EP0221803A1 - Roboter zum Ein- und Ausbau der Drahtspulen einer Verseilmaschine - Google Patents

Roboter zum Ein- und Ausbau der Drahtspulen einer Verseilmaschine Download PDF

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Publication number
EP0221803A1
EP0221803A1 EP86402188A EP86402188A EP0221803A1 EP 0221803 A1 EP0221803 A1 EP 0221803A1 EP 86402188 A EP86402188 A EP 86402188A EP 86402188 A EP86402188 A EP 86402188A EP 0221803 A1 EP0221803 A1 EP 0221803A1
Authority
EP
European Patent Office
Prior art keywords
coils
stranding machine
empty
coil
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP86402188A
Other languages
English (en)
French (fr)
Inventor
Serge Bonnefoi
Roger Lemaire
Serge Roye
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trefilunion SA
SERAME
Original Assignee
Trefilunion SA
SERAME
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trefilunion SA, SERAME filed Critical Trefilunion SA
Publication of EP0221803A1 publication Critical patent/EP0221803A1/de
Withdrawn legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B7/00—Details of, or auxiliary devices incorporated in, rope- or cable-making machines; Auxiliary apparatus associated with such machines
    • D07B7/16—Auxiliary apparatus

Definitions

  • the present invention relates to a robot for loading and unloading coils of metal wires on a tubular stranding machine intended to manufacture cables from the unwound wires of the coils, these wires possibly being for example made of steel.
  • the stranding machine can comprise a variable number of coils, for example twenty-six, arranged in cradles serving as support, and these coils take place at the same time so as to form at the outlet only one cable.
  • the latter is intended for industrial uses, for example in public works, petroleum and mining, etc.
  • Such a machine must necessarily undergo frequent stops to allow the change of one or more completely unwound reels.
  • stops are a function of the footage contained in each of the spools, different footage depending on the wire diameter used.
  • wires of different diameters are stranded around a core wire. The diameter of the wire of several coils can be different, so is the footage.
  • the operator notes that one of the unwinding reels is almost completely unwound. He decides to stop the machine.
  • the tubular stranding machine stops, the hood of the reel in question is open to free access to the reel support cradle.
  • the operator cuts the wire remaining on the spool to be changed to connect it to the full replacement spool. It manually opens locking points or pins holding the coil on its support cradle. It extracts the empty reel using a hoist and transports it to the evacuation area. It takes, always with the hoist, a suitably chosen full reel, identical in characteristics to that to be changed, in a preparation bay.
  • These spans are equal in number to the number of different wire diameters in the fabricated cable, for example six which therefore correspond to six different wires for twenty-six coils.
  • the operator transports the full reel to the support cradle and lowers it there. It closes the points allowing the coil to be held on the cradle. He must then connect the wire from the new coil to the remaining wire from the old coil, for example by soldering the two ends of these wires. He closes the hood of the stranding machine and starts it again. On this type of machine, several coils of the same kind sometimes need to be replaced at the same time. The operations described above must then be repeated for each coil to be replaced.
  • the object of the invention is therefore to propose a robot capable of automatically executing all of the above operations performed manually until now, thanks to a mechanical structure and to a microcomputer associated with appropriate control software (programs). .
  • the mechanical assembly of the robot comprises the following elements: - a rail placed above the stranding machine and extending over the entire length thereof; - a motorized carriage mounted to bear on the rail, which can be driven from one end to the other of the latter by a motor; - a turret supported by the carriage, provided with means for driving in rotation of 180 degrees around a vertical axis, and provided with two movable clamps which can move up or down under the action of up-and-down means provided in the turret; - the pliers being themselves equipped with jaws which can open and close on the boxes bin to enter and drop them in the locations indicated by the microcomputer programs.
  • the full reels are transported from supply corridors to reserved waiting positions opposite each cradle of the stranding machine outside of the latter. Then after stopping the stranding machine, these full reels are then placed in the corresponding cradles to gradually replace the empty reels.
  • the installation shown diagrammatically in FIGS. 1 and 2 comprises a tubular stranding machine 1 intended for manufacturing twisted cables 2 from the unwound wires of a series of coils arranged one behind the other inside the stranding machine 1, and a robot 3, 4 produced and programmed so as to be able to automatically execute sequences of operations for loading and unloading coils on the stranding machine 1 previously stopped.
  • the robot comprises a mechanical assembly comprising a motorized device 3 capable of moving from one end to the other of the stranding machine 1 in order to extract empty coils therefrom and replace them with full coils prepared in advance, a rail 4 of motorized device support 3, placed above the stranding machine 1 and extending over the entire length thereof, and a microcomputer system for automatic control and programmed control of the operations executed by means of the assembly mechanical 3, 4.
  • the stranding machine 1 is known per se and will therefore not be described in detail. It consists of a determined number of cradles which can each receive a reel to be unwound, housed in hoods arranged one behind the other so as to form a tubular structure.
  • the stranding machine 1 comprises, in the example of FIGS. 1 and 2, twenty-six cradles and as many coils, the wires of which are twisted successively together to constitute the cable 2 wound on a coil 5.
  • the full coils are arranged in supply corridors each corresponding to a given diameter of wire, six in number 6a-6f in the example described, a corridor or bay 7 for discharging empty coils being also provided.
  • the installation is completed by a tray 8 for storing full and empty coils and by twenty-six waiting stations 50a, ... 50w arranged opposite the associated cradles and able to receive full coils awaiting loading, as well as empty coils awaiting evacuation.
  • the motorized device 3 constituting the active part of the robot will now be described with particular reference to Figures 3 to 6.
  • the device 3 comprises the following elements: - A motorized carriage 9 mounted to bear on the rail 4, which can be driven from one end to the other thereof by a geared motor 11; - a turret 13 supported by the carriage 9, provided with a motor 12 for driving in rotation of 180 degrees around a vertical axis, and provided with two movable clamps 14 which can move up or down under the action of means of mounting -and-drop provided in the turret 13.
  • These means are made in a manner known per se, for example by chains or belts 23 associated with sprockets 22 ( Figure 4), the clamps 14 each having two jaws 15 can be opened and close on reels such as 40 ( Figure 3) to grab them and place them in the locations indicated by the microcomputer programs.
  • the rail 4 for supporting the motorized device 3 is itself secured to a fixed frame 17 extending along the stranding machine 1, and it has on its upper face a raceway receiving rollers 18 of the carriage 9, the geared motor 11 of which drives a pinion 19 meshing with a rack 21 fixed to the rail 4, so that the starting of the geared motor 11 can drive the entire device 3 in one direction or the other along the stranding machine 1.
  • the means for raising and lowering the clamps 14, comprise two gearmotors housed in the turret 13 (not visible in FIG. 4) and which can raise or lower the clamps 14 by means of the respective pulleys 22 each receiving a belt 23 at the end of which is suspended the corresponding clamp 14.
  • Each clamp 14 is also suspended from a telescopic system constituted in the following manner: the jaws 15 are articulated in a housing 24 fixed to a first vertical tube 25 itself secured to the corresponding strap 23 by means of a piece transverse 10 ( Figure 4).
  • the two movable tubes 25, 26 can come to be housed in this upper part 27 when the clamp 14 is in the high position as shown on the left side of Figure 4.
  • the tubes 25, 26 are deployed and the jaws 15 of the clamp 14 are located located at the coils of the stranding machine 1.
  • each jaw 15a, 15b is provided with a terminal jaw 28 for clamping the coil (not shown), and passed through at its upper part by a guide shaft 29 as well as by a control screw 31 which itself passes through a threaded sleeve 32 secured to the respective jaw 15a, 15b.
  • Each screw 31 can be rotated in one direction or the other by a motor 33 cooperating with a reduction gear 34, so that the jaws 15a, 15b can move back and forth in translation on the shaft of guide 29 for gripping a coil or on the contrary for releasing it. (The left jaw 15a is in the closed position and the right jaw 15b is in the open position).
  • the turret 13 is provided with means for driving in rotation an empty coil such as 70 (Figure 6) in its cradle 36 ( Figure 4) and for detecting an angular position of this coil in which it can be removed.
  • the means for driving the coil in rotation comprise two rollers 37 (FIG. 6) mounted on the ends of an axis 38 and capable of being driven in rotation by a motor 39 by means of means 41 known per se and which will therefore not be described in detail.
  • the rollers 37 are positioned so as to be able to bear on the flanges of a coil such as 70 and can be controlled in rotation so as to be able to rotate the coil in the desired direction.
  • the means for detecting the angular position of the coil include a finger or toc 42 projecting laterally from the coil ( Figures 3 and 4) and a detector 43 mounted at the bottom of the turret 13 so that the finger 42 can come in contact with this detector 43 when the coil has rotated around its axis by a sufficient angle, as shown in Figure 3.
  • the detector 43 is part of an electrical circuit of con trole then informing the microcomputer that the corresponding angular position of the coil allowing its extraction from the cradle 36 is reached.
  • each clamp 14 is equipped with means for controlling the unlocking of the empty coils in their respective cradles 36.
  • these means consist of devices 47 for injecting compressed gas (compressed air) into indexers 45 of the cradles 36 capable of triggering, following these injections of compressed gas, the removal of nipples or counterpoint 46 ( Figures 4 and 4A) being able to be displaced parallel to the axis of the coil (therefore perpendicular to the general axis of the stranding machine 1) so as to fit into the coil to lock it in place in its cradle 36.
  • the manner in which the indexers 45 trigger the lateral withdrawal of the locking pins 46 following the injection of compressed air is known per se and will therefore not be described.
  • Each pair of indexers 45 is associated with a pair of compressed gas injection devices 47 fixed by means known per se to the tubes 25 of the corresponding clamp 14 so as to be able to accompany the up-and-down movements thereof.
  • Each injection device 47 ( Figure 7) comprises a pneumatic cylinder 48 having at its end an inlet for gas (compressed air) 49 opening into a chamber 51 for moving a piston 52 secured to a rod 53 at the end of which is fixed a head 54 for injecting gas into the associated indexer 46 through an orifice not visible in FIG. 7.
  • the compressed gas can be injected into the head 54 through a pipe 55 parallel to the rod 53 and which is housed in a guide tube 57, secured to the head 54 by means of intermediate fastening parts 59, 60 themselves fixed to the rod 53.
  • the guide tube 57 passes through a support 62 fixed to one end of the cylinder of the jack 48 and in which it can slide while accompanying the comings and goings of the head 54 and of the rod 53, the sources of compressed air supply to the jack 48 and to the head 54 not being shown.
  • the head 54 is equipped with a pair of O-rings 63 between which the outlet for the control gas is formed in the associated indexer 46, and which seals this injection.
  • the device 47 is finally provided with an electrical contact 56 which extends from the head 54 in a lateral tube 58 and which has the function of ensuring the detection of the locked position of the coil when it is desired to control its unlocking by injecting compressed gas into the actuator 48 and the conduit 55.
  • Each of the waiting stations (50a, etc.) is produced in a manner known per se to receive a full reel 40 before it is loaded into the associated cradle 36, the reel 40 resting on a set of rollers 61.
  • the change of this empty reel takes place as follows: the operator triggers the general stop of stranding machine 1, open the cover corresponding to the cradle 36 of the empty reel, (this operation can also be done by the robot), cut the residual wire remaining on the reel and control the robot whose motorized device 3 is previously waiting at the rear end of the stranding machine 1 near the supply corridors 6a-6e, to be placed above the empty reel and the full reel 40 which must replace it.
  • the motor 12 rotates the turret 13 and the clamps 14 so as to place each of these respectively above the full reel 40 and of the empty coil.
  • the hoist and gearmotors drop control the descent of the clamps 14 and of the devices 47, the jaws 15 being in the separated position (position of the jaw 15b in FIG. 5).
  • the devices 47 associated with the clamp 14 which must extract the empty coil from the stranding machine 1 inject compressed gas into the indexers 45 which then trigger the withdrawal of the pins 46, which unlocks the coil from its cradle 36.
  • the motor 39 puts the two rollers 37 in rotation, and these rotate the empty coil until its protruding finger 42 comes into high position in contact with the detector 43, which then issues an electric order to stop the motor 39.
  • the motor 33 associated with the clamp 14 which must extract the empty coil controls the clamping of the jaws 15 of the latter on the coil, then the up-and-down gearmotor corresponding to this clamp 14 controls the ascent of the empty coil, during which the tubes 25, 26 fit into each other, then into the upper tube 27.
  • the second clamp 14 disposed above the full coil 40 is lowered to grip it by a process similar to the one just described, with the exception of course of the implementation of the corresponding unlocking devices 47 and the rollers 37.
  • the motor 12 controls a 180 degree rotation of the assembly around a vertical axis so as to come and place the full reel 40 above the cradle 46 and the empty reel above the standby station (for example 50a).
  • the clamp 14 which supports the full reel descends, its devices 47 inject compressed air into the indexers 45 to cause the withdrawal of the pins 46 and allow the establishment of the full reel.
  • the pins 46 After the injection of compressed gas has stopped, the pins 46 automatically return to their places and lock the coil in its cradle 36. Then the jaws 15 are moved apart, which allows the clamp 14 to rise.
  • the robot can then move by example to the evacuation corridor 7 to deposit the empty reel there, and is ready to execute another sequence according to the orders of the operator and the programming software. While the motorized device 3 moves away, the operator manually performs the welding of the free end of the wire from the full spool to the end remaining on standby, then controls the restarting of the stranding machine.
  • 101 waiting; 102: the passage from 101 to 102 corresponds to a manual preparation of the operator who commands the robot to search for the first preparation to be made; 103: the robot notes that the corridor indicated to it by the software (6a or 6b, ...) is supplied with coils of the desired diameter.
  • the robot starts from the previous situation 102, the robot notices that a full reel is ready at the waiting station which has been indicated to it, that the supply corridor corresponding to this wire diameter is itself loaded with reels, and that there is an empty coil to change in the cradle. It is placed in a suitable position above the full reel and takes it with its first pliers, while taking the empty reel in the cradle with its second pliers (113); 114: the robot deposits the full reel in the cradle, and the empty coil in the support of the waiting station (115) then returns to its previous situation 102.
  • the robot notices that there is an empty reel in the cradle, that the corresponding corridor is supplied, and that an empty reel is in the waiting station corresponding to this cradle. He then removes the empty spool from his waiting station; 119: he deposits this coil in the drain corridor 7; 120: it takes a full coil in the desired supply corridor (6a or 6b, ....) ,; 121, 122: the robot comes to be placed above the empty cradle and the waiting station associated with the full reel above the latter; 123, 124: the robot takes the empty coil from the cradle and then rotates on itself 180 degrees; 125, 126: the robot deposits the full reel in the cradle and the empty reel on the waiting station, then automatically returns to its position 102.
  • the robot notices that the waiting station indicated is empty, as is the corresponding supply corridor, but that there is an empty coil in the cradle. He takes this coil; 132: and deposits it on the associated waiting position, then returns to situation 102.
  • the robot notices that there is no coil in the cradle indicated and that the corresponding feed corridor is empty. It then loops on itself and does not execute any operation.

Landscapes

  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Wire Processing (AREA)
EP86402188A 1985-10-08 1986-10-03 Roboter zum Ein- und Ausbau der Drahtspulen einer Verseilmaschine Withdrawn EP0221803A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8514878A FR2588204A1 (fr) 1985-10-08 1985-10-08 Robot de chargement et de dechargement de bobines de fils metalliques sur une toronneuse, destinee a fabriquer des cables
FR8514878 1985-10-08

Publications (1)

Publication Number Publication Date
EP0221803A1 true EP0221803A1 (de) 1987-05-13

Family

ID=9323621

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86402188A Withdrawn EP0221803A1 (de) 1985-10-08 1986-10-03 Roboter zum Ein- und Ausbau der Drahtspulen einer Verseilmaschine

Country Status (3)

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US (1) US4722177A (de)
EP (1) EP0221803A1 (de)
FR (1) FR2588204A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0410016A1 (de) * 1989-07-24 1991-01-30 Palitex Project-Company GmbH Betriebsverfahren und Vorrichtung zur automatisierten Reinigung von Spulenhülsen von Fadenresten entlang einer textilen Fadenbearbeitungsmachine, insbesondere Doppeldraht-Zwirnmaschine, verfahrbare automatisierte Wartungs- und Bedienungsvorrichtung
DE10226215B4 (de) * 2002-06-13 2006-12-14 Wolfgang Emmerich Verfahren zum Auswechseln der Leerhülse gegen eine mit einem Langgut bewickelte Vorlagespule an der Abspulstelle einer Maschine zur Verarbeitung dieses Langguts, Vorlagespule zur Durchführung des Verfahrens und Abspulstelle zur Durchführung des Verfahrens mittels einer Vorlagespule und Maschine zur Verarbeitung von Langgut

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE964298C (de) * 1954-06-10 1957-05-23 Paul Wieghardt Dipl Ing Vorrichtung zum Ein- und Ausbau der Spulen von Schnellverseilmaschinen
DE966164C (de) * 1954-03-30 1957-07-11 Paul Wieghardt Dipl Ing Spulenlagerung fuer Verseilmaschinen
DE1929024A1 (de) * 1969-06-07 1970-12-10 K A Niehaus Maschf Vorrichtung zum Beschicken der Spulentraeger einer Rotor-Verseilmaschine
FR2508948A1 (fr) * 1981-07-01 1983-01-07 Thaelmann Schwermaschbau Veb Procede pour l'alimentation de machines toronneuses

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1199491A (en) * 1967-04-07 1970-07-22 British Insulated Callenders Improvements in or relating to Wire-Stranding Machines.
US3429115A (en) * 1967-10-12 1969-02-25 Bridge & Co Ltd David Machine for making cables or ropes
US3563020A (en) * 1968-04-10 1971-02-16 British Insulated Callenders Wire-stranding and wire-armouring machines
GB2143869B (en) * 1983-07-12 1986-11-12 Cortinovis Spa Improvements in and relating to stranding machines
DE3500949A1 (de) * 1985-01-14 1986-07-17 Maschinenfabrik Niehoff Kg, 8540 Schwabach Verfahren und vorrichtung zum herstellen von verlitztem stranggut mit hilfe einer doppelschlagverlitzmaschine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE966164C (de) * 1954-03-30 1957-07-11 Paul Wieghardt Dipl Ing Spulenlagerung fuer Verseilmaschinen
DE964298C (de) * 1954-06-10 1957-05-23 Paul Wieghardt Dipl Ing Vorrichtung zum Ein- und Ausbau der Spulen von Schnellverseilmaschinen
DE1929024A1 (de) * 1969-06-07 1970-12-10 K A Niehaus Maschf Vorrichtung zum Beschicken der Spulentraeger einer Rotor-Verseilmaschine
FR2508948A1 (fr) * 1981-07-01 1983-01-07 Thaelmann Schwermaschbau Veb Procede pour l'alimentation de machines toronneuses

Also Published As

Publication number Publication date
FR2588204A1 (fr) 1987-04-10
US4722177A (en) 1988-02-02

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