US 4,610,404 AGranted

Robot device for loading and unloading spools in wire winding machines

AssigneeS.A.M.P. S.p.A. Meccanica di Precisione

InventorAngelo Maccaferri

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Abstract

Robot device for the loading of empty spools (Z') and the unloading of filled spools (Z) respectively into and from wire winding machines (B, B', B") aligned in a single file on one side of a track (A), comprising a carriage (1) which moves along the track and stops at the machine to be served. The carriage (1) carries a vertical supporting structure (23) onto which there are mounted two brackets (51, 51') vertically movable and rotatable around the supporting structure (23). A slide (17) which moves in a direction transverse to the movement of the carriage (1) serves for introducing one of the brackets (51,51') into the winding machine, where the bracket is then lifted to receive the filled spool from the winding machine, or to load an empty spool onto the winding machine. On a platform (24) located on top of the supporting structure (23) there are arranged the central power and control unit (25), the distribution unit and the electric and electronic apparatus for controlling the various motion devices of the robot, as well as the device (77) for cutting the wire (M) being fed to the filled spool and for holding the leading end of the cut wire, and the devices (61-73) for securing the trailing end of the cut wire to the filled spool, and the leading end of the cut wire to the core of the empty spool.

A robot device for loading empty spools (Z') and unloading filled spools (Z) respectively into and from wire winding machines (B, B', B") aligned in a single file on one side of a path (A), comprising a transport carriage (1) movable along said path (A) and carrying a vertical supporting structure (23) onto which are movably mounted at least two brackets (51, 51') for supporting said empty and filled spools (Z', Z), said brackets (51, 51') extending in directions opposite to one another, lifting and lowering devices (46, 46') and rotating devices (31, 32, 33) being provided to promote vertical movement and rotation of said brackets (51, 51') around said vertical supporting structure (23), wherein

(a) the winding axes of said wire winding machines (B, B', B"), and consequently the axes of said spools housed in said wire winding machines, are substantially parallel to the longitudinal axis of said path (A) along which said carriage (1) moves, at least in a section of said path (A) facing said wire winding machine arranged at its side;
(b) transverse displacement means (17) are provided on said carriage (1) for moving said vertical supporting structure (23) in a direction which is substantially perpendicular to the longitudinal axis of said path (A) and to the winding axis of said spool (Z) housed in a winding machine (B), whereby unloading of said filled spool (Z) from said winding machine onto a said bracket (51) and loading of said empty spool (Z') from a said bracket into said winding machine are affected by moving said spools (Z, Z') in directions which are perpendicular to said winding axes of said spools;
(c) each bracket (51, 51') has, on its longitudinal sides which are perpendicular to said winding axes of said spools (Z, Z'), side engagement members (151, 151') adapted to engage at least one flange of said spool, said engagement taking place upon controlled movement along said path (A) of said carriage (1) when said brackets are in their lifted position and introduced in said wire winding machine, whereby controlled movement of said carriage (1) in one direction causes freeing of said filled spool (Z) from a center or tailstock (P) of said wire winding machine for unloading of said filled spool onto said bracket, while controlled movement of said carriage (1) in an opposite direction causes engagement of said empty spool (Z') with said center or tailstock (P) of said wire winding machine for loading of said empty spool on said winding machine.

Abstract

Claims11