Automated creel assemblies and systems and methods of making and using same

A system comprising:

• a creel loading apparatus comprising:
• a frame,
• a platform that is movable along the frame on a first axis and a second axis that is perpendicular to the first axis,
• a rotary actuator that is configured to rotate at least a portion of the platform about the first axis,
• a gripper that is movably attached to the at least a portion of the platform that is configured to rotate about the first axis, wherein the gripper is configured to releasably engage an inner surface of a yarn package, and
• a linear actuator that is configured to move the gripper along a linear actuator axis that is perpendicular to the first axis, wherein the linear actuator comprises a first stage and a second stage, wherein the first stage comprises a servo motor that is configured to move the gripper along the linear actuator axis, and wherein the second stage comprises a pneumatic actuator that is configured to move the gripper along the linear actuator axis;
• a staging area;
• and
• a robotic arm comprising a robotic arm gripper at a distal end of the robotic arm,
• wherein the robotic arm and creel loading apparatus are positioned with respect to the staging area so that the robotic arm can deliver yarn packages to the staging area, and the gripper of the creel loading apparatus can receive the yarn packages from the staging area.

A creel loading apparatus comprising:

• a frame;
• a platform that is movable along the frame on a first axis and a second axis that is perpendicular to the first axis;
• a rotary actuator that is configured to rotate at least a portion of the platform about the first axis;
• a gripper that is movably attached to the at least a portion of the platform that is configured to rotate about the first axis, wherein the gripper is configured to releasably engage an inner surface of a yarn package;
• a linear actuator that is configured to move the gripper along a linear actuator axis that is perpendicular to the first axis, wherein the linear actuator comprises a first stage and a second stage;
• at least one camera that is attached to the platform, wherein the at least one camera is configured to detect a diameter of a measured yarn package corresponding to a remaining quantity of material on the measured yarn package;
• at least one processor that is configured to:
• receive an image of the measured yarn package from the at least one camera, and
• approximate the remaining quantity of material on the measured yarn package based on the image of the measured yarn package,
• wherein the at least one camera comprises a first camera that is disposed on a first side of the platform and a second camera that is disposed on a second side of the platform opposite the first side of the platform.