CPC B65H 67/065 (2013.01) [B65H 49/16 (2013.01); B65H 67/02 (2013.01); B65H 67/063 (2013.01); B65H 67/067 (2013.01); D02H 1/00 (2013.01); B65H 2701/31 (2013.01)] | 15 Claims |
1. A creel loading apparatus comprising:
a frame;
a platform that is movable along the frame on a first axis and a second axis that is perpendicular to the first axis;
a rotary actuator that is configured to rotate at least a portion of the platform about the first axis;
a gripper that is movably attached to the at least a portion of the platform that is configured to rotate about the first axis, wherein the gripper is configured to releasably engage an inner surface of a yarn package; and
a linear actuator that is configured to move the gripper along a linear actuator axis that is perpendicular to the first axis, wherein the linear actuator comprises a first stage and a second stage, wherein the first stage comprises a servo motor that is configured to move the gripper along the linear actuator axis, and wherein the second stage comprises a pneumatic actuator that is configured to move the gripper along the linear actuator axis.
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