Programmable robot of the wireguided or radio-controlled type, for loading and unloading automatically empty spools and filled spools into and from wire winding machines

摘要

This invention relates to a robot which serves automatically a plurality of machines for winding any kind of wires or yarns. This robot is mounted on a wire-guided and/or radio-controlled carriage (100); it can run on a normal floor and may serve the winding machines (B) and the spool-supplying and collecting magazines, regardless of their relative positions. When co-operating with the winding machines (B), the robot-mounting carriage (100) will move into the correct position with respect to the winding machine to be served, and then will stop. The removal of a filled spool and insertion of an empty spool are effected by slides (42) which are associated with supporting brackets (56, 56') of said robot. The robot is provided with an electro-mechanical programmer which controls the lifting movement of the assembly of said brackets (56, 56') for adjusting their positions to the level of the lower side of the spools of different diameters in the winding machines. The programmer is associated with the bracket-carrying structure of the robot, which may be controlled to rotate about its vertical axis, whereby said rotation can occur with the brackets in their upper position, thus reducing the working time of the robot.