阅读说明：本技术 一种线缆卷收设备 (Cable winding equipment ) 是由 张文酌 于 2021-08-03 设计创作，主要内容包括：本发明公开了一种线缆卷收装置,包括外壳,所述外壳内设置有加工平台,所述加工平台上安装有进线装置、卷线杆上料装置、夹取机械臂、第一驱动装置以及下料装置,所述进线装置用于将线材传输至预设位置,所述卷线杆上料装置用于将卷线杆传输相应位置,然后通过所述夹取机械臂夹取所述卷线杆,并将其安装在所述第一驱动装置上,所述第一驱动装置带动所述卷线杆转动,并在所述进线装置的配合下,将电线沿一方向缠绕在所述卷线杆上,所述下料装置用于将缠绕电线后的卷线杆进行下料,通过上述结构实现对电线的自动卷收和下料,不需要人工参与,自动化程度较高。(The invention discloses a cable winding device, which comprises a shell, wherein a processing platform is arranged in the shell, the processing platform is provided with a wire inlet device, a wire winding rod feeding device, a clamping mechanical arm, a first driving device and a discharging device, the wire inlet device is used for transmitting wires to a preset position, the winding rod feeding device is used for transmitting the winding rod to a corresponding position, then the winding rod is clamped by the clamping mechanical arm and is arranged on the first driving device, the first driving device drives the winding rod to rotate, and the wire is wound on the winding rod along one direction under the coordination of the wire inlet device, the blanking device is used for blanking the winding rod wound with the wire, realize the automatic roll-up and the unloading to the electric wire through above-mentioned structure, do not need artifical the participation, degree of automation is higher.)

1. A cable winding device comprises a shell, a processing platform is arranged in the shell, and is characterized in that a wire inlet device, a winding rod feeding device, a first driving device and a discharging device are arranged on the processing platform,

the wire inlet device comprises a wire conducting assembly and a wire cutting assembly, the wire conducting assembly is connected with the processing platform through a second driving assembly, and the second driving assembly can drive the wire coiling conducting assembly to move along the X-axis direction; the wire cutting assembly is connected with the wire conducting assembly and is used for cutting off the coiled wire;

the winding rod feeding device comprises a feeding groove and a third driving assembly, a plurality of winding rods are arranged in the feeding groove, the third driving assembly is fixed under the feeding groove and drives the winding rods to move to a grabbing station one by one from a discharge hole of the feeding groove, and a clamping mechanical arm is arranged above the third driving assembly and used for grabbing the winding rods positioned at the grabbing station and connecting the winding rods to the first driving device;

the first driving device drives the winding rod to rotate along one direction, and the wire is wound on the winding rod under the cooperation of the second driving assembly;

the blanking device is connected with the processing platform and used for carrying out blanking transmission on the winding rod wound with the wire rod.

2. A cable take-up apparatus according to claim 1 wherein the wire conducting assembly comprises a wire conducting means and a guide means, the wire conducting means comprising a conducting motor, an upper drive wheel and a lower drive wheel, the conducting motor being connected to the second drive assembly via a wire guide plate, the upper drive wheel being connected to the conducting motor, the lower drive wheel being rotatably connected to the wire guide plate and located directly beneath the upper drive wheel, the wire passing between the upper drive wheel and the lower drive wheel;

the guiding device comprises three guide wheels, the guide wheels are rotatably arranged, the wire penetrates through the two guide wheels, the guide wheels are initially oriented, the guide wheels are pressed to hold one side of the wire, and the wire is matched with one of the other two guide wheels to further position the wire.

3. The cable winding device according to claim 2, wherein the wire cutting assembly comprises a wire cutting support, a wire cutting cylinder, an upper cutter and a lower cutter, the wire cutting cylinder is fixedly connected with the wire guide plate through the wire cutting support, the wire cutting cylinder can drive the upper cutter to move in a vertical direction, the lower cutter is fixedly connected with the wire cutting support and is positioned right below the upper cutter, and the wire passes through the space between the upper cutter and the lower cutter along the Y-axis direction.

4. A cable retracting device according to claim 3, wherein the second driving assembly comprises a second servomotor, a second lead screw and at least one second guide rod, the second servomotor drives the wire guide plate to move in the X-axis direction via the second lead screw, and the wire guide plate is guided via the second guide rod.

5. The cable furling apparatus according to claim 4 wherein said loading chute is fixed above said processing platform, said loading chute is internally provided with a loading inclined surface, said loading inclined surface is connected to said discharge port, said winding rod enters said discharge port along said loading inclined surface;

the third driving assembly comprises a driving cylinder and two driving plates, and the two driving plates are horizontal equipment, the driving cylinder is connected with the processing platform and can drive the two driving plates to move along the Y-axis direction, a driving groove is formed in each driving plate, the winding rod penetrating through the discharge port can enter the driving groove, the positions of two ends of the winding rod are respectively located in the driving grooves of the two driving plates, and the driving cylinder drives the winding rod to move to a grabbing station through the two driving plates;

the driving plate is located below the discharge port and close to the discharge port, and the distance between the driving plate and the bottom end of the discharge port is smaller than the diameter of the winding rod.

6. The cable winding device according to claim 5, wherein the clamping mechanical arm comprises a clamping driving device, a first lifting cylinder and a clamping jaw arranged on the first lifting cylinder, the clamping driving device can drive the first lifting cylinder to move in the X-axis direction, the first lifting cylinder can drive the clamping jaw to move in the vertical direction, the clamping jaw clamps the winding rod, and then the clamping driving device is used for mounting the winding rod on the first driving device.

7. The cable furling apparatus according to claim 6, further comprising a supporting assembly, wherein the supporting assembly is connected to the processing platform and located right below the gripping robot, the supporting assembly is located between the two driving plates, the supporting assembly comprises a second lifting cylinder and a supporting plate, a supporting groove is formed in the supporting plate, and the second lifting cylinder can drive the winding rod located on the driving plate to move upwards through the supporting plate and the supporting groove in the supporting plate.

8. The cable winding device according to claim 7, wherein the first driving device drives the winding rod to rotate in one direction to wind the wire around the winding rod, the first driving device comprises a first driving motor, a rotating support tube, a locking member and a first telescopic cylinder, the first driving motor drives the rotating support tube to rotate relative to a fixed frame through a transmission assembly, the fixed frame is fixed on the processing platform, one end of the locking member penetrates through the rotating support tube and is connected with the first telescopic cylinder through a connecting member, the locking member is rotatably connected with the connecting member, and the first telescopic cylinder can drive the locking member to perform telescopic motion relative to the rotating support tube through the connecting member;

a locking hole is formed in the locking part, one end of the winding rod can extend into the locking hole, a locking block is arranged at one end, away from the connecting part, of the locking part, a first locking conical surface is arranged on the locking block, a second locking conical surface matched with the first locking conical surface is arranged on the rotating supporting tube, a plurality of notch grooves are formed in the locking block, and the second locking conical surface can drive the locking block to contract inwards through the first locking conical surface to clamp the winding rod through the locking hole;

still be provided with on the mount and rotate the external member, it is located to rotate the external member the winding rod is kept away from the one end of retaining member, it rotates and connects the flexible cylinder of second to rotate the external member, the flexible cylinder of second can drive it removes along the X axle direction to rotate the external member, makes rotate the external member with the winding rod is kept away from the one end of retaining member is cup jointed.

9. A cable furling apparatus according to claim 8, wherein a post rod slides in the locking member, one end of the post rod is located in the connecting member, the other end of the post rod is located in the locking hole, a spring is sleeved on the post rod, one end of the spring abuts against the connecting member, the other end of the spring abuts against a protruding portion on the post rod, and the spring applies elasticity to the post rod to eject the winding rod located in the locking hole out of the locking hole.

10. A cable furling apparatus according to claim 9, wherein the blanking device comprises an upper layer blanking assembly, a bottom layer blanking assembly and a blanking transmission assembly, and the processing platform is provided with a material passing hole;

the upper layer blanking assembly comprises two first guide plates, the first guide plates are rotatably connected with the upper surface of the processing platform, and the first guide plates can be positioned at a certain angle through positioning pieces; the transmission tail end of the first guide plate is provided with a guide block, and a guide groove penetrating through the processing platform is formed in the guide block;

the bottom unloading subassembly includes two second deflector, two deflector relative distribution gives the processing platform is the fixed setting of certain contained angle, the second deflector with the guide way corresponds, the transmission end of second deflector with unloading transmission subassembly is corresponding.

Technical Field

The application relates to the field of wire rod processing equipment, in particular to cable winding equipment.

Background

Cable is a generic term for optical cables, electrical cables, and the like. The cable has many purposes, is mainly used for controlling installation, connecting equipment, transmitting power and other multiple functions, and is a common and indispensable product in daily life. The cables are distributed in each scene, and the use mode of each scene is different. Sometimes, a carrier needs to be provided for winding of the electric wire through the winding rod or the winding rod, so that the electric wire is wound on the corresponding rod piece to be made into a connecting semi-finished product, and the electric wire is conveniently installed in an environment needing to be supported. At present, an electric wire is wound on a winding rod, the winding rod is generally manually fixed on a corresponding driving device, the electric wire is obtained again, when the winding rod rotates, the electric wire can be wound on the winding rod, and finally, the winding rod for winding the electric wire is subjected to manual blanking. Although the processing mode can wind the electric wire on the winding rod, multiple processes all need manual work to participate, the efficiency is low, and the automation degree is not high.

Disclosure of Invention

In view of this, the invention discloses a cable winding device, which can realize automatic feeding, automatic winding and automatic discharging of wires and winding rods, and has high automation degree.

The invention discloses a cable winding device, which comprises a shell, wherein a processing platform is arranged in the shell, a wire inlet device, a wire winding rod feeding device, a first driving device and a discharging device are arranged on the processing platform, wherein,

the wire inlet device comprises a wire conducting assembly and a wire cutting assembly, the wire conducting assembly is connected with the processing platform through a second driving assembly, and the second driving assembly can drive the wire coiling conducting assembly to move along the X-axis direction; the wire cutting assembly is connected with the wire conducting assembly and is used for cutting off the coiled wire;

the winding rod feeding device comprises a feeding groove and a third driving assembly, a plurality of winding rods are arranged in the feeding groove, the third driving assembly is fixed under the feeding groove and drives the winding rods to move to a grabbing station one by one from a discharge hole of the feeding groove, and a clamping mechanical arm is arranged above the third driving assembly and used for grabbing the winding rods positioned at the grabbing station and connecting the winding rods to the first driving device;

the first driving device drives the winding rod to rotate along one direction, and the wire is wound on the winding rod under the cooperation of the second driving assembly;

the blanking device is connected with the processing platform and used for carrying out blanking transmission on the winding rod wound with the wire rod.

Further, the wire conducting assembly comprises a wire conducting device and a guiding device, the wire conducting device comprises a conducting motor, an upper driving wheel and a lower driving wheel, the conducting motor is connected with the second driving assembly through a wire guide plate, the upper driving wheel is connected with the conducting motor, the lower driving wheel is rotatably connected with the wire guide plate and is positioned right below the upper driving wheel, and the wire passes through the space between the upper driving wheel and the lower driving wheel;

the guiding device comprises three guide wheels, the guide wheels are rotatably arranged, the wire penetrates through the two guide wheels, the guide wheels are initially oriented, the guide wheels are pressed to hold one side of the wire, and the wire is matched with one of the other two guide wheels to further position the wire.

Further, the wire cutting assembly comprises a wire cutting support, a wire cutting cylinder, an upper cutter and a lower cutter, the wire cutting cylinder is fixedly connected with the wire guide plate through the wire cutting support, the wire cutting cylinder can drive the upper cutter to move in the vertical direction, the lower cutter is fixedly connected with the wire cutting support and is located right below the upper cutter, and the wire rod penetrates through the upper cutter and the lower cutter along the Y-axis direction.

Furthermore, the second driving assembly comprises a second servo motor, a second screw rod and at least one second guide rod, the second servo motor drives the wire guide plate to move in the X-axis direction through the second screw rod, and the wire guide plate is guided through the second guide rod.

Further, the feeding groove is fixed above the processing platform, a feeding inclined plane is arranged in the feeding groove and connected with the discharge port, and the winding rod enters the discharge port along the feeding inclined plane;

the third driving assembly comprises a driving cylinder and two driving plates, and the two driving plates are horizontal equipment, the driving cylinder is connected with the processing platform and can drive the two driving plates to move along the Y-axis direction, a driving groove is formed in each driving plate, the winding rod penetrating through the discharge port can enter the driving groove, the positions of two ends of the winding rod are respectively located in the driving grooves of the two driving plates, and the driving cylinder drives the winding rod to move to a grabbing station through the two driving plates;

the driving plate is located below the discharge port and close to the discharge port, and the distance between the driving plate and the bottom end of the discharge port is smaller than the diameter of the winding rod.

Further, press from both sides and get arm and be in including pressing from both sides drive arrangement, first lift cylinder and setting the clamping jaw on the first lift cylinder, it can drive to press from both sides drive arrangement first lift cylinder removes in the X axle direction, first lift cylinder can drive the clamping jaw removes in vertical direction, through the clamping jaw is got the winding rod, then press from both sides and get drive arrangement's effect down with the winding rod install in first drive arrangement.

The wire winding device comprises a processing platform, a clamping mechanical arm and a supporting assembly, wherein the processing platform is arranged on the upper portion of the processing platform, the clamping mechanical arm is arranged on the lower portion of the processing platform, the supporting assembly is arranged between two driving plates and comprises a second lifting cylinder and a supporting plate, a supporting groove is formed in the supporting plate, and the second lifting cylinder can drive a wire winding rod on the driving plates to move upwards through the supporting plate and the supporting groove in the supporting plate.

Furthermore, the first driving device drives the winding rod to rotate along one direction to wind the wire around the winding rod, the first driving device comprises a first driving motor, a rotating support tube, a locking piece and a first telescopic cylinder, the first driving motor drives the rotating support tube to rotate relative to a fixing frame through a transmission assembly, the fixing frame is fixed on the processing platform, one end of the locking piece penetrates through the rotating support tube and is connected with the first telescopic cylinder through a connecting piece, the locking piece is rotatably connected with the connecting piece, and the first telescopic cylinder can drive the locking piece to do telescopic motion relative to the rotating support tube through the connecting piece;

a locking hole is formed in the locking part, one end of the winding rod can extend into the locking hole, a locking block is arranged at one end, away from the connecting part, of the locking part, a first locking conical surface is arranged on the locking block, a second locking conical surface matched with the first locking conical surface is arranged on the rotating supporting tube, a plurality of notch grooves are formed in the locking block, and the second locking conical surface can drive the locking block to contract inwards through the first locking conical surface to clamp the winding rod through the locking hole;

still be provided with on the mount and rotate the external member, it is located to rotate the external member the winding rod is kept away from the one end of retaining member, it rotates and connects the flexible cylinder of second to rotate the external member, the flexible cylinder of second can drive it removes along the X axle direction to rotate the external member, makes rotate the external member with the winding rod is kept away from the one end of retaining member is cup jointed.

Furthermore, a top rod slides in the locking piece, one end of the top rod is located in the connecting piece, the other end of the top rod is located in the locking hole, a spring is sleeved on the top rod, one end of the spring abuts against the connecting piece, the other end of the spring abuts against a protruding portion on the top rod, the spring applies elasticity to the top rod, and a winding rod located in the locking hole can be ejected out of the locking hole.

Furthermore, the blanking device comprises an upper layer blanking assembly, a bottom layer blanking assembly and a blanking transmission assembly, and the processing platform is provided with a material passing hole;

the upper layer blanking assembly comprises two first guide plates, the first guide plates are rotatably connected with the upper surface of the processing platform, and the first guide plates can be positioned at a certain angle through positioning pieces; the transmission tail end of the first guide plate is provided with a guide block, and a guide groove penetrating through the processing platform is formed in the guide block;

the bottom unloading subassembly includes two second deflector, two deflector relative distribution gives the processing platform is the fixed setting of certain contained angle, the second deflector with the guide way corresponds, the transmission end of second deflector with unloading transmission subassembly is corresponding.

Compared with the prior art, the technical scheme disclosed by the invention has the beneficial effects that:

can drive the wire rod through wire rod conduction subassembly and remove preset position, third drive assembly will the winding rod in the material loading groove moves and snatchs the station, press from both sides and get the arm and will the winding rod that snatchs the station is installed on the first drive arrangement, first drive arrangement is through the drive the winding rod rotates, second drive assembly drive wire rod conduction subassembly removes along X axle direction, makes the wire rod twines along X axle direction on the winding rod, then after the winding rod is in carry out the unloading under unloader's the effect, do not need artifical the participation, degree of automation is higher.

Drawings

FIG. 1 is a schematic structural view of a cable furling apparatus;

FIG. 2 is a schematic structural diagram of the cable furling apparatus with the outer casing removed;

FIG. 3 is a top view of the cable take-up device with the outer shell removed;

FIG. 4 is a schematic structural diagram of a wire feeding device;

FIG. 5 is a schematic view of a tangent line assembly;

FIG. 6 is a schematic structural view of a wire winding rod feeding device and a clamping mechanical arm;

FIG. 7 is a schematic structural view of the feeding chute and the movable assembly;

FIG. 8 is a sectional view of the feeding chute;

FIG. 9 is a schematic view of the structure of the jaw;

FIG. 10 is a schematic structural diagram of a first driving device;

FIG. 11 is a cross-sectional view of the first drive assembly;

FIG. 12 is a schematic view showing the structure of the rotary support tube and the locking member;

FIG. 13 is an enlarged view of area A of FIG. 3;

FIG. 14 is a front view of the blanking device;

fig. 15 is a schematic structural view of the blanking device.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1 to 3, the present invention discloses a cable winding device 100, which includes a housing 10, wherein a processing platform 20 is disposed in the housing 10, a wire feeding device 30, a winding rod feeding device 40, a clamping mechanical arm 50, a first driving device 60, and a discharging device 70 are disposed on the processing platform 20, the wire feeding device 30 is configured to transport a wire to a preset position, the winding rod feeding device 40 is configured to transport a corresponding position of a winding rod, the winding rod is clamped by the clamping mechanical arm 50 and is mounted on the first driving device 60, the first driving device 60 drives the winding rod to rotate, and under cooperation of the wire feeding device 30, an electric wire is wound on the winding rod along a direction, and the discharging device 70 is configured to discharge the winding rod wound with the electric wire.

As shown in fig. 4, further, the wire feeding device 30 includes a wire conducting assembly 31, a second driving assembly 32, and a wire cutting assembly 33, where the wire conducting assembly 31 is connected to the processing platform 20 through the second driving assembly 32, and the second driving assembly 32 can drive the wire winding conducting assembly 31 to move along the X-axis direction; the wire cutting assembly 33 is connected with the wire conducting assembly 31 and is used for cutting off the coiled wire.

Specifically, the wire conducting assembly 31 includes a wire conducting device 313 and a guiding device 312, the wire conducting device 313 is used for driving the wire to move and providing power for the movement of the wire, and the guiding device 312 is used for guiding the wire and controlling the transmission direction of the wire. The wire guiding device 313 includes a guiding motor 3131, an upper driving wheel 3132 and a lower driving wheel 3133, the guiding motor 3131 being connected to the second driving assembly 32 via a wire guide plate 311, the upper driving wheel 3132 being connected to the guiding motor 3131, the lower driving wheel 3133 being rotatably connected to the wire guide plate 311 and being located directly below the upper driving wheel 3132, the wire passing between the upper driving wheel 3132 and the lower driving wheel 3133, the upper driving wheel 3132 and the lower driving wheel 3133 pressing the wire, the upper driving wheel 3132 transmitting the wire through the lower driving wheel 3133 when the guiding motor 3131 drives the upper driving wheel 3132 to rotate. The second driving assembly 32 drives the wire feeding device to move along the X-axis direction through the wire guide plate 311, and the wire conducting device 313 can drive the wire to transmit along the Y-axis direction.

The guide device 312 may include one or more sets, the guide device 312 includes three guide wheels 3121, the three guide wheels 3121 are rotatably disposed, the wire passes through two guide wheels 3121, the wire is primarily oriented by the two guide wheels 3121, and the third guide wheel 3121 presses one side of the wire to cooperate with one of the other two guide wheels 3121 to further position the wire. In this application, the guiding devices 312 are two sets, wherein one set of the guiding devices 312 is mounted on the wire guiding plate 311 and can move along the X-axis direction along with the guiding plate 311, and the other set of the guiding devices 312 is fixed on the outer surface of the housing 10 corresponding to the position where the wire enters the housing 10, so as to guide the wire and facilitate the wire entering the housing 10.

As shown in fig. 5, the wire cutting assembly 33 includes a wire cutting support 334, a wire cutting cylinder 331, an upper cutter 332, and a lower cutter 333, wherein the wire cutting cylinder 331 is fixedly connected to the wire guide plate 311 through the wire cutting support 334, the wire cutting cylinder 331 can drive the upper cutter 332 to move in a vertical direction, the lower cutter 333 is fixedly connected to the wire cutting support 334 and located right below the upper cutter 332, the wire passes through a space between the upper cutter 332 and the lower cutter 333 along a Y-axis direction, and after the wire is wound and bent on the winding rod, the wire cutting cylinder 331 drives the upper cutter 332 to move downward to cut the wire by cooperating with the lower cutter 333.

In the present application, the wire guide 313 is located between the guide 312 and the wire cutting assembly 33, and the wire cutting assembly 33 is located near the winding station, i.e., the location of the spool when it rotates. A positioning assembly 34 is arranged between the thread cutting assembly 33 and the winding station, the positioning assembly 34 comprises an upper clamping plate 341 and a lower clamping plate 342, a guide hole 343 for the wire to pass through is formed between the upper clamping plate 341 and the lower clamping plate 342 in a matching connection, and the position of the wire in the matching of the winding rod can be controlled through the guide hole 343.

As shown in fig. 4, the second driving assembly 32 includes a second servo motor 321, a second screw 322, and at least one second guide bar 323, the second servo motor 321 drives the wire guide plate 311 to move in the X-axis direction through the second screw 322, and the wire guide plate 311 is guided by the second guide bar 323. Specifically, the second servo motor 321 is fixedly connected to the processing platform 20 through a fixing frame 21, the second lead screw 322 and the second guide rod 323 are both horizontally distributed along the X-axis direction, the second lead screw 322 and the second guide rod 323 are parallel to each other, the wire guide plate 311 is in threaded connection with the second lead screw 322 through a ball nut, and the second servo motor 321 drives the second lead screw 322 to rotate, so as to drive the wire guide plate 311 to move along the X-axis direction along the second guide rod 323, and simultaneously drive other mechanisms disposed on the wire guide plate 311 to move along with the wire guide plate 311. When the wire guide plate 311 is located at one end of the second screw rod 322, when the first driving device 321 drives the winding rod to rotate to wind the wire, the second driving assembly 32 drives the wire guide plate 311 to move towards the other end of the second screw rod 322 at a constant speed, so that the wire can be wound on the winding rod along the X-axis direction.

Referring to fig. 6 to 8, further, the winding rod feeding device includes a feeding trough 41 and a third driving assembly 42, a plurality of winding rods are disposed in the feeding trough 41, the third driving assembly 42 is fixed right below the feeding trough 41 and drives the winding rods to move to a grabbing station one by one from a discharge port 412 of the feeding trough 41, and the gripping mechanical arm 50 is disposed above the third driving assembly 42 and is configured to grab the winding rods located at the grabbing station and connect the winding rods to the first driving device 60.

Specifically, the feeding groove 41 is fixed above the processing platform 20, and is a casing with an upward opening, and an empty winding rod can be added into the feeding groove 41 through the opening at the top. A feeding inclined plane 411 is arranged in the feeding groove 41, the winding rod can slide into the discharge hole 412 along the feeding inclined plane 411, the width of the discharge hole 412 is slightly larger than the diameter of the winding rod, so that the winding rod cannot enter the discharge hole 412 side by side, and the winding rod can be stacked in the discharge hole 412.

Third drive assembly 42 is located under discharge gate 412, third drive assembly 42 is including driving actuating cylinder 421 and two drive plates 422, two drive plates 421 horizontal setting, drive actuating cylinder 421 with processing platform 20 is connected, and can drive two drive plates 421 move along the Y axle direction, be provided with drive groove 423 on the drive plate 421, work as drive actuating cylinder 421 drives two drive plates 422 remove simultaneously, make drive groove 423 be located when discharge gate 412 is under, be located the below of discharge gate 412 the winding rod can fall into in drive groove 423, the both ends of winding rod are respectively through two on the drive plate 422 drive groove 423 supports. At this time, the driving cylinder 421 drives the two driving plates 422 to move at the same time, so as to drive the winding rod to move to a grabbing station, where the grabbing station is a space range within which the clamping mechanical arm 50 can grab the winding rod.

Further, the driving plate 422 is located near the bottom end of the discharge port 412, and the distance between the driving plate 422 and the bottom end of the discharge port 412 is smaller than the diameter of the winding rod, so that only one winding rod can enter the driving groove 423 of the driving plate 422 at a time, and when the driving plate 422 drives the winding rod to move, the winding rod located in the discharge port 412 cannot leave the discharge port 412 without the cooperation of the driving groove 423.

Further, two sides of the feeding trough 41 are respectively provided with a movable assembly 44, and the two movable assemblies 44 are respectively located at two sides of the discharging hole 412. The movable assemblies 44 include a third lifting cylinder 441 and a movable plate 442, the third lifting cylinder 441 can drive the movable plate 442 to move in a vertical direction, and the two movable assemblies 44 can synchronously operate. The movable plates 442 are located below the wire winding rod, and the two movable plates 442 can respectively abut against the lower portions of the two ends of the wire winding rod. When the third lifting cylinder 441 drives the movable plate 442 to move upward, the movable plate 442 can drive the winding rods located in the discharge hole 412 to move relative to the discharge hole 412, so as to prevent the winding rods located in the discharge hole 412 from abutting against each other and interfering with each other, and thus the winding rods cannot normally move along the discharge hole 412 under the action of gravity. When the wire winding rod at the bottom of the discharging hole 412 needs to enter the driving groove 423 of the driving plate 422, the third lifting cylinder 441 drives the movable plate 442 to move to the lowest point, and at this time, the top surface of the movable plate 442 is at least not higher than the bottom end of the driving groove 423.

As shown in fig. 6, when the driving cylinder 421 moves the corresponding winding rod to the picking station through the driving plate 422 and the driving groove 423 on the driving plate 422, the picking robot 50 can pick the winding rod from the picking station and drive the winding rod to move. Specifically, the gripping mechanical arm 50 includes a gripping driving device 51, a first lifting cylinder 52 and a clamping jaw 53 disposed on the first lifting cylinder 52, the gripping driving device 51 may drive the first lifting cylinder 52 to move in the X-axis direction, the first lifting cylinder 52 may drive the clamping jaw 53 to move in the vertical direction, the clamping jaw 53 grips the winding rod, and then the winding rod is mounted on the first driving device 60 under the action of the gripping driving device 51. When the winding rod moves to the corresponding position, the clamping driving device 51 drives the first lifting cylinder 52 to move to the preset position, then the first lifting cylinder 52 drives the clamping jaw 53 to move downwards, when the clamping jaw 53 moves to the corresponding position, the winding rod can be clamped, then the first lifting cylinder 52 drives the winding rod to ascend to a certain position through the clamping jaw 53, at the moment, the clamping driving device 51 drives the first lifting cylinder 52 to move towards the direction close to the first driving device 60, and meanwhile, the clamped winding rod synchronously moves until the winding rod is installed in a way of being matched with the first driving device 60.

In this application, it is motor, lead screw integrated configuration to get drive arrangement 51 to press from both sides, the motor passes through the mounting panel that first lift cylinder 52 was installed in the lead screw drive removes along the X axle direction, and then drives first lift cylinder 52 removes.

In an embodiment, the clamping jaw 53 is a clamping manipulator, that is, clamping arms are arranged on two output shafts of the bidirectional driving cylinder, and the bidirectional driving cylinder clamps the winding rod through the two clamping arms.

As shown in fig. 9, in another embodiment, the clamping jaw 53 includes a clamping plate 531, the clamping plate 531 is connected to the output shaft of the first lifting cylinder 52, two side edges of the clamping plate 531 are respectively bent downward to extend to form two oppositely disposed clamping plates 532, the two clamping plates 532 are symmetrically distributed, bottom ends of the two clamping plates 532 are both bent outward to form an inlet inclined plane 533, an inner side wall of the clamping plate 532 is provided with a clamping curved surface 534, when the first lifting cylinder 52 drives the clamping jaw 53 to move downward to a preset position, the wire winding rod can move between the two inlet inclined planes 533 and the two clamping plates 532, and then clamping and positioning are performed through the two clamping curved surfaces 534. Then the clamping driving device 51 and the first lifting cylinder 52 can drive the winding rod to cooperate with the first driving device 60 through the clamping jaw 53, the first driving device 60 can clamp and position the winding rod, at this time, the first lifting cylinder 52 drives the clamping jaw 53 to move upwards, so that the clamping jaw and the winding rod move relatively, and the winding rod can be separated from the clamping jaw 53 between the two inlet inclined planes 533.

Referring back to fig. 6, further, after the driving plate 522 moves the corresponding wire winding rod to a preset position through the driving slot 523, the position of the wire winding rod may be adjusted through the supporting assembly 43, so that the clamping mechanical arm 50 can grasp the wire winding rod. The supporting assembly 43 is connected to the processing platform 20, and directly below the gripping robot 50, the supporting assembly 43 is located between the two driving plates 422, the supporting assembly 43 includes a second lifting cylinder 431 and a supporting plate 432, a supporting groove 433 is provided on the supporting plate 432, and the second lifting cylinder 431 can drive the winding rod on the driving plate 422 to move upwards through the supporting plate 432 and the supporting groove 433 on the supporting plate 432, so as to move the winding rod to a position where the gripping robot 50 is convenient to grip.

When the clamping mechanical arm 50 moves the corresponding wire winding rod to a preset position so that the wire winding rod is assembled with the first driving device 60 in a matching manner, the first driving device 60 can clamp the wire winding rod and drive the wire winding rod to rotate along a direction.

As shown in fig. 10 to 12, further, the first driving device 60 drives the winding rod to rotate along a direction to wind the wire around the winding rod, the first driving device 60 includes a first driving motor 61, a rotation supporting tube 62, a locking member 63 and a first telescopic cylinder 64, the first driving motor 61 drives the rotation supporting tube 62 to rotate relative to the fixing frame 21 through a transmission assembly, one end of the locking member 63 passes through the rotation supporting tube 62 and is connected to the first telescopic cylinder 64 through a connecting member 641, the locking member 63 is rotatably connected to the connecting member 641 through a bearing, and the first telescopic cylinder 64 can drive the locking member 63 to make telescopic movement relative to the rotation supporting tube 62 through the connecting member 641; be provided with locking hole 631 in the retaining member 63, the one end of winding rod can stretch into in the locking hole 631, retaining member 63 keeps away from the one end of connecting piece 641 is provided with latch segment 632, be provided with the first locking conical surface 633 on the latch segment 632, rotate be provided with on the stay tube 62 with the second locking conical surface 621 of first locking conical surface 633 complex, be provided with a plurality of breach grooves 634 on the latch segment 632, the second locking conical surface 621 accessible first locking conical surface 633 drives latch segment 634 is to the internal contraction, through locking hole 631 presss from both sides tightly the winding rod.

Specifically, press from both sides and get arm 50 and drive the one end of winding rod stretches into in the locking hole 631, then first telescopic cylinder 64 drives through connecting piece 641 locking piece 63 to move in rotating the stay tube 62, until second locking conical surface 621 supports and holds first locking conical surface 633 makes locking hole 631 is the shrink inwards, then will stretch into in the locking hole 631 the winding rod presss from both sides tightly, because first locking conical surface 633 with second locking conical surface 621 supports each other and holds, makes rotate the stay tube 62 with locking piece 63 links together, then first driving motor 61 passes through the drive assembly drive rotate the stay tube 62 and rotate, and then can pass through locking piece 63 drives the winding rod rotates together. When needing to release during the peg, first telescopic cylinder 64 passes through connecting piece 641 drives retaining member 63 is to stretching out the direction of rotating support tube 62 is removed, makes first locking conical surface 633 with second locking conical surface 621 separates, latch block 632 resets, this moment latch block 632 no longer the centre gripping the peg, the peg can stretch out locking hole 631.

As shown in fig. 13, a rotating sleeve 67 is further disposed on the fixing frame 21, the rotating sleeve 67 is located at an end of the wire winding rod away from the locking member 63, the rotating sleeve 67 is rotatably connected to a second telescopic cylinder 671, and the second telescopic cylinder 671 can drive the rotating sleeve 67 to move along the X-axis direction, so that the rotating sleeve 67 is sleeved on or separated from an end of the wire winding rod away from the locking member 63. When the first driving device 60 drives the winding rod to rotate, the rotating sleeve 67 is sleeved at the other end of the winding rod, and the winding rod can rotate relative to the second telescopic cylinder 671 through the rotating sleeve 67, so that the winding rod rotates stably. When the winding rod needs to be detached, the second telescopic cylinder 671 drives the rotating sleeve 67 to reset, so that the rotating sleeve 67 is separated from the winding rod.

As shown in fig. 11, be provided with ejector pin 65 in the retaining member 63, ejector pin 65 accessible locking hole 631 is relative retaining member 63 slides, the one end of ejector pin 65 is located in the connecting piece 64, the other end is located in locking hole 631, the cover is equipped with spring 66 on the ejector pin 65, the one end of spring 66 is supported and is held connecting piece 641, the other end is supported and is held the bellying on the ejector pin 65, spring 66 is right the ejector pin 65 is applyed elasticity, can be with being located the peg in the locking hole 631 is ejecting locking hole 631. When one end of the winding rod extends into the locking hole 631, the one end of the winding rod can abut against the top bar 65, so that the top bar 65 moves toward the connecting member 641, and the spring 66 is compressed. After the coiling is finished, the locking piece 63 is not connected with the rotating support pipe 62 into a whole, at the moment, the locking hole 631 is not clamped with the coiling rod, the spring 66 applies force to the ejector rod 65, and the ejector rod 65 can drive the coiling rod to be separated from the locking hole 631.

Further, a stopping protrusion 651 is disposed at an end of the top rod 65 extending into the connecting member 64, and the connecting member 641 can prevent the end of the top rod 65 from being separated from the connecting member 641 through the stopping protrusion 651.

When the wire is wound around the winding rod and the winding rod is separated from the first driving device 60, the winding rod wound with the wire at this time can be discharged by the discharging device 70.

As shown in fig. 14 and 15, the blanking device 70 further includes an upper layer blanking assembly 71, a bottom layer blanking assembly 73 and a blanking transmission assembly 74, the processing platform 20 is provided with a material passing hole 22, the upper layer blanking assembly 71 is located above the processing platform 20 and is used for primarily transmitting the winding rod, then the winding rod is transmitted to the bottom layer blanking assembly 73 located below the processing platform 20 through the material passing hole 22, and further transmission is performed until the winding rod is moved to the blanking transmission assembly 74 through the bottom layer blanking assembly 73, and further transmission is performed through the blanking transmission assembly 74.

Specifically, the upper blanking assembly 71 includes two first guide plates 711, the first guide plates 711 are rotatably connected to the upper surface of the processing platform 20, and the first guide plates 711 can be positioned at a certain angle by positioning members 712, the first guide plates 711 are located under the wire winding rod, the wire winding rod separated from the first driving device 60 falls on the first guide plates 711, and the two ends of the wire winding rod are supported by the first guide plates 711 and move downward along an inclined plane. The first guide plate 711 can rotate relative to the processing platform 20, and when the support assembly 43 drives the winding rod to move upward or the clamping mechanical arm 50 drives the winding rod to move upward, the winding rod can drive the first guide plate 711 to rotate, so as to prevent the first guide plate 711 from interfering with the upward movement of the winding rod. When the winding rod is installed and matched with the first driving device 60, the first guide plate 711 can be reset under the action of the torsion spring, so that the winding rod is positioned at a corresponding angle.

The transmission end of the first guide plate 711 is provided with a guide block 72, the guide block 72 is provided with a guide slot 721 penetrating through the processing platform 20, and the guide slots 721 on the two guide blocks 72 are respectively matched with the material passing holes 22, so that the winding rod penetrates through the processing platform 20 and then falls on the bottom layer blanking assembly 73.

The bottom layer blanking assembly 73 comprises two second guide plates 731, wherein the second guide plates 731 are oppositely distributed and form a certain included angle with the processing platform 20, the two second guide plates 731 are positioned under the guide groove 721, pass through the guide groove 721, the wire winding rod falls on the two second guide plates 731, the transmission tail end of the second guide plates 731 corresponds to the blanking transmission assembly 74, and can be followed by the second guide plates 731 falling into the blanking transmission assembly 74.

Further, the blanking transmission assembly 74 is a belt transmission device, and the driving motor drives the transmission belt to move through the transmission device, so as to transmit the winding rod placed on the transmission belt.

The present invention may be embodied in many different forms and modifications without departing from the spirit and scope of the present invention, and the above-described embodiments are intended to illustrate the present invention but not to limit the scope of the present invention.