at a vertical angle to the transfer conveyor. Consists of; can be

The automatic yarn input device according to the present invention according to the above configuration removes the yarn mounted on the supply cart in units of a certain number and then drops them one by one on the transfer conveyor with a time difference so that they are put into the packaging line. By performing it in an automated way without the need, it can be expected to reduce labor costs, promote worker safety, and complete yarn packaging work quickly.

1 is a plan layout view of a yarn packaging line to which an automatic yarn input device according to a preferred embodiment of the present invention is applied.
Figure 2 is a side view showing a yarn holding unit of the automatic yarn input device according to a preferred embodiment of the present invention.
3 is a perspective view showing a gripper of the automatic yarn input device according to a preferred embodiment of the present invention.
4 and 5 are cross-sectional views illustrating a yarn gripping structure for a gripper of an automatic yarn feeding device according to a preferred embodiment of the present invention.
6 is a side view illustrating a state in which a yarn is mounted on a yarn holder by an automatic yarn input device according to a preferred embodiment of the present invention.
7 is a side view showing a state in which the yarn is put into the transfer conveyor by the automatic yarn input device according to the preferred embodiment of the present invention.

The present invention provides yarns with special properties such as spandex, which are wound on a bobbin and loaded onto a supply bogie in a certain number of units, one at a time, when packing is performed to deliver a yarn to a clothing manufacturer or a fabric manufacturer. It relates to an automatic yarn input device that can be separated and put on a transfer conveyor.

In particular, the automatic yarn input device according to the present invention separates the yarn loaded in a predetermined number on the supply cart in a state wound on a bobbin, one by one, and puts the yarn into the transfer conveyor in an automated manner without an operator. Its great feature is that it can promote the safety of workers and can quickly complete the yarn packaging operation.

Hereinafter, an automatic yarn feeding device according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the automatic yarn input device according to a preferred embodiment of the present invention is wound on a bobbin (B) on a holding rod 14 of a supply cart 10 located at a first position, and is wound on a predetermined number of units. It is for putting the separately mounted yarn Y into the transfer conveyor 20 located at the second position one by one with a time difference for the packaging operation, and the yarn holding unit 100 and the yarn holding unit 200 ) and the yarn input unit 300 .

Here, the supply cart 10 includes a body frame 11, a moving wheel 12 installed on the lower portion of the body frame 11, and a plurality of vertical portions on the upper portion of the body frame 11 at regular intervals along the front-rear direction. A standing bar 13 installed as can be

And the supply bogie 10 is seated on the upper part of the moving bogie 30, and after the yarn Y is loaded in the loading position, it moves forward and is located in the first position, and after rotating 90 degrees in the first position, all the loaded When the yarn Y is put into the transfer conveyor 20, it may move forward and be positioned at the third position.

To this end, a first moving module 40 for moving the supply cart 10 forward is provided on the floor of the neutral position between the loading position and the first position, and the supply cart 10 is rotated by 90 degrees on the floor of the first position. A turning module 50 is provided, and a second moving module 60 for moving the supply cart 10 forward may be provided on the floor between the first position and the second position.

First, the yarn holding unit 100 is provided between the first position and the second position and holds the yarn loaded on the holding rod 14 of the supply cart 10 in units of a certain number and transfers it to the second position. can

To this end, the yarn gripping unit 100 is installed between the first and second positions as shown in FIG. 2 and has a structure capable of multi-joint movement, and the ends are located at the first and second positions according to the multi-joint movement. The multi-axis jointed robot 110 that is accessible to each, and is provided at the end of the multi-axis jointed robot 110 to have a structure capable of gripping motion, and is mounted when approaching the first position according to the multi-joint motion of the multi-axis jointed robot 110 A gripper 110 that grips a certain number of units of yarn Y each mounted on the rod 14, and drops the held yarn of a predetermined number of units obliquely when approaching the second position to be mounted on the yarn holder 200. can be composed of

Here, the multi-axis joint robot 110 includes a fixed body 111, a lower frame 112 that is installed on the upper portion of the fixed body 111 and rotates in the left and right horizontal directions, and is installed on an upper side of the lower frame 112. The upper frame 113 which rotates in the front and rear vertical direction, the first vertical rotary arm 114 which is installed at the end of the upper frame 113 and rotates in the front and rear vertical direction, and the first vertical rotary arm 114 It is installed at the end and may be composed of a horizontal rotary arm 115 that rotates horizontally left and right.

And the multi-axis joint robot 110 is installed at the end of the horizontal rotary arm 115 and connected to the end of the second vertical rotary arm 116 and the second vertical rotary arm 116 that rotates in the front and rear vertical directions, and left and right A horizontal rotation plate 117 that rotates horizontally may be further included.

However, the lower frame 112, the upper frame 113, the first vertical rotary arm 114, the horizontal rotary arm 115, the second vertical rotary arm 116, and the horizontal rotary plate 117 are respectively a servo motor and a speed reducer. It can perform forward and reverse rotational motion by receiving rotational power from

That is, the lower frame 112 and the upper frame 113, the first vertical rotary arm 114, the horizontal rotary arm 115, the second vertical rotary arm 116 and the horizontal The rotating plate 117 may repeatedly perform an operation in which the end position of the horizontal rotating plate 117 moves from the first position to the second position or moves from the second position to the first position as the rotating plate 117 repeatedly rotates forward and backward.

Meanwhile, as shown in FIGS. 3 and 4 , the gripper 120 includes a body 121 fixed to the end of the horizontal rotation plate 117 of the multi-axis joint robot 110 , and installed so as to be able to move forward and backward at the end of the body 121 . The outer diameter enlargement induction rod 123 that moves forward and backward according to the operation of the driving cylinder 122, and a plurality of outer diameter enlarged wedges 123b having an inclined surface 123a on the outer circumferential surface protrude at regular intervals, and the body 121. The hollow (124a) installed at the end and into which the outer diameter enlarged induction rod 123 is inserted so that the outer diameter enlarged induction rod 123 is contained is penetrated along the longitudinal direction, and the hollow (124a) and The fixed tube 124 in which a plurality of communicating cut-out holes 124b are formed, and a plurality of the plurality of fixed tubes 124 are inserted to be arranged in a circle with a predetermined angular interval therebetween and are movable in the radial direction of the fixed tube 124, respectively. A plurality of inclined grooves 125b provided with an inclined guide surface 125a corresponding to the inclined surface 123a are recessed at regular intervals, and a cut-out hole 124a is formed on each outer peripheral surface of the inner peripheral surface of the A pressing protrusion 125c that can protrude to the outside of the fixed tube is formed through the pressing protrusion 125c, and is pushed out in the outer direction by the outer diameter expanding wedge 123b according to the forward movement of the outer diameter enlargement induction rod 123. ) by pressing the inner circumferential surface of the bobbin (B) to grip the yarn (Y) may be composed of a pressing bar (125) to which the outer diameter formed between each other is enlarged.

That is, in the state in which the fixed tube 124 is inserted into the bobbin B of the yarn Y according to the driving of the multi-axis joint robot 110, the driving cylinder 122 operates and the outer diameter enlargement induction rod 123 moves forward. As the state of FIG. 4 is changed to the state of 5, the outer diameter enlarged wedge 123b is separated from the inclined groove 125b by the interaction of the inclined surface 123a and the inclined guide surface 125a, and the pressing bar 125 is removed from the fixing pipe 124 ) in the radial direction.

Then, the outer diameter formed by the pressing bar 125 is enlarged, and as the inner circumferential surface of the bobbin B is compressed, the gripper 120 enables the gripper 120 to perform a gripping operation on the yarn Y, so that the gripper 120 uses the yarn Y. can be pulled out from the holding rod 14 by gripping it.

In addition, the yarn holding unit 100 is attached to the holding rod 14 before the gripper 120 approaches the first position according to the multi-joint motion of the multi-axis joint robot 110 and grips the yarn Y. The yarn detection means 130 for generating a detection signal for controlling the operation of the multi-axis joint robot 110 and the gripper 120 by detecting whether the is in a mounted state in a vision processing method may be further included.

The yarn detecting means 130 includes a camera module 131 that generates a monitoring image by photographing a monitoring area installed in the gripper 120, and the yarn Y corresponding to the detected image generated by the camera module 131. An image processing module (not shown) that analyzes whether an object is detected through an image processing technique and outputs a detection result, and the operation of the multi-axis joint robot 110 and the gripper 120 corresponding to the detection result output from the image processing module It may be composed of a detection signal generating circuit (not shown) for generating a detection signal to control the.

Next, the yarn holding unit 200 is provided at the second position to transfer a predetermined number of units of yarn Y from the yarn holding unit 100 to the conveying conveyor 20 by the yarn input unit 300 one by one. It can be temporarily mounted before being put in as soon as possible.

For this purpose, the yarn holder 200 is rotatably installed on the body 210 and the body 210 as shown in FIGS. 6 and 7 , and the rotation plate 220 rotates according to the driving of the rotation cylinder 221 . ), and a plurality of pieces are installed at regular angular intervals from each other on the rotary plate 220 so that one of the plurality is positioned at an upward inclined angle on the upper portion according to the rotation of the rotary plate 220, and the other is positioned at a horizontal angle on the lower portion It may be composed of; a holding bar 230 that becomes

That is, the yarn holder 200 is positioned at an upward inclined angle among the holding bars 230 in the process where the rotation plate 220 is rotated at a time difference in units of a predetermined angle according to the operation of the rotation cylinder 221 . A predetermined number of units of yarn Y falling from the gripper 120 may be mounted on the holding bar 230 .

And the yarn holder 200 is installed on the body 210 and according to the operation of the driving cylinder 241, the yarn Y mounted on the holder bar 230 positioned at a horizontal angle to the end of the support bar 230 . A push bar 240 for pushing may be further included.

Finally, the yarn input unit 300 may hold the yarns mounted in a predetermined number of units on the yarn holder 200 one by one and sequentially put them into the transfer conveyor 20 .

That is, the yarn input unit 300 is a yarn pushed to the end of the holding bar 230 by the push bar 240 among the yarn Y mounted on the holding bar 230 positioned at a horizontal angle among the holding bars 230 . (Y) can be placed by dropping them on the transfer conveyor 20 after gripping them one by one.

For this purpose, the yarn input unit 300 is installed on the body 310 and the body 310 as shown in FIGS. 6 and 7 and moves forward toward the end of the mounting bar 230 according to the operation of the rotating cylinder 321 . The linear moving block 320, the rotating plate 330 installed in the linear moving block 320 and rotating according to the operation of the driving motor 331, and a plurality of the rotating plate 330 are spaced from each other at a predetermined angle. is installed and a plurality of fingers 341 at each end are installed so as to be gripped according to the operation of the driving cylinder 342, and according to the rotation of the rotating plate 330, one of the plurality is positioned at a horizontal angle on the upper part and the other may be composed of an input jig 340 positioned at a vertical angle at the bottom.

However, among the input jigs 340 , the input jig 340 positioned at a horizontal angle according to the rotation angle of the rotating plate 330 uses a finger ( The input jig 340 gripped by 341 and positioned at a vertical angle may drop the yarn Y gripped by the finger 341 and put it into the transfer conveyor 20 .

That is, the yarn input unit 300 is a bobbin (B) of the yarn (Y) alternately mounted on the holding bar 230 according to the position of the plurality of input jigs 340 according to the rotation angle of the rotating plate 330 . By repeatedly performing the operation of gripping the yarn and the operation of dropping the gripped yarn (Y) onto the transfer conveyor 20 and inputting it, the yarn (Y) mounted in a predetermined number in the yarn holder 200 is sequentially separated one by one. It can be put into the transfer conveyor 20 with a time difference.

The above-described embodiments are merely exemplary, and those of ordinary skill in the art can variously modified other embodiments therefrom.

Accordingly, the true technical protection scope of the present invention should include not only the above embodiments but also other variously modified embodiments by the technical spirit of the invention described in the claims below.

B: bobbin
Y: Yarn
10: supply balance
11: body frame
12: moving wheel
13: standing bar
14: holding rod
20: transfer conveyor
30: first moving module
40: turning module
50: second movement module
100: yarn holding part
110: multi-joint movement unit
111: fixed body
112: lower frame
113: upper frame
114: first vertical rotary arm
115: horizontal rotary arm
116: second vertical rotary arm
117: horizontal rotation plate
120: gripper
121: body
122: drive cylinder
123: outer diameter enlarged guide rod
123a: slope
123b: outer diameter enlarged wedge
124: fixed tube
124a: hollow
124b: cutout hole
125: pressure bar
125a: inclined guide surface
125b: inclined groove
125c: pressing protrusion
130: yarn detection means
131: camera module
200: yarn holder
210: body
220: rotating plate
221: rotating cylinder
230: hang bar
240: push bar
241: drive cylinder
300: yarn input unit
310: body
320: linear movement block
321: drive cylinder
330: rotating plate
331: rotating cylinder
340: input jig
341: finger
342: drive cylinder

Claims (5)

Putting each yarn wound on a bobbin on the holding rod of the supply bogie located at the first position and placed separately in a certain number of units one by one on the transfer conveyor located at the second position at a time lag for packing. as for;
a yarn holding unit provided between the first position and the second position, holding the yarn loaded on the holding rod in units of a predetermined number and transferring the yarn to the second position;
a yarn holder provided at the second position and configured to receive and hold a predetermined number of units of the yarn transferred from the yarn holding unit; and
A yarn input unit for holding the yarn of a certain number of units mounted on the yarn holder one by one and sequentially putting the yarn into the transfer conveyor;
The yarn holding part
a multi-axis jointed robot provided between the first position and the second position and having a movable structure in a multi-joint form, the ends of which are accessible to the first position and the second position, respectively, according to the multi-joint movement;
It is provided at the end of the multi-axis joint robot and has a structure capable of gripping operation, and when approaching the first position according to the multi-joint motion of the multi-axis joint robot, a predetermined number of units of the yarn respectively mounted on the holding rod are gripped, a gripper which is mounted on the yarn holder by obliquely dropping a predetermined number of units of the held yarn when approaching the second position; and
When the gripper approaches the first position according to the multi-joint motion of the multi-axis joint robot, whether the yarn is mounted on the holding rod is sensed through a vision processing method, and the gripper's gripping operation is sensed according to the detection result. Yarn detection means for generating a signal; Yarn automatic input device, characterized in that consisting of. delete According to claim 1,
the gripper
a body fixed to an end of the multi-axis jointed robot;
an outer diameter enlargement induction rod that is installed at the end of the body so as to move forward and backward according to the operation of the driving cylinder, and in which a plurality of outer diameter enlargement wedges having an inclined surface on the outer circumferential surface protrude at regular intervals;
A fixing pipe installed at the end of the body and having a hollow into which the outer diameter enlarged induction rod is inserted so that the outer diameter enlarged induction rod is nested, and a plurality of cut-out holes communicating with the hollow along the longitudinal direction at regular angular intervals on the outer circumferential surface are formed; and
A plurality of slanted grooves are inserted into the inside of the fixed tube at a predetermined interval and are movable in the radial direction of the fixed tube, the outer diameter expanding wedge is inserted into each inner circumferential surface, and a plurality of inclined grooves provided with an inclined guide surface corresponding to the inclined surface are constant. A pressing protrusion that is depressed at intervals and can protrude to the outside of the fixed tube through the cut-out hole is formed on each outer circumferential surface, and is pushed in the outer direction by the outer diameter expanding wedge according to the forward movement of the outer diameter enlargement induction rod. The automatic yarn input device, characterized in that it is composed of a; pressing bar that the outer diameter formed between each other to hold the yarn by pressing the inner peripheral surface of the bobbin of the yarn is enlarged. According to claim 1,
The yarn holder
body;
a rotating plate that is rotatably installed on the body and rotates according to the operation of the rotating cylinder;
A plurality of pieces are installed on the rotating plate at regular angular intervals from each other so that one of the plurality is positioned at an upward inclined angle on the upper side according to the rotation of the rotating plate, and the other one is positioned at a horizontal angle on the lower part and at an upward inclined angle. a holding bar positioned at a horizontal angle according to the rotation of the rotating plate after holding a predetermined number of units of the yarn falling from the yarn holding unit; and
A push bar installed on the body and configured to push the yarn mounted on the holding bar positioned at a horizontal angle according to the operation of the driving cylinder to the end of the holding bar; 5. The method of claim 4,
The yarn input unit
body;
a linear moving block installed on the body and moving forward toward the end of the holding bar according to the operation of the driving cylinder;
a rotating plate that is rotatably installed on the linear moving block and rotates according to the operation of the rotating cylinder;
A plurality of fingers are installed on the rotating plate at regular angular intervals from each other, and a plurality of fingers are installed at each end for a gripping operation according to the operation of the driving cylinder, and one of the plurality is located at the upper part at a horizontal angle according to the rotation of the rotating plate. and one of the remaining ones is positioned at a vertical angle in the lower part, holding the yarn held on the holding bar at a horizontal angle with the finger, and dropping the yarn held by the finger at a vertical angle to the transfer conveyor; Consists of; Yarn automatic input device, characterized in that.

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