KR-102964088-B1 - Bobbin unloading system and method thereof

KR102964088B1KR 102964088 B1KR102964088 B1KR 102964088B1KR-102964088-B1

Abstract

A bobbin unloading system according to one embodiment of the present invention comprises: a bobbin operating unit detachably coupled to both ends of a bobbin to rotatably support the bobbin; a measuring unit that measures the outer diameter of the bobbin at a position orthogonal to the operating axis of the bobbin; a weight calculation unit that calculates the bobbin equivalent weight based on the outer diameter information measured by the measuring unit; and an unmanned transport unit that includes a first lifting member and a second lifting member capable of vertically moving up and down, wherein the first lifting member and the second lifting member support both ends of the bobbin while measuring the weight of the bobbin, and based on a preset weight conversion algorithm, compare the measured bobbin weight with the bobbin equivalent weight to adjust the positions of the first lifting member and the second lifting member to a position where the measured weight matches the bobbin equivalent weight, and perform unloading of the bobbin when the bobbin is unchucking from the bobbin operating unit when the measured weight matches the bobbin equivalent weight.

Inventors

김준영
안태환

Assignees

주식회사 엘지에너지솔루션

Dates

Publication Date: 20260512
Application Date: 20210915

Claims (20)

A bobbin operating part detachably coupled to both ends of a bobbin and rotatably supporting the bobbin; A measuring unit for measuring the outer diameter of the bobbin at a position orthogonal to the operating axis of the bobbin; A weight calculation unit that calculates the bobbin equivalent weight based on the outer diameter information measured by the above measuring unit; and A bobbin unloading system characterized by including a first lifting member and a second lifting member capable of moving up and down, wherein the first lifting member and the second lifting member support both ends of the bobbin while measuring the weight of the bobbin, and based on a preset weight conversion algorithm, compare the measured bobbin weight with the bobbin converted weight, adjust the positions of the first lifting member and the second lifting member to a position where the measured weight matches the bobbin converted weight, and perform unloading of the bobbin when the measured weight matches the bobbin converted weight and the bobbin is unchucking at the bobbin operating unit.
In Article 1, The above-mentioned output unit has the specification information of the above-mentioned bobbin and the output algorithm pre-set, and The above calculation unit is based on the above calculation algorithm, The volume of the bobbin is calculated by reflecting the outer diameter information in the above specification information, and A bobbin unloading system characterized by calculating the bobbin equivalent weight by applying a weight constant according to the specification information to the volume of the bobbin.
In Clause 2, the unmanned transport unit is, A first load cell installed on the first lifting member to measure a first weight applied to one end of the bobbin supported by the first lifting member; and It includes a second load cell installed on the second lifting member to measure a second weight applied to the other end of the bobbin supported by the second lifting member, A bobbin unloading system characterized in that the measured weight is the sum of the first weight and the second weight.
In Paragraph 3, The above unmanned transport unit is based on the above weight conversion algorithm, If the above bobbin converted weight matches the weight according to the above specification information, it is determined to be an empty bobbin, A bobbin unloading system characterized by moving the first lifting member and the second lifting member up and down to an offset position at a reference speed.
In Article 4, The above unmanned transport unit is based on the above weight conversion algorithm, A bobbin unloading system characterized by moving the first lifting member and the second lifting member up and down by a preset distance from the offset position if the measured weight is smaller than the bobbin equivalent weight.
In Article 4, The above unmanned transport unit is based on the above weight conversion algorithm, If the above measured weight is within the range of the above bobbin converted weight or the preset additional bobbin weight, an unchucking operation is requested to the above bobbin operating unit, and When the unchucking of the above bobbin is completed, the first lifting member and the second lifting member are lowered to unload the bobbin, and A bobbin unloading system characterized in that the additional bobbin weight is the weight obtained by adding a set value to the bobbin converted weight.
In Article 6, The above unmanned transport unit is based on the above weight conversion algorithm, A bobbin unloading system characterized by sounding a warning sound indicating the weight overload when the measured weight exceeds the additional weight of the bobbin, and restricting the unchucking operation request to the bobbin operating unit.
In paragraph 4, The above unmanned transport unit is based on the above weight conversion algorithm, If the above bobbin converted weight exceeds the weight according to the above specification information, and it is determined that it is not the above empty bobbin, A bobbin unloading system characterized by the first lifting member and the second lifting member moving to a reference position at a deceleration speed reduced from the reference speed.
In Article 8, A bobbin unloading system characterized in that the above deceleration speed is within 4% of the above reference speed.
In Article 8, The above unmanned transport unit is based on the above weight conversion algorithm, A bobbin unloading system characterized by moving the first lifting member and the second lifting member up and down by a preset interval from the reference position when the measured weight is smaller than the corrected bobbin equivalent weight.
In Article 8, The above unmanned transport unit is based on the above weight conversion algorithm, A bobbin unloading system characterized by stopping the lifting operation of the first lifting member and the second lifting member when the measured weight is greater than the first correction weight.
In Paragraph 11, A bobbin unloading system characterized in that the first correction weight is 95% of the bobbin converted weight.
In Article 11, The above unmanned transport unit is based on the above weight conversion algorithm, If the above measured weight is less than the second corrected weight, the above measured weight is compared with the maximum weight of the bobbin according to the above specification information, and A bobbin unloading system characterized by requesting an unchucking operation to the bobbin operating unit when the measured weight is less than the maximum weight of the bobbin.
In Article 13, A bobbin unloading system characterized in that the second correction weight is a weight obtained by adding a preset correction value to the bobbin converted weight.
In Article 14, The above unmanned transport unit is based on the above weight conversion algorithm, If the measured weight is greater than the second correction weight, the measured weight is compared with the third correction weight, and A bobbin unloading system characterized by moving the first lifting member and the second lifting member up and down by a preset distance from the reference position if the measured weight is smaller than the third correction weight.
In Article 15, The above unmanned transport unit is based on the above weight conversion algorithm, A bobbin unloading system characterized by lowering the first lifting member and the second lifting member by a preset distance from the reference position if the measured weight is greater than the third correction weight.
In Article 15, A bobbin unloading system characterized in that the above third correction weight is the weight obtained by subtracting a preset correction value from the above bobbin converted weight.
In Article 15 or Article 16, A bobbin unloading system characterized by the above unmanned transport unit adjusting the position of the first lifting member and the second lifting member at a interval of 0.1 mm.
In claim 1, the measuring unit is, A first measuring sensor installed in the above bobbin operating part, and It includes a second measurement sensor installed in the above-mentioned unmanned transport unit, and A bobbin unloading system characterized by the first measuring sensor and the second measuring sensor measuring the outer diameter of the bobbin through the distance from the bobbin at their respective reference positions.
A bobbin unloading method characterized by using the bobbin unloading system of claim 1 to calculate the unchucking position of the bobbin during the unchucking operation of the bobbin, and unloading the bobbin to an unmanned transport unit.

Description

Bobbin unloading system and method thereof The present invention relates to a bobbin unloading system and a bobbin unloading method, and more specifically, to a bobbin unloading system and a bobbin unloading method capable of stably unloading a bobbin by adjusting the bobbin unchucking position while considering the weight and position of the bobbin during the bobbin unchucking operation. Referring to FIG. 1, after the process is completed, the bobbin (10) is separated from the turret (20) as it is released from the chuck (21a, 21b). The bobbin (10) separated from the turret (20) is unloaded by an unmanned transport device (30). The unmanned transport device (30) is positioned to support the bobbin (10) while moving up and down from the bottom to the top of the bobbin (10). The unmanned transport device (30) includes a first lifting support member (31) and a second lifting support member (32). Here, the first lifting support member (31) supports one end of the bobbin (10), and the second lifting support member (32) supports the other end of the bobbin (10). That is, the unmanned transport device (30) supports the bobbin (10) using the first lifting support member (31) and the second lifting support member (32). Referring to FIG. 2, the process of unloading a bobbin from a turret (20) using an unmanned transport device (30) according to the prior art will be explained. First, the unmanned transport device (30) moves the first lifting support member (31) and the second lifting support member (32) up and down to the lower part of the bobbin (10) (S1). Subsequently, the unmanned transport device (30) measures the weight of the bobbin using load cells installed in the first lifting support (31) and the second lifting support (32), respectively, and, taking into account the measured weight of the bobbin, raises the first lifting support (31) and the second lifting support (32) to the unchucking position of the bobbin in the flat section (S2). Here, the flat section is caused by the gap between the bobbin and the chuck in the turret backlash. Turret backlash refers to the space between the chain and the sprocket. The force with which the first lifting support (31) and the second lifting support (32) push up the bobbin (10) is calculated to correspond to the weight of the bobbin (10). Referring to FIG. 3, the first lifting support (31) and the second lifting support (32) are moved from the flat section to the bobbin unchucking position. The bobbin unchucking position is calculated by Equation (1). In FIG. 3, load cell L and load cell R refer to load cells that measure the weight of the bobbin on the left and right sides of the bobbin along the longitudinal direction of the bobbin. Here, the un-chucking position of the bobbin (10) refers to the position where the bobbin (10) is un-chucked from the turret (20). Bobbin Unchucking Position = (High - Low)/2 .....................Equation (1) At the unchucking position of the bobbin (10), the bobbin (10) is unchucking from the turret (20) and supported by the first lifting support member (31) and the second lifting support member (32) (S3). At this time, the first lifting support member (31) and the second lifting support member (32) distribute and support the weight of the bobbin. Next, the bobbin (10) is unloaded while supported by the first lifting support (31) and the second lifting support (32) (S4). The unmanned transport device (30) can unload the bobbin (10) by mechanical force using the first lifting support (31) and the second lifting support (32). Meanwhile, in order for the unmanned transport device (30) to stably load or unload the bobbin (10), it is required to minimize the positional variation of the bobbin. Also, in order to reduce the error in vision measurement, it is required to minimize the variation of the measurement position. Accordingly, conventionally, a locking unit is used to improve the precision of the unmanned transport device (30). However, when using the locking unit, the flat section disappears, making it difficult to perform the unloading operation of the bobbin using the unmanned transport device according to Fig. 2. This is because, in a conventional unmanned transport device (30), the unchucking position of the bobbin is calculated through the weight measured in the flat section, and if the flat section does not occur, the unchucking position of the bobbin is not calculated. Consequently, if the bobbin unchucking position is not calculated, the bobbin (10) may fall from the turret (20) as the bobbin (10) is separated from the turret (20) while the unmanned transport device (30) is not properly supporting the bobbin (10). Alternatively, the chuck is not properly separated from the bobbin (10), so when the bobbin (10) moves in the direction of movement of the chuck, the bobbin (10) is not properly supported, and thus the unmanned transport device (30) is unable to perform the unloading operation of the bobbin (10). FIGS. 1 to 3 are drawi