Patent AT-E40091-T1: [Translated] ROBOT DEVICE FOR CHANGING BOBBINS IN WIRE-WINDING MACHINES.

The robot device serves for the loading of empty spools (B) and the unloading of filled spools (B') respectively into and from wire winding machines arranged in a single file on one side of a path (4). The longitudinal axis of said path (4) is substantially parallel to the winding axes of the wire winding machines. The robot device comprises a transport carriage (2) movable along said path (4) and carrying a vertical supporting structure (1). On the said supporting structure (1) there is cantilevered a turret-like gripping frame (41-55) having an axis of rotation (10) which is horizontal and parallel to the path (4) and carrying at least one pair of diametrically opposite selfcentering clamps (P, P'), each clamp being adapted to grip a spool (B, B') the axis of which is parallel to the rotational axis (10) of said gripping frame (41-55), by clamping the end flanges of said spool (B, B'). Rotational means (16, 17), locking means (21-23) and displacement means (30, 36) are provided for maintaining said gripping frame (41-45) with its clamps (P, P') on an imaginary horizontal plane, for rotating it around its axis of rotation and for displacing it horizontally parallelly to the axis of rotation so as to bring a clamp (P, P') to the side of the robot facing the winding machine and to move it towards and away from the said winding machine.