| 摘要 |
The robot device for the loading of empty spools (Z min ) and the unloading of filled spools (Z) respectively into and from wire winding machines (B, B min , B sec ) aligned in a single file on one side of a track (A) comprises 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 min ) which can be moved vertically and can be rotated 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 min ) into the winding machine, where the brackets 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. On the said platform there are also arranged the means (77) for cutting the wire (M) being fed to the filled spool and for holding the leading end of the cut wire, as well as 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. |
