MXPA99001180A - Machine to manipulate bobi - Google Patents

Abstract

A machine for handling coils is described which includes an effector module, a general vertical displacement module, a support module, and a movement module, which allows to easily manipulate at least one coil for transferring it to a storage device that have different height and position characteristics. The machine can handle a plurality of coils and does not use the floor as a reference for anchoring or assembly with other equipment or devices, as well as being ergonomic to avoid injuries and accidents of an operator during the handling of bobbins.

Description

"MACHINE FOR MANIPULATING BOBBINS" FIELD OF THE INVENTION The present invention relates to the techniques for loading, transporting and unloading products, and more particularly, relates to a machine for handling coils.

BACKGROUND OF INVENTION For many years, the winding procedures have been used to wind threads, filaments, cables, wires or any other product whose longitudinal configuration and properties of the material with which it is made allow it. There is a wide variety of winding procedures, which depend on the material from which the product to be rolled is made, as well as the shape of the coil formed. Most of the winding procedures have as a principle the rotation of a core, generally cylindrical or frusto-conical, on its own longitudinal axis, with which the product that is desired to wind on the core begins to surround it, thus achieving the core is covered with the product, forming the coil. Said core is generally part of the final coil, although there are procedures, such as the one described in Mexican Patent No. 158941, by means of which it is possible to form coils that do not have the integrated core. However, even the coils that do not include the core, when formed, are also rotated about the axis of a core that is subsequently removed, or the product is wrapped around a central imaginary core. There is a wide variety of winding procedures, such as those described in Mexican Patents Nos. 142365, 161871, 141521, among others, according to the type of product to be wound and the final form of the coil that is to be obtained. . Despite the fact that many of them are automatic, and even continuous, to date no procedure or machine has been described that allows semiautomatic unloading of the machine coils, since in all the procedures it is necessary to unload the coil formed of manual way. This operation represents a waste of time when high productivity is desired, since it is necessary to stop the winding process while unloading for long periods, especially when forming several coils by the same machine. Additionally, when the coils that are formed are very large and / or need to be handled with special care, this operation is complicated because an operator is required to move the coils from the machine where the winding is made to some tool or device in which is transported for storage. Said devices can have the most diverse shapes, and can include compartments or couplings for the coils at very different heights and with different spaces between them. When the coils are to be placed in very high or very low positions, the operator may even suffer some injury by raising or lowering a considerable weight in a repetitive manner. In addition to the above, when the product with which the coil is formed requires special care, or it emits slightly toxic or highly flammable vapors during the winding, as in the case of polymer filaments obtained by polycondensation such as nylon and rubber. polyester, the unloading operation is even more complicated, since it is not recommended that the operator directly touch the coil and approach the winding machine. The Mexican Patent No. 157491 describes a robotic manipulator for operations of removal and handling of parts, among other operations, which includes a base portion, an extendable arm mounted at one end of the base portion with a plurality of telescopic tubular parts extendable and retractable along a longitudinal axis, with a cable housed inside the telescopic parts and the motive and lubricating means necessary for the movement of the arm by means of the cable. Nevertheless, the arm described there, has the disadvantage of being anchored to the ground, so it is difficult to maneuver, besides having functions mainly of lifting objects, which is why it is not possible to use it to unload the coils of a winding machine . Additionally, the machines for manipulating known objects take the floor as a reference to perform the anchoring or coupling with the object to be manipulated, which is not very convenient because they can not be used on irregular surfaces. These same disadvantages are presented by other mechanical arms, such as those described in Mexican Patents Nos. 122547 and 129967, among others. To date, a device has not been described or known that allows to remove or unload the coils of the winding machines in a semi-automatic manner, in such a way that productivity is increased by the possibility of removing more than one coil to place it in a device or compartment for transport and / or subsequent storage, and at the same time avoid an approach of the operator, thus avoiding possible injuries and / or accidents. As a result of the foregoing, it has been sought to eliminate the drawbacks of the operation of unloading coils of a winding machine, developing a machine for handling coils that, in addition to allowing the semi-automatic discharge of several coils of a winding machine, count with the intrinsic safety systems necessary for its operation in hazardous areas and avoid injuries to the operators due to the constant effort in the transfer of coils to high or low storage places, at the same time that it has a reference for the anchoring or assembly of the same different from the ground.

OBJECTS OF THE INVENTION Taking into account the defects of the prior art, it is an object of the present invention to provide a machine for handling bobbins that increases the productivity in the discharge of the coils of a winding machine, avoiding manual contact of the operator with said coils. It is another object of the present invention to provide a machine for handling coils that allows to easily manipulate at least one coil in small spaces. It is another object of the present invention to provide a coil handling machine that allows to manipulate at least two coils that were coiled at a certain height and with a certain distance between them to transfer them to a storage device having different height and separation between coils. It is a further object of the present invention to provide a machine for handling coils that allows the coils to be taken at a certain position with respect to the axis of the coil and placed in a different position. It is still another object of the present invention to provide a machine for handling coils that allows the handling of coils with various diameters. It is yet another object of the present invention to provide a machine for handling coils that do not use the floor as a reference for anchoring or assembly with other equipment or device. It is a further object of the present invention to provide a machine for handling coils that is ergonomic, to avoid injuries and accidents during the handling of coils. BRIEF DESCRIPTION OF THE FIGURES The novel aspects that are considered characteristic of the present invention will be established with particularity in the appended claims. However, the operation, together with other objects and advantages thereof, will be better understood in the following detailed description of a specific embodiment, when read in conjunction with the accompanying drawings, in which: Figure 1 is a side view left of a preferred embodiment of the machine for handling coils of the present invention in the loading position. Figure 2 is a top plan view of the machine of Figure 1 in an operation sequence. Figure 3 is a front view of the movement module of the machine of figure l. Figure 4 is a left side view of the movement module of Figure 3. Figure 5 is a right side view of the effector module, the independent vertical displacement module and the support module of the machine of Figure 1. Figure 6 is a right side view of the effector module of Figure 5. Figure 7 is a right side view of a jaw module of the effector module of Figure 6. Figure 8 is a top plan view of the effector module and the module of general vertical displacement of the machine of figure l. Figure 9 is a front view of the anchoring module of the machine of Figure 1. Figure 10 is a front view of the anchoring terminal of the module of Figure 9. Figure 11 is a top plan view of the terminal Figure 10 is a sectional sectional view along the line AA 'of Figure 10; Figure 13 is a right side view of the general vertical displacement module of the machine of Figure 1. Fig. 14 is a front view of the general vertical displacement module of the machine of Fig. 1. Fig. 15 is a top plan view of the second rotation module of the support module of Fig. 5.

Figure 16 is a right side view of the rotation module of Figure 15. Figure 17 is a right side view of the rotation module including the horizontal displacement module of the effector module of Figure 5. Figure 18 is a view on the upper floor of the first turning module of the machine of figure 1. Figure 19 is a front view of the turn module of figure 18.

DESCRIPTION nKTAT.T.AD? With particular reference to the appended drawings, and more specifically to figure 1 thereof, there is shown a left side view of a preferred embodiment of the machine for handling coils 1000 of the present invention. As can be seen in figure 1, the preferred embodiment of the machine 1000 for handling coils has the capacity to handle up to 3 coils 2000 that have been formed by means of a winding machine 3000 that continuously coils a wire 2100 coming from a process of extrusion. The machine 1000 for handling coils, generally comprises an effector module 1100; a general vertical displacement module 1200; a support module 1300 and a movement module 1400. The effector module 1100, in turn, includes 3 jaw modules 1110, a horizontal displacement module 1120, an independent vertical displacement module 1130; and, a control and handling module 1140. Also, the support module 1300 comprises an articulated arm 1310 and a first rotation module 1330 located at one of the ends of the articulated arm 1310 and which also serves as support for the effector modules 1100 and general vertical displacement 1200. For its part, the movement module 1400 includes a brake module 1410; movement means 1420 and a second rotation module 1430 joined to the articulated arm 1310. As can be seen in figure 1, the effector module 1100 is assembled to the general vertical displacement module 1200, which in turn is assembled to the module of support 1300, which can be moved by means of the movement module 1400. It is important to note that both the effector module 1100 and the general vertical displacement module 1200 are not in contact with the ground at any time because the module of movement 1400 forms part of the upper structure of the place in which the machine 1000 is installed, which allows the operation of the machine 1000 to manipulate coils in places with irregular relief. However, in an additional mode it is possible to use 1400 movement modules that perform the same functions but are supported on the ground or on some wall. As regards the movement module 1400, the brake module 1410 has the function of fixing or releasing the displacement means 1420, depending on the operation that it is desired to perform with the machine 1000 when it is required to manipulate the coils. The second turn module 1430 in turn, allows the articulated arm 1310 to rotate on both sides of the displacement means 1420, preferably at a maximum angle of 110 degrees on each side. It should be mentioned, however, that in a further embodiment of the present invention, the second turn module 1430 freely rotates 360 degrees. Figure 2 shows a sequence of operation of the machine 1000 for handling coils of the present invention that was in a predetermined rest position. The configuration of the machine 1000 of the present invention allows to handle coils located along a series of winding machines 3000, or of a winding machine 3000 with a plurality of columns of coils 2000, forming a winding train as the shown in Figure 2. The positions 1000A and 1000B illustrate the convenience of the configuration of the second rotation module 1430, since said module allows the same column of coils to be manipulated from two different points of the displacement means. 1420, which is especially convenient in cases where there are columns 4000 which prevent the free movement of the machine 1000 for handling coils. For reasons of space, in figure 2 only the displacement means 1420 are shown in the position 1000C, although in all other positions (1000A, 1000B, 1000D and 1000E), the second turn module 1430 is assembled with the displacement means 1420. The positions 1000A, 1000B and 1000C are the loading positions of the coils 2000 to the machine of the present invention, remaining as shown in Figure 1. As can be seen, it is possible to load any column of coils 2000, regardless of its closeness to the displacement means 1420, which is achieved by means of the second turning module 1430 and by means of the articulation 1311 of the articulated arm 1310, which makes it possible to change the angle of the articulated arm 1310 horizontally as appropriate to the manipulation. It should be emphasized that, according to FIG. 1, in the positions mentioned above, the modality of the machine 1000 for handling coils described has the capacity to manipulate three coils at the same time. The position 1000D corresponds to three coils 2000 that have been loaded and rotated so that the central axis of the coils 2000 is perpendicular to the winding machine 3000, said action being carried out by a turning system 1116. In the figure, the Thick arrows indicate the action of the operator, which removes the machine 1000 to manipulate coils of the winding machine 3000 and approaches it to the site where the coils 2000 will be unloaded. In the modality that is described, when the machine is located in the position 1000D, the horizontal displacement module 1120 has acted to unload the coils of the machine with the help of an ejector module 1150 that allows the coil to be free of the machine 3000, and the independent vcal displacement module 1130 has placed the coils with the appropriate spacing and height, so that it can be adjusted to the posts 5100 of a transport car 5000. From the position 1000D, the or The operator moves the machine 1000 and uses the first and second turn modules 1330 and 1430 to position the coils 2000 in front of the transport carriage 5000, as seen in the 1000E position. From this position, the horizontal displacement module 1120 acts again, the coils 2000 moving from the machine 1000 to the poles 5100 for inson. As can be seen, the operator 6000 only directs the operation of the machine and displaces it by means of the control and handling module 1140, with which it does not perform any loading effort, but only of displacement. The manipulation and control module 1140, preferably includes a pair of semi-vcal ergonomic handles 1141 for guiding the machine 1000, as well as a control board 1142, which, together, allow to guide the machine and control the different movements automatic of the same. Referring now to Figures 3 and 4, in these the movement module 1400 is shown. In the embodiment shown in said figures, the displacement means 1420 are constituted by a pair of displacement rails 1421 that house inside a plurality of bearing devices 1122, preferably wheels, which are in turn assembled to a supporting structure 1123, which includes the brake module 1410, which comprises drive means 1411 and locking means 1412, preferably a rod, which prevents at least one of the bearing devices 1122 from moving. On the other hand, Figure 5 is a right side view of the effector module 1100 and of the support module 1300, in which the plurality of jaw modules 1110 can be seen which in turn include an opening and closing module 1111; the horizontal displacement module 1120; and, the independent vertical displacement module 1130. As mentioned above, the support module 1300 in turn, comprises the articulated arm 1310 and the first rotation module 1330 located at the front end of the articulated arm 1310 and which also serves as support for the effector modules 1100 and general vertical displacement 1200. Additionally, the support module 1300 includes a horizontal bar 1340 that serves as support for a vertical bar 1350 which in turn supports the effector module 1100, with the exception of the displacement module horizontal 1120. Figure 6 shows a detail of the jaw and independent vertical displacement modules, where it can be seen that the independent vertical displacement module is composed of motive means, which in the modality described consist of a cylinder 1131A upper tire and a 1131B lower air cylinder, with their respective 1132A and 1132B, located at the mobile end of each cylinder. The upper jaw module 1110A is held by means of an upper support assembly 1112A to the assembly plate 1132A, while the lower jaw module 1110C is held by means of a lower support assembly 1112C to the assembly plate 1132B. As regards the central jaw module 1110B, it is fixed and attached to the fixed part of both pneumatic cylinders 1131A and 1131B, by means of an assembly plate 1132C and a central support assembly 1112B. By means of the arrangement described above, the independent vertical displacement module 1130 can adjust the vertical distances between the jaw modules 1110A, 1110B and 1110C to those required by both the winding machine and the transport carriage, considering that the height of the central jaw module 1110B is adjusted by the general vertical displacement module 1200. Referring now to Figure 7, there is shown a jaw module 1110 in accordance with the preferred embodiment of the present invention. As mentioned above, the jaw module includes a lili opening and closing module that allows to move away from or close to each other a first clamping vane 1113A and a second clamping vane 1113B, which are respectively joined to a first support 1114A and a second support 1114B by means of fastening assemblies 1115A and 1115B, having arcuate shape sufficient to accommodate the coils according to the allowable diameter thereof. Said clamping assemblies, include housings to also allow the assembly of a jaw rotation module 1116, which joins the first and second clamping vanes 1113A and 1113B, allowing these to rotate at the same time towards one of the sides in a manner said vanes form an angle of 90 degrees with respect to the first and second supports 1114A and 1114B, whereby the axis of a coil that is in the jaw is repositioned. The rotation of said module is driven by the rotation system 1116, which comprises driving means, preferably by means of a pneumatic cylinder 1116-1 connected to a rotary motion transmission system 1116-2, which in turn is coupled to a an arrow 1117, which transmits the rotary movement towards the assemblies 1115A and 1115B, said pneumatic cylinder 1116-1 being preferably supported on the first support 1114A.

The opening and closing module 1111, in turn, includes an upper inclined bar 1111-l and a lower inclined bar 1111-2, which are respectively fixed to the first and second supports 1114A and 1114B, and whose lower and upper ends, respectively, they are joined on the side closest to the vanes 1113A and 1113B, so as to form a maximum opening angle between the bars sufficient for the distance between the vanes 1113A and 1113B to be suitable for holding a coil with the minimum allowable diameter of agreement with the winding machine, preferably 90 °. Additionally, the opening and closing module 1111 includes a support 1111-3 which is pushed horizontally by a rod 1111-4 which in turn is pushed horizontally by driving means, preferably a pneumatic cylinder 1111-5. The configuration described above allows the support 1111-3, when pushed by the rod 1111-4, causes the angle mentioned above to decrease, whereby the vanes 1113A and 1113B separate in a direct relation to the displacement of the support 1111- 3. Additionally, the jaw modules 1110, include an upper displacement carriage 1118 and a lower displacement carriage 1119, which allow the assembly of the jaw module 1110 with the general vertical displacement module 1200. As regards the figure 8, this is a top plan view of the effector module and the general vertical displacement module of the machine of figure 1.

In it, the ejection module 1150 can be observed, which includes driving means, preferably a pneumatic cylinder 1151 having a push bar 1152 at its movable end, in such a way that it allows laterally displacing a coil holding element in the winding machine, releasing the bobbin so that it can be loaded to the machine of the present invention. In the same figure, we can see some of the components of the effector module included in figures 5 and 7, described above. As regards the general vertical displacement module 1200, Figure 8 shows its main components, which comprise driving means, preferably a pneumatic cylinder 1210 of vertical sliding; a rail 1220 for guiding the displacement carriages 1118 and 1119 (figure 7); and, a vertical movement element 1230, which moves in accordance with the driving means and is preferably assembled to the central jaw module 1100B (Figure 6). On the other hand, to allow an exact coupling of the machine of the present invention with the winding machine and / or with the transport trolley, the machine for handling reels has an anchoring module 1600 that is assembled with a reference element that is forming part of the structure, either of the device in which the loading or unloading of the coils will be made, or of the place in which they are installed, provided that said element is not the floor. In the preferred embodiment of the present invention, the anchoring module 1600, shown in Figures 9 to 12, comprises a support structure 1610; and at least one anchor terminal 1620, preferably two. The anchor terminal, in turn, comprises drive means, preferably a pneumatic cylinder 1621, which push a rod 1622 having assembled at its other end, perpendicular to it, the rear part of an anchoring element 1623 having a lateral widening 1623-1 in its outer part, said anchoring element 1623 being itself inserted in a main body 1624, preferably with cylindrical front end 1621, and fixed in its front part so that it can rotate about the axis of an arrow of turn 1625. The lateral widening 1623-1, protrudes from the cylindrical front end 1624-1 in a dimension such that it allows the insertion of the cylindrical front end assembly - anchoring element, inside the reference element 1630. The assembly described above, allows that when the rod 1622 pushes the rear part of the anchoring element 1623, the front part thereof rotates on the arrow 1625, so that the module is anchored to the element reference 1630 by means of the anchoring element 1623, as shown in figure 12. Referring now to figures 13 and 14, the general vertical displacement module is shown therein. As mentioned above, the general vertical displacement module 1200 includes driving means, preferably a vertical sliding pneumatic cylinder 1210.; a rail 1220; and, a vertical movement element 1230, which moves in accordance with the driving means and is preferably assembled to the central jaw module 1100B (Figure 6). With reference to FIGS. 15 to 17, the configuration of the first rotation module 1330 and of the horizontal movement module 1120 can be observed. The first rotation module 1330 is fixed to the end of the articulated arm 1310, and it includes turning means, preferably a pivoting system that houses bearings 1331, which are surrounded on their external part by a truncated disc 1332 that serves as the basis for the brake of the rotation module, in addition to fitting perfectly to the terminal part of the articulated arm 1310. The bearings 1331, in addition to allowing the rotation of the effector module, support an arrow 1333 of support at its central part, which rotates on its center, and is held by one of its ends to a clamp 1334 that it has incorporated a brake system of the type described for the movement module, which rotates together with the arrow 1333 having inserted the truncated disc 1331. The truncated disc 1332, j Together with the clamp 1334 it determines the maximum angle of rotation of the module, preferably 110 ° on each side of the articulated arm 1310, since the clamp 1334 when turning, has as a stop the articulated arm 1310. However, it should be noted that it is possible to place a complete disc instead of the truncated disc 1331 above or below the articulated arm 1310, so as to allow a 360 ° free rotation by not having a stop for the clamp 1334. It is important to note that the brake mechanism included in clamp 1334 allows to fix the effector module in a certain position, convenient for the operation of loading and unloading the coils. Additionally, the arrow 1333 has the function of supporting the horizontal displacement module 1120, which is formed by motive means, preferably a pneumatic cylinder 1121 of horizontal sliding, which rotates together with the beam and has horizontal sliding means 1122 incorporated therein. they support the horizontal bar 1340 of the support module, and with it, the entire effector module and the general vertical sliding module. Additionally, in Figure 17 the location of the support structure 1610 of the anchoring module 1600, as well as the anchoring terminals 1620, which are parallel to the horizontal bar 1340 can be seen. Finally, figures 18 and 19 show the second rotation module 1430, which is located at the end of the articulated arm 1310, opposite the first rotation module 1330. The second rotation module 1430 includes a truncated disc 1431 located on the articulated arm 1310, having as function limit the rotation of the second rotation module 1430 to 110 ° on each side of the movement means 1400. Additionally, includes turning means, preferably a pivoting system that houses bearings 1432, which in addition to allowing the rotation, hold the articulated arm 1310, having a disc 1433 that is fixed to the turning means, and which has a brake mechanism 1434 that is fixed to the articulated arm 1310 and that rotates with the the same The turning stop in the case of the second turning module 1430 is the impact of the articulated arm 1310 with a support located in the truncated disc 1431. The second turning module 1430 is assembled within the displacement means 1420 (not shown in FIG. Figures 17 and 18). It is important to note that the brake mechanism 1434 allows to fix the articulated arm 1310 in a certain position, convenient for the operation of loading and unloading the coils. In addition to what has been described above, each of the modules of the coil handling machine of the present invention may include position or proximity sensors or detectors, preferably of what is known as the Namur type., which send signals to intrinsically safe electronic control modules, preferably those which are known as Sensoplex for pneumatic cylinder control. Said electronic modules send signals to each of the motor means of the modules of the machine to manipulate coils, so that they act according to the position in which they are found, or according to pre-established parameters according to the place in which they are located. The machine is installed to allow the operation of the machine through the control panel and the ergonomic handles of the control and manipulation module, which are connected to the corresponding intrinsically safe electronic control modules. The preset parameters are determined from the position of the anchor module and the reference elements, as well as the configuration of the winding machine, the diameter of the coils and the configuration of the transport device thereof. which the coils are discharged. Preferably, the sensors should be placed to detect the thickness of each coil to be loaded to the coil handling machine, the vertical distance of the effector module and the vertical distance between the coils, the horizontal position of the horizontal displacement module and the state of the anchoring module with respect to the reference elements, among others. In an additional mode, the ergonomic handles allow the control of the brake modules of the first and second rotation modules and of the movement module, while the other automatic movements of the machine are controlled by means of the control board. In accordance with the above described, it can be seen that the machine for handling coils, has been designed to allow a safe operation during the handling of coils, avoiding contact of the operator with the winding machine and with the coil by a semi-automatic operation, in addition to avoid injury to the operator by the constant loading effort of the coils, and it will be apparent to one skilled in the art that the embodiments of the coil handling machine described above and illustrated in the accompanying drawings, are only illustrative rather than limiting of the present invention, since numerous changes of consideration in their details are possible without departing from the scope of the invention. Even though a specific embodiment of the invention has been illustrated and described, it should be emphasized that numerous modifications to it are possible, such as electrical driving means instead of tires, the use of different sensors, the use of various turning mechanisms. or displacement, or the use of various reference points, or a change in the configuration of the machine that allows downloading coils that are in vertical position during the winding instead of the horizontal position described, or adaptations to manipulate coils of different shape, for example, truncated cone. Therefore, the present invention should not be considered as restricted except by what is required by the prior art and by the spirit of the appended claims.

Claims (46)

1. NOVELTY OF THE INVENTION CLAIMS l.- A machine for handling coils, characterized in that it comprises an effector module that allows the loading and unloading of the coils to the machine for handling coils; a general vertical displacement module for adjusting the height of the effector module; a support module to give stability to the machine; and, a movement module to move all other modules, where the effector module is assembled to the general vertical displacement module, which in turn is assembled to the support module, which can be moved by means of the module movement.
2. 2. A machine for handling coils, according to claim 1, further characterized in that the effector module and the general vertical displacement module are supported on the movement module, which is part of the upper structure of the place where it is placed. installs the machine, allowing the operation of the machine to manipulate coils in places with irregular relief.
3. 3. A machine for handling coils, according to claim 1, further characterized in that the movement module is supported on the ground or on a wall.
4. 4. A machine for handling coils, according to claim 1, further characterized in that the effector module comprises at least one jaw module; a horizontal displacement module; an independent vertical displacement module; and, a manipulation and control module.
5. 5. A machine for handling coils, according to claim 4, further characterized in that the effector module further includes an ejector module for releasing a coil from a winding machine.
6. 6. A machine for handling coils, according to claim 1, further characterized in that the support module comprises an articulated arm and a first rotation module located at the end of the articulated arm and which also serves as support for the effector modules and general vertical displacement.
7. 7. A machine for handling coils, according to claim 6, further characterized in that the movement module includes a brake module for fixing or releasing a means of movement, depending on the operation that is desired to be performed with the machine; means of displacement; and, a second rotation module joined to the articulated arm.
8. 8. A machine for handling bobbins, according to claim 7, further characterized in that the second rotation module allows the articulated arm to rotate on both sides of the movement means.
9. 9. - A machine for handling coils, according to claim 8, further characterized in that the rotation of the articulated arm has a maximum angle of 110 degrees on each side of the arm.
10. 10. A machine for handling coils, according to claim 8, further characterized in that the articulated arm can rotate freely 360 degrees.
11. 11. A machine for handling reels, according to claim 4, further characterized in that the manipulation and control module includes a pair of semi-vertical ergonomic handles for guiding the machine and a control board, which, together , allow to guide the machine and control the different automatic movements of it.
12. 12. A machine for handling reels, according to claim 7, further characterized in that the displacement means are constituted by a pair of displacement rails that house inside a plurality of bearing devices, which are in turn assembled to a support structure, which includes the brake module, which comprises drive means and locking means that prevent at least one of the bearing devices from moving.
13. 13. A machine for handling coils, according to claim 4, further characterized in that the jaw module includes an opening and closing module.
14. 14.- A machine for handling coils, according to claim 1, further characterized in that the support module additionally includes a horizontal bar that serves as support for a vertical bar that in turn supports the effector module.
15. 15. A machine for handling coils, according to claim 4, further characterized in that the effector module comprises three jaw modules.
16. 16. A machine for handling reels, according to claim 15, further characterized in that the independent vertical displacement module is composed of motive means.
17. 17. A machine for handling coils, according to claim 16, further characterized in that the driving means are an upper pneumatic cylinder and a lower pneumatic cylinder, with their respective assembly plates located at the mobile end of each cylinder, where an upper jaw module is held by means of an upper support assembly to the upper cylinder assembly plate, while a lower jaw module is held by means of a lower support assembly to the lower cylinder assembly plate and a central jaw module is fixed and joined to the fixed part of both pneumatic cylinders by means of an assembly plate and a central support assembly, so that the independent vertical displacement module can adjust the vertical distances between all the jaw modules to those required by both a winding machine and a coil transport device, whereas the height of the central jaw module is adjusted by the general vertical displacement module.
18. 18. A machine for handling reels, according to claim 13, further characterized in that the opening and closing module allows to move away from or close to each other a first clamping pallet and a second clamping pallet, which are respectively joined to a first support and a second support by means of clamping assemblies, having an arched form sufficient to accommodate the coils according to the allowable diameter thereof; said clamping assemblies, including housings to also allow the assembly of a jaw rotation module, which joins the first and second clamping vanes, allowing these to rotate at the same time towards one of the sides so that said vanes form an angle of 90 degrees with respect to the first and second supports, with which the axis of a coil that is in the jaw is changed in position, the rotation of said module, being driven by a rotation system.
19. 19. A machine for handling coils, according to claim 18, further characterized in that the turning system comprises driving means connected to a rotary motion transmission system coupled to an arrow, which in turn transmits the rotary movement towards the clamping assemblies.
20. 20. A machine for handling coils, according to claim 19, further characterized in that the driving means consist of a pneumatic cylinder supported on the first support.
21. 21. A machine for handling coils, according to claim 18, further characterized in that the opening and closing module includes an upper inclined bar and a lower inclined bar that are respectively fixed to the first and second supports, and whose lower ends and upper, respectively, are joined from the side closest to the vanes, so as to form a maximum opening angle between the slanted bars sufficient so that the distance between the vanes is adequate to hold a coil with the minimum allowable diameter according to with the winding machine, preferably 90 °; and, a support that is pushed horizontally by a rod which in turn is pushed horizontally by motive means, in such a way that the support, when pushed by the rod, causes the angle mentioned above to decrease, with which the pallets are they separate in a direct relation to the displacement of the support.
22. 22. A machine for handling bobbins, according to claim 21, further characterized in that the driving means that push the rod are a pneumatic cylinder.
23. 23. A machine for handling coils, according to claim 4, further characterized in that the jaw module includes an upper sliding carriage and a lower sliding carriage, which allow the assembly of the jaw module with the displacement module general vertical
24. 24. A machine for handling reels, according to claim 5, further characterized in that the ejection module includes driving means that have a push rod at a moving end, such that the bar allows to move laterally to an element of movement. clamping of the reel in the winding machine, releasing the reel so that it can be loaded into the machine.
25. 25. A machine for handling coils, according to claim 24, further characterized in that the driving means of the ejection module is a pneumatic cylinder.
26. 26.- A machine for handling coils, according to claim 23, further characterized in that the general vertical displacement module comprises motor means; a rail to guide the upper and lower sliding carriages; and, an element of vertical movement, which moves in accordance with the driving means and is assembled to at least one jaw module.
27. 27. - A machine for handling reels, according to claim 26, further characterized in that the drive means of the general vertical displacement module is a vertical sliding pneumatic cylinder.
28. 28.- A machine for handling reels, according to claim 1, further characterized in that the machine includes an anchoring module to allow an exact coupling of the machine of the present invention with a winding machine and / or with a device for transport.
29. 29. A machine for handling coils, according to claim 28, further characterized in that the anchoring module is assembled with a reference element that is part of the structure, either of the device in which the load will be made or discharge of the coils, or, of the place in which they are installed.
30. 30. A machine for handling coils, according to claim 29, further characterized in that the anchoring module comprises a support structure; and, at least one anchor terminal.
31. 31.- A machine for handling coils, according to claim 30, further characterized in that the anchor terminal comprises drive means that push a rod that has assembled at its other end, perpendicular to it, the back of a an anchoring element having a lateral widening in its outer part, said anchoring element being in turn inserted in a main body and fixed in its front part so that it can rotate about the axis of a turning arrow; wherein the lateral widening protrudes from the cylindrical front end in such a dimension that it allows the insertion of the cylindrical end-end assembly-anchoring element, into the reference element, in such a way that, when the rod pushes the rear part of the anchoring, the front of this rotates on the arrow, so that the module is anchored to the reference element by means of the anchoring element.
32. 32. A machine for handling coils, according to claim 31, further characterized in that the driving means of the anchor terminal is a pneumatic cylinder.
33. 33.- A machine for handling coils, according to claim 6, further characterized in that the first rotation module is fixed to one of the ends of the articulated arm and includes turning means surrounded on the outside by a truncated disk that In addition to fitting perfectly to the terminal part of the articulated arm, said rotation means, in addition to allowing the rotation of the effector module, support a supporting arrow at its central part, which rotates on its center, and is held by one of its ends to a clamp that has a built-in brake system, which rotates together with the arrow having inserted the truncated disk, which, together with the clamp, determines the maximum angle of rotation of the rotation module, preferably 110 ° on each side of the articulated arm.
34. 34.- A machine for handling coils, according to claim 33, further characterized in that the truncated disk is replaced by a complete disk located above or below the articulated arm, so as to allow a 360 ° free rotation by not having a stop for the clamp.
35. 35.- A machine for handling bobbins, according to claim 33, further characterized in that the turning means is a pivoting system that houses bearings.
36. 36.- A machine for handling reels, according to claim 14, further characterized in that the horizontal displacement module is formed by motive means that rotate together with the support arrow, and have incorporated horizontal sliding means that support the horizontal bar of the support module, and with it, the entire effector module and the general vertical sliding module.
37. 37.- A machine for handling coils, according to claim 36, further characterized in that the driving means of the horizontal displacement module is a horizontal sliding pneumatic cylinder.
38. 38.- A machine for handling coils, according to claim 7, further characterized in that the second rotation module is at one of the ends of the articulated arm, assembled within the movement means and opposite to the first rotation module, and includes: a truncated disc located on the articulated arm that has the function of limiting the rotation of the second rotation module to 110 ° on each side of the movement means; turning means that in addition to allowing rotation, support the articulated arm, having a disc that is fixed to the turning means; and, a brake mechanism that is fixed to the articulated arm and that rotates with it, the turning stop of the second turning module being the shock of the articulated arm with a support located in the truncated disc.
39. 39.- A machine for handling coils, according to claim 38, further characterized in that the means of rotation of the second rotation module is a pivoting system that houses bearings.
40. 40.- A machine for handling coils, according to claim 1, further characterized in that each of the modules of the machine includes sensors or position or proximity detectors, which send signals to intrinsically safe electronic control modules that a they send signals to the motive devices of the modules of the machine to manipulate coils, so that they act according to the position in which they are located, or, according to pre-established parameters according to the place where the machine is installed, to allow the semiautomatic operation of the machine through a control panel and ergonomic handles, which are connected to the corresponding intrinsically safe electronic control modules.
41. 41.- A machine for handling coils, according to claim 40, further characterized in that the sensors are known as the Namur type.
42. 42.- A machine for handling coils, according to claim 40, further characterized in that the intrinsically safe electronic control modules are known as Sensoplex for pneumatic cylinder control.
43. 43.- A machine for handling reels, in accordance with claims 28 and 40, further characterized in that the pre-established parameters are determined from the position of the anchor module and the reference elements, as well as the configuration of the machine of winding, of the diameter of the coils and of the configuration of the transport device thereof in which the coils are discharged.
44. 44.- A machine for handling coils, according to claim 43, further characterized in that the sensors must be placed to detect the thickness of each coil to be loaded to the machine for handling coils, the vertical distance of the effector module and the vertical distance between the coils, the horizontal position of the horizontal displacement module and the state of the anchor module with respect to the reference elements, among others.
45. 45.- A machine for handling coils, according to claim 43, further characterized in that the ergonomic handles allow control of the brake modules of the first and second rotation modules and of the movement module, while the other automatic movements of The machine is controlled by means of the control board.
46. 46.- A machine for handling reels, according to claims 11 or 45, characterized in that the components of the pair of semi-vertical ergonomic handles and the control panel are programmed and interconnected so that they can perform a sequence of operation to starting from a predetermined rest position, by performing the anchoring of the machine with the reference elements, making the effector module act to load the coils towards the machine for handling coils, after which, the effector module of so that the coils are loaded and rotated so that the central axis thereof is perpendicular to the winding machine and at the appropriate height and separation to realize the discharge of the coils in a coil transport device, said turning action being made by a rotation system.