Bobbin handling robot - has rod monitors and sensors for correct positioning of grip to secure bobbin in container and carry it through prepn. and delivery stages,申请号DE19904036128-传众专利搜索

Bobbin handling robot - has rod monitors and sensors for correct positioning of grip to secure bobbin in container and carry it through prepn. and delivery stages

申请公布号：DE4036128(A1)

申请号：DE19904036128

申请日期：1990.11.13

申请公布日期：1991.05.29

申请人：

STAEUBLI AG, HORGEN, ZUERICH, CH

发明人：VERZICHT DES ERFINDERS AUF NENNUNG

分类号：B25J9/00;B65H67/06

主分类号：B25J9/00

摘要：The robot to transfer wound bobbins to a creel, and the like, has a monitor system (24,35) with sensors (33,34,35) at the arm of the robot near the grip and holding assembly (4). They localise the bobbin (5) and scan the disposition of the bobbins. Pref., a yarn end detection and location station is in the swing range of the robot arm. The monitor system has at least two rod monitors (24), and pref. three, at a gap from each other with slight movement. Each has a pair of electronic sensors (33,34) near their free ends, each with a transmitter and a receiver working with the adjacent rod monitor (24). With three rod monitors (24) and two pair of sensors (33,34), a transmitter works with the centre rod and a neighbouring rod each with receivers. The beams of both pairs of sensors (33,34) at an angle of about 90 deg. to each other, and the gap between the beams and the bobbin centre is less than the outer dia. of the wound bobbin to determine the handling of the grip. ADVANTAGE - The appts. gives an automatic bobbin handling action and the disposition of the bobbins with the yarn ends.