Abstract: On the cradle (9) of the twisting machine there is mounted a control panel (38) powered externally through a first slip ring (37-137) and corresponding electrical lines (35-135-235). In the control panel there is located an electronic computer (39) which controls the operation of all the internal components of the twisting machine and which, through at least one serial line (41-141) and a second slip ring (42-142), is connected to an electronic computer (40) located in the control panel which is disposed outside the twisting machine. The electronic computer (40) is associated with a keyboard and screen unit (43) for the programming and interrogation of the computers. An electrical power supply line (35) is linked to the external panel and the mechanism for supply and control of the external components of the twisting machine are provided in this panel.

Abstract: This invention relates to a robot which serves automatically a plurality of machines for winding any kind of wire or yarn. This robot is mounted on a wire-guided and/or radio-controlled carriage; it can run on a normal floor and may serve the winding machines and the spool-supplying and collecting magazines, regardless of their relative positions. When co-operating with the winding machines, the robot-mounting carriage 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 which are associated with supporting brackets of said robot. The robot is provided with an electro-mechanical programmer which controls the lifting movement of the assembly of said brackets for adjusting their positions to the level of the lower side of the spools of different diameters in the winding machines.

Abstract: This invention relates to a handling apparatus designed to move on at least two orthogonal axes and, preferably, on three axes, said apparatus being capable of positively gripping spools at their axial bore with great precision and being particularly adapted to be associated with plants designed for automation of the loading and unloading operations of said spools, respectively, into and from wire winding machines and into and from feeding and collecting stations where said spools may be disposed with any orientation.

Abstract: A robot device for loading empty spools (b) and the unloading of filled spools (b') into and from wire winding machines arranged in a single file on one side of a path (4). The longitudinal axis of the path (4) is substantially parallel to the winding axes of the wire winding machines. The robot device comprises a transport carriage (2) movable along the path (4) and carrying a vertical supporting structure (1) on which 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 carries at least one pair of diametrically opposite self-centering 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 the gripping frame (41-55), by clamping the end flanges of the spool (B, B').

Abstract: Robot device for the loading of empty spools (Z') and the unloading of filled spools (Z) respectively into and from wire winding machines (B, B', B") aligned in a single file on one side of a track (A), comprising 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') vertically movable and rotatable 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') into the winding machine, where the bracket is then lifted to receive the filled spool from the winding machine, or to load an empty spool onto the winding machine.