CN219792037U - Wire reel processing device - Google Patents

Abstract

The utility model discloses a wire spool processing device, which comprises a wire spool moving robot, wherein an adhesive tape attaching mechanism is arranged beside the wire spool moving robot, the adhesive tape attaching mechanism comprises an adhesive tape unreeling machine, an anti-sticking supporting block, an adhesive tape pulling mechanism, a cutting mechanism and an adsorption adhesive tape attaching mechanism, the anti-sticking supporting block is used for enabling a pulled adhesive tape to be positioned on the top surface of the adhesive tape in a flat state, the adhesive tape pulling mechanism is used for clamping the adhesive tape and enabling the adhesive tape to be stretched outwards for a preset length, the adsorption adhesive tape attaching mechanism is used for adsorbing the adhesive tape between the adhesive tape pulling mechanism and the anti-sticking supporting block and enabling the adhesive tape to turn over for a preset angle, and the cutting mechanism is used for cutting the adhesive tape between the adhesive tape pulling mechanism and the anti-sticking supporting block and enables the cutting position to be close to the anti-sticking supporting block. When the wire is broken in the winding process, the wire spool can be taken down by the wire spool moving robot, and the wire heads are attached and fixed by the adhesive tape attaching mechanism, so that the accurate position of the wire heads on the wire spool is not required to be known, and the automatic fixation of the wire heads on the wire spool can be effectively realized.

Description

Wire reel processing device

Technical Field

The utility model relates to the field of digital intelligent equipment, in particular to a wire reel processing device.

Background

Winding the wire onto the spool is a conventional process for wire processing.

After the wire winding is completed, the fixing process of the wire ends of the wire on the wire spool can be realized through the structure disclosed in the Chinese patent with the publication number of CN 215710640U.

However, the structure is suitable for the processing of the wire spool which normally completes the winding, and the wire between the wire spool and the paying-off machine is disconnected in the winding process, and the structure cannot be used for automatically fixing the wire heads on the wire spool with abnormal winding because the structure cannot accurately find the positions of the wire heads of the wire yarns on the wire spool.

Disclosure of Invention

The utility model aims to solve the problems in the prior art and provide a wire reel processing device.

The aim of the utility model is achieved by the following technical scheme:

the wire reel processing device comprises a wire reel moving robot, an operation table is arranged beside the wire reel moving robot, an adhesive tape attaching mechanism is arranged on the operation table and comprises an adhesive tape unreeling machine, an anti-sticking supporting block, an adhesive tape pulling mechanism, a cutting mechanism and an adsorption rubberizing mechanism, the anti-sticking supporting block is used for enabling adhesive tapes pulled out of films on the adhesive tape unreeling machine to be located on the top surface of the adhesive tape unreeling machine in a tiled state, the adhesive tape pulling mechanism is used for clamping the adhesive tapes at the anti-sticking supporting block and enabling the adhesive tapes to be pulled to a preset position outside the second side of the anti-sticking supporting block, the adsorption rubberizing mechanism is used for adsorbing the adhesive tapes between the adhesive tape pulling mechanism and the anti-sticking supporting block and enabling the adhesive tapes to turn over by a preset angle, and the cutting mechanism is used for cutting the adhesive tapes between the adhesive tape pulling mechanism and the anti-sticking supporting block and the cutting position is close to the anti-sticking supporting block.

Preferably, the anti-adhesion supporting block is located below a reel of the adhesive tape unreeling machine, a pressing roller is arranged above the anti-adhesion supporting block in a clearance mode, and the pressing roller is located on a first side, close to the adhesive tape unreeling machine, of the anti-adhesion supporting block.

Preferably, the second side of antiseized supporting shoe is provided with the breach, draw gluey mechanism including drawing gluey clamping jaw and drive draw gluey drive arrangement that gluey clamping jaw rectilinear movement was drawn, draw gluey clamping jaw and include punch holder and lower plate, punch holder and lower plate are in when opening the state, the punch holder is located antiseized supporting shoe's top, the lower plate can stretch into dodge in the mouth.

Preferably, the glue pulling clamping claw comprises an opening and closing cylinder, the upper end of a cylinder shaft of the opening and closing cylinder is connected with the lower clamping plate, and the opening and closing cylinder and the upper clamping plate are fixed on a linear module or a moving piece of the sliding table cylinder.

Preferably, a stop block is further arranged on the anti-sticking support block in a clearance mode, an avoidance opening corresponding to the position of the notch is formed in the stop block, and when the upper clamping plate and the lower clamping plate are in an open state, the lower clamping plate can extend into the avoidance opening.

Preferably, the adsorption rubberizing mechanism comprises a vacuum adsorption plate, the vacuum adsorption plate is connected with a linear moving device for driving the vacuum adsorption plate to reciprocate along the direction perpendicular to the vacuum adsorption plate, the linear moving device is arranged on a rotating device for driving the linear moving device to rotate, the rotating device drives the linear moving device to rotate around a first axis, the first axis is parallel to the axis of a reel of the adhesive tape unreeling machine, and the rotating device is fixed on a support.

Preferably, the operation table is further provided with a thread end fixing mechanism for fixing the thread end on the wire spool.

The technical scheme of the utility model has the advantages that:

according to the utility model, the adhesive tape attaching mechanism is arranged beside the wire spool moving robot, when the wire is broken in the winding process, the wire spool can be taken down by the wire spool moving robot, and the wire ends are attached and fixed by the adhesive tape attaching mechanism, so that the accurate position of the wire ends on the wire spool is not required to be known, and the automatic fixation of the wire ends of the wire on the abnormal wire spool can be effectively realized.

According to the utility model, through structural designs of the anti-sticking support block, the glue pulling mechanism, the pressing roller, the stop block and the like, the glue pulling mechanism can be ensured to stably and reliably pull glue, so that the realization of rubberizing is ensured.

The specific structure of the glue pulling clamping jaw and the glue pulling driving device is beneficial to enabling the whole structure to be more compact, and meanwhile, when the glue pulling clamping jaw grabs the adhesive tape, the contact between the adhesive surface and the anti-sticking supporting block can be reduced as much as possible, so that glue pulling is smoother, and the success rate is higher.

The thread end fixing mechanism arranged on the workbench of the utility model adopts a mode of tightening the thread to fix the thread end, and has better stability relative to knotting.

Drawings

Fig. 1 is a perspective view of a wire reel processing apparatus of the present utility model;

FIG. 2 is a perspective view of a first manipulator of the present utility model;

FIG. 3 is a perspective view of the tape application mechanism of the present utility model;

FIG. 4 is an enlarged view of area A of FIG. 3;

FIG. 5 is a perspective view of the thread end fixing mechanism of the present utility model;

FIG. 6 is a cross-sectional view of the spool rotation assembly and the wire pulling assembly of the present utility model;

FIG. 7 is a perspective view of the wire clamping head assembly and twist assembly of the present utility model;

FIG. 8 is an enlarged view of region C of FIG. 5;

FIG. 9 is an enlarged view of area B of FIG. 5;

fig. 10 is a perspective view of a wire grabbing manipulator and a wire fusing mechanism arranged beside a first manipulator of the present utility model;

FIG. 11 is an enlarged view of area D of FIG. 10;

FIG. 12 is a schematic illustration of a spool being placed on a spool rotation assembly and a wire end being clamped on a wire end clamping assembly;

FIG. 13 is a schematic view of the lever rotated toward the wire between the spool and the clip assembly;

FIG. 14 is a schematic view of the lever looping the wire between the spool and the clip assembly and continuing to rotate;

FIG. 15 is a schematic illustration of a lever forming a loop and a V-bend segment in the wire between the spool and the clip assembly;

FIG. 16 is a schematic view of a twist grip pressing on a V-bend with two wire heads on either side of the coil;

fig. 17 is a schematic view of twisting the twist grip gripping the coil and V-bend section.

Detailed Description

The objects, advantages and features of the present utility model are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the utility model, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the utility model.

In the description of the embodiments, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The utility model is described below with reference to the accompanying drawings, and as shown in fig. 1, the wire spool processing device comprises a wire spool moving robot 1, a working table 3 is arranged beside the wire spool moving robot 1, and an adhesive tape attaching mechanism 2 is arranged on the working table 3.

As shown in fig. 1, the wire spool moving robot 1 may adopt a known feasible structure, preferably, the wire spool blanking mechanism includes a moving assembly 11 and a first manipulator 12 driven to move by the moving assembly 11, and the moving assembly 11 may be a 6-axis robot or other structures capable of realizing XYZ three-axis movement and rotation.

The first robot 12 may be a robot as used in the background art, or may be implemented directly using a chuck.

More preferably, as shown in fig. 2, the first manipulator 12 includes a carrying plate 121 and a three-jaw chuck 122, the carrying plate 121 is connected to the connecting frame 13 at the front end of the moving assembly 11 through a connecting shaft 123, a circle of protruding blocks 124 are disposed at the front end surface of the carrying plate 121, and the protruding blocks 124 keep a certain distance between the end plate of the wire spool and the front end surface of the carrying plate 121 so that the three-jaw chuck 122 grips the end plate of the wire spool.

As shown in fig. 2, the three-jaw chuck 122 is disposed at the front end of the connecting frame 13, the disc 125 of the three-jaw chuck 122 is disposed on the rear end face (the face facing the connecting frame 13) of the carrier plate 121, the holding jaw 126 of the three-jaw chuck 122 is L-shaped, and includes a first jaw 127 and a second jaw 128, the length direction of the first jaw 127 is parallel to the axis direction of the carrier plate 121, the first jaw 127 extends to the front of the front end face of the carrier plate 121 and has a clamping groove 129, the notch of the clamping groove 129 faces the center of the carrier plate 121, and the extending direction of the second jaw 128 is perpendicular to the axis of the carrier plate 121 and extends to the outer side of the carrier plate 121. Of course, the holding claw 126 may have other possible shapes, which are not limited herein. When the three holding claws 126 are closed, the end disk of the wire spool is inserted into the clamping groove 129.

As shown in fig. 3, the tape attaching mechanism 2 comprises a tape unreeling machine 21, an anti-sticking support block 22, a tape pulling mechanism 23, a cutting mechanism 24 and an adsorption and attaching mechanism 25 which are arranged on the tape unreeling machine, wherein the anti-sticking support block 22 is used for enabling a tape pulled out of a film on the tape unreeling machine to be located on the top surface of the adhesive tape in a flat state, the tape pulling mechanism 23 is used for clamping the adhesive tape at the anti-sticking support block 22 and enabling the clamped adhesive tape to be pulled to a preset position outside the second side of the anti-sticking support block, the adsorption and attaching mechanism 25 is used for adsorbing the adhesive tape between the adhesive pulling mechanism 23 and the anti-sticking support block 22 and enabling the adhesive tape to turn over a preset angle, and the cutting mechanism 24 is used for enabling the adhesive tape between the adhesive pulling mechanism 23 and the anti-sticking support block 22 to be cut off and enabling the cutting position to abut against the anti-sticking support block 22.

The adhesive tape unreeling machine 21 may be a powered unreeling machine or an unpowered unreeling machine, and the specific structure thereof is known technology and will not be described herein.

As shown in fig. 3 and fig. 4, the anti-adhesion supporting block 22 is specifically realized by coating anti-adhesion coating or non-adhesive coating on the top of a block, and the size of the anti-adhesion supporting block 22 is matched with the width of the adhesive tape, so that when the adhesive tape is placed on the anti-adhesion supporting block 22 with the adhesive surface facing the anti-adhesion supporting block 22, the adhesive surface can be effectively reduced from being adhered to the anti-adhesion supporting block 22, the adhesion stability of the subsequent adhesive tape is prevented from being influenced, and meanwhile, the influence on the adhesive tape pulling can be effectively avoided.

As shown in fig. 3 and fig. 4, the anti-adhesion supporting block 22 is located below the reel of the adhesive tape unreeling machine 21, specifically, is located at the lower right side of the reel of the adhesive tape unreeling machine 21, meanwhile, a pressing roller 26 is disposed at the upper gap of the anti-adhesion supporting block 22, the pressing roller 26 is located at the first side of the anti-adhesion supporting block 22, which is close to the adhesive tape unreeling machine 21, meanwhile, a stop block 27 is disposed at the gap of the anti-adhesion supporting block 22, and the gap between the pressing roller 26 and the anti-adhesion supporting block 22 and the gap between the stop block 27 and the anti-adhesion supporting block 22 are slightly larger than the thickness of the adhesive tape, so that after the adhesive tape is cut off, the movement of the adhesive tape on the anti-adhesion supporting block 22 to the direction of the pressing roller 26 can be reduced as much as possible, so that the adhesive tape can be stably kept on the anti-adhesion supporting block 22, and an advantage is created for smoothly clamping the adhesive tape on the anti-adhesion supporting block 22 by the adhesive tape pulling mechanism 23.

As shown in fig. 4, the top surface of the anti-adhesion supporting block 22 is formed with a plurality of parallel raised strips 221, and the raised strips 221 extend along the width direction of the adhesive tape, so that the contact area between the adhesive surface and the top surface of the anti-adhesion supporting block 22 can be reduced, and the adhesive tape pulling mechanism 23 is more beneficial to pulling the adhesive tape for unreeling.

As shown in fig. 4, in order to enable the adhesive pulling mechanism 23 to sufficiently grip the adhesive tape on the anti-adhesion supporting block 22, a notch 222 is provided on the second side of the anti-adhesion supporting block 22, and the stopper 27 has an avoidance opening 271 corresponding to the position of the notch 222.

As shown in fig. 3, the glue pulling mechanism 23 includes a glue pulling jaw 231 and a glue pulling driving device 232 for driving the glue pulling jaw 231 to linearly move, where the glue pulling jaw 231 includes an upper clamping plate 233 and a lower clamping plate 234, in an open state, the upper clamping plate 233 is located above the anti-adhesion supporting block 22, the lower clamping plate 234 is located below the top surface of the anti-adhesion supporting block 22, and the thickness of the lower clamping plate 234 is smaller than that of the anti-adhesion supporting block 22, and the width of the lower clamping plate 234 is smaller than that of the notch 222, so that the lower clamping plate 234 can extend into the notch 222, and the upper clamping plate 233 can extend into the avoidance opening 271.

As shown in fig. 3, the upper clamping plate 233 and the lower clamping plate 234 may be driven by a cylinder to move synchronously to realize opening and closing, preferably, the glue pulling clamping claw 231 includes an opening and closing cylinder 235, the upper end of the cylinder shaft of the opening and closing cylinder 235 is connected with the lower clamping plate 234, and the gap between the upper clamping plate is arranged above the anti-adhesion supporting block, so that the adhesive tape can be lifted up by the structure when the adhesive tape is clamped, and the contact between the adhesive surface and the anti-adhesion supporting block 22 when the adhesive tape is pulled is avoided as much as possible.

The opening and closing cylinder 235 is disposed on the moving member of the linear module or the sliding table cylinder, the upper clamping plate 233 is disposed on the moving member of the linear module or the sliding table cylinder through a vertical plate, the linear module and the sliding table cylinder are the adhesive pulling driving device 232, which is disposed on the working table 3, and meanwhile, the anti-sticking support block 22 is also disposed above the adhesive pulling driving device 232 and is located at one end thereof close to the adhesive tape unreeling machine 21. As shown in fig. 3, the glue pulling driving device 232 drives the glue pulling jaw 231 to translate in a direction (left-right direction) perpendicular to the axis of the spool. Of course, the glue pulling driving device 232 may be other known cylinders or hydraulic cylinders. The length of the adhesive tape pulled out of the anti-sticking support block by the adhesive pulling mechanism 23 each time can be designed according to the requirement, and the description is omitted here.

As shown in fig. 4, the cutting mechanism 24 includes a cutting cylinder 241 and a cutter 242 driven by the cutting cylinder 241, the cutting cylinder 241 is mounted on a mounting frame and hung above the anti-adhesive support block 22, the cutting cylinder 241 is connected to the cutter 242 through a rotating plate 243, and the cutter 242 is located outside the second side of the anti-adhesive support block 22 and abuts against the second side of the anti-adhesive support block 22, so that after cutting, the adhesive tape does not substantially protrude outside the second side of the anti-adhesive support block 22, and thus the problem that the bending of the front end of the adhesive tape (toward the end of the adhesive pulling mechanism) affects the adhesive pulling clamping jaw 231 to clamp the adhesive tape does not occur.

As shown in fig. 3, the suction rubberizing mechanism 25 includes a vacuum suction plate 251, the vacuum suction plate 251 is connected with a linear moving device 252 driving the vacuum suction plate 251 to reciprocate along a direction perpendicular to the vacuum suction plate 251, the linear moving device 252 is preferably an air cylinder, but may also be a hydraulic cylinder or a linear motor, etc., the linear moving device 252 is disposed on a rotating device 253 driving the linear moving device 252 to rotate, the rotating device 253 drives the linear moving device 252 to rotate around a first axis, the rotating device 253 may be a rotary air cylinder or a turntable, etc., the rotating device 253 is fixed on a support 254, the support 254 is disposed on the working table 3 and is located at the inner side of the glue pulling driving device 232, and the first axis is parallel to the axis of the reel of the tape unreeling machine 21. When the adhesive tape is sucked, the vacuum suction plate 251 is in a horizontal state, and is positioned below the linear moving device 252 and right above the adhesive tape of the anti-sticking support block 22 and the adhesive pulling mechanism 23, and at this time, the adhesive surface of the adhesive tape faces downwards; when the tape is attached, the vacuum adsorption plate 251 is positioned above the linear motion device 252, and the adhesive surface of the tape faces upwards.

As shown in fig. 1, the working table 3 is further provided with a thread end fixing mechanism 4 for fixing thread ends on the spool wound with threads.

The thread end fixing mechanism 4 may be, for example, a structure disclosed in chinese utility model with an authorized publication number CN 215710630U.

More preferably, as shown in fig. 5, the thread end fixing mechanism 4 is disposed on the working table 3 and beside the tape attaching mechanism 2, and includes a wire spool rotating assembly 100, a thread clamping head assembly 200, a thread pulling assembly 300, a shift lever pulling assembly 400 and a twist twisting assembly 500.

As shown in fig. 5 and fig. 6, the spool rotating assembly 100 is configured to carry a spool and drive the spool to rotate around its axis, and includes a carrying jig 101, where the carrying jig 101 includes a small disc 104 and a positioning structure disposed on the small disc 104, and the small disc 104 is coaxially disposed on top of the first rotating shaft 102, although other shapes are possible. The positioning structure may be designed according to the structure of the wire spool to be positioned on the carrier fixture 101, for example, in this embodiment, a positioning boss 105 is coaxially disposed on the small disc, and meanwhile, a circle of mounting groove 106 surrounding the periphery of the positioning boss 105 may be disposed on the small disc, and a magnet may be disposed in the mounting groove to adsorb the wire spool.

As shown in fig. 6, the first rotating shaft 102 is rotatably disposed in a fixing sleeve 108 through a bearing one 107, the fixing sleeve 108 is fixed on a supporting plate 32 and extends below a top plate 31 of the working table 3, the supporting plate 32 is disposed on the top plate 31 and is formed with a through hole corresponding to the supporting plate 32, the supporting plate 32 is further provided with a mounting frame 33, and the mounting frame 33 extends below the top plate 31. The first rotating shaft 102 is connected with a first rotating shaft driving mechanism 103 for driving the first rotating shaft to rotate, the first rotating shaft driving mechanism 103 comprises a first motor 109, the first motor 109 is fixed on the mounting frame 33 through a first speed reducer 110, the first speed reducer is connected with the first rotating shaft through a transmission structure formed by a first synchronous wheel 111, a first transmission belt 112 and a second synchronous wheel 113, and the second synchronous wheel 113 is coaxially connected with the lower end of the first rotating shaft 102.

As shown in fig. 5, the thread clamp assembly 200 is located at a set position outside the carrier jig 101 and upstream of the twist assembly 500, and the thread clamp assembly 200 does not interfere with the action of the thread pulling assembly 300.

As shown in fig. 7, the wire clamping head assembly 200 is used for clamping a wire head of a wire spool on a wire spool rotating mechanism, and comprises a pipe fitting 201, the pipe fitting 201 is disposed on a mounting seat 202, the axis of the pipe fitting 201 is parallel to the axis of the first rotating shaft 102, the top of the pipe fitting 201 is located above the small disc 104, a telescopic shaft (not shown in the drawing) is telescopically disposed in the pipe fitting 201, the upper end of the telescopic shaft is connected with a wire clamping block 203 located above the pipe fitting 201, the lower end of the telescopic shaft is connected with a wire clamping power source 204 for driving the telescopic shaft to stretch relative to the pipe fitting 201 so that the wire clamping block 203 cooperates with the pipe fitting 201 to clamp, and the wire clamping power source 204 is fixed on the mounting seat 202 and can be a cylinder, a linear motor, a hydraulic cylinder or other feasible device.

As shown in fig. 7, the mounting base 202 is movably disposed on the working table 3, and the moving direction of the mounting base 202 forms an acute angle with the moving direction of the twisting clamping jaw of the twisting assembly 500, preferably, the included angle is an acute angle of not less than 45 °, more preferably, 50 ° -85 °, and such an angle is easier to realize the movement of the mounting base 202 during the twisting process so as to avoid the excessive tightening of the wires. The mounting seat 202 is slidably disposed on a first sliding rail 205, the first sliding rail 205 is disposed below the top plate 31 and is disposed on a base 206, the base 206 is fixed below the top plate 31, the mounting seat 202 passes through the top plate 31 and is connected with a first elastic reset member 207, and the first elastic reset member 207 drives the mounting seat 202 to move in a direction away from the bearing jig 101. The first elastic restoring member 207 is a spring, one end of which is connected to the front end surface of the mounting base 202, and the other end of which is connected to the front end plate 208 of the base 206. The first elastic restoring member 207 is sleeved on the periphery of the guide rod 209, and the guide rod 209 is movably inserted into the mounting seat 202.

As shown in fig. 7, the table 3 is further provided with a movement limiting mechanism, where the movement limiting mechanism includes a baffle 210 and a baffle moving power source 211 for driving the baffle 210 to move, where the baffle moving power source 211 may be a linear motor, an air cylinder, a hydraulic cylinder, or the like, and taking the air cylinder as an example, an extending direction of an air cylinder axis of the air cylinder is parallel to a moving direction of the mounting seat 202, and when the air cylinder axis of the air cylinder extends, a distance is kept between the baffle 210 and the mounting seat 202, and at this time, the mounting seat 202 may move; when the cylinder shaft of the cylinder is retracted, the baffle 210 abuts against or approaches the mounting seat 202, and the mounting seat 202 is limited to be unable to move, so that the wire clamping head assembly 200 cannot move when the wire pulling rod 301 is pulled, which is beneficial to ensuring the stability of the wire pulling. Of course, in other embodiments, the cylinder may also drive the shutter 210 to translate in a direction perpendicular to the movement of the mount 202.

As shown in fig. 5, 6 and 8, the wire pulling assembly 300 rotates around the carrying jig by a pulling rod to form a coil and a V-shaped bending section of the wire between the wire spool on the carrying jig and the wire clamping head assembly 200, and the wire pulling assembly comprises a pulling rod 301 located at the radial outer side of the carrying jig 101, the axis of the pulling rod 301 is parallel to the axis of the first rotating shaft 102 and is arranged on a rotating member 302 located below the carrying jig 101, the rotating member 302 is arranged on the first rotating shaft 102 and can rotate relative to the first rotating shaft 102, the rotating member 302 comprises a large disc 303 coaxially arranged with the first rotating shaft 102 and a connecting arm 304 arranged on the large disc, the large disc 303 is located above the supporting plate 32, the large disc 303 is rotatably arranged on the first rotating shaft 102 through a second bearing 305, a third synchronizing wheel 307 is connected to the lower portion of the large disc 303, the third synchronizing wheel 307 is rotatably connected with the first rotating shaft 102 through a third bearing 308, the third synchronizing wheel 307, a transmission structure is formed by a second transmission belt 309 and a fourth synchronizing wheel 310, the fourth synchronizing wheel 310 is coaxially connected with an output shaft of a second speed reducer 311, the second speed reducer 311 is arranged on a carrier plate 34 and is connected with a second motor 312, the carrier plate 34 is fixed on the support plate 32 and is located above the support plate 32, the carrier plate 34 and the mounting frame 33 are distributed on two opposite sides of the support plate 32, the second motor 312 is located below the top plate 31, and the second speed reducer 311 penetrates through the top plate 31. The second motor, the second speed reducer, the third synchronizing wheel 307, the second transmission belt 309 and the fourth synchronizing wheel 310 form a take-up driving assembly 306, and the take-up driving assembly 203 drives the large disc 303 to rotate, so that the shift lever 301 revolves around the first rotating shaft 102.

As shown in fig. 8, one end of the connecting arm 304 is provided on the large disc 303, and the other end of the connecting arm 304 extends to the outside of the large disc 303 and the lever 301 is provided.

The deflector rod 301 is reciprocally disposed on the connecting arm 304 along the axial direction thereof, a deflector rod pulling assembly 400 for driving the deflector rod 301 to move relative to the rotating member 302 is disposed at a designated position on the workbench 3, the deflector rod pulling assembly 400 is detachably connected with the rotating member 302, and the deflector rod 301 is further connected with a second elastic reset member to be reset after being separated from the deflector rod pulling assembly 400.

As shown in fig. 8, the lever 301 is movably disposed in a connecting sleeve 313 on the connecting arm, the top of the lever is located above the small disc 104, the second elastic restoring member 314 is a spring sleeved on the periphery of the lever 301, the lower end of the spring is connected with a blocking disc 315 on the connecting sleeve 313, the upper end of the spring is connected with the blocking disc 315 on the connecting sleeve 313, the blocking disc 315 is at a predetermined distance from the top of the lever 301, and the lower end of the lever 301 is connected with a first plate 316 matched with the lever pulling assembly 400.

As shown in fig. 5, the lever pulling assembly 400 is located below the twist clamping jaw of the twist assembly, and includes a second plate 401 matched with the first plate, the second plate 401 is connected with a pulling cylinder 402 for driving the second plate to lift, and the pulling cylinder 402 can be replaced by a known electric push rod or a hydraulic cylinder. The cylinder body of the pulling cylinder 402 is fixed below the top plate 31, the cylinder shaft thereof extends above the top plate 31, and when the cylinder shaft of the pulling cylinder 402 extends, the second plate 401 is located above the first plate 316; when the cylinder shaft of the pulling cylinder 402 is retracted, the second plate 401 may drive the first plate 316 directly below it to move down so as to move the shifter lever 301 downward, thereby disengaging the shifter lever 301 from the coil 53 and the V-shaped bending section 55 formed by being picked up by the shifter lever.

As shown in fig. 5 and 9, the twist assembly 500 is used for clamping the coil and V-shaped bending section by twisting the twist grip 509 and tightening the clamped portion by rotating the twist grip. The twist assembly 500 is located at a set position outside the carrier fixture 101, and includes a second rotating shaft 501 and a rotating shaft driving assembly 502 for driving the second rotating shaft 501 to rotate, where an axis of the second rotating shaft 501 is perpendicular to an axis of the first rotating shaft 102 and is rotatably disposed on a shaft fixing frame 503. More preferably, the axis of the second rotating shaft 501 intersects with the axis of the first rotating shaft 102, the second rotating shaft 501 is connected with the third motor 507 through a transmission structure formed by the fifth synchronizing wheel 504, the third synchronizing belt 505 and the sixth synchronizing wheel 506, of course, the transmission structure can also be a gear transmission or a chain transmission structure, one end of the second rotating shaft 501, which is opposite to the bearing jig 101, is connected with a slip ring 508, and a wire passing hole is formed on the second rotating shaft 501 so as to connect a pipeline or an electric wire.

As shown in fig. 9, a twisting jaw 509 is disposed at the front end of the second rotating shaft 501 (the end of the second rotating shaft faces the carrying jig 101), the twisting jaw 509 includes a jaw cylinder 510 and two wire clamping heads 511 driven by the jaw cylinder, and the two wire clamping heads 511 of the twisting jaw face the carrying jig 101 and are located above the bottom of the carrying jig 101; the wire clamping head 511 comprises a connecting part 512, a clamping part 513 is arranged at the front end of the connecting part 512, when the two wire clamping heads 511 are closed, a distance 514 is kept between the two connecting parts 512, the distance between the two connecting parts is larger than the diameter of the deflector rod 301 or the diameter of an circumscribed circle, the two clamping parts 513 are tightly attached for better clamping, and matched clamping protrusions and clamping grooves are formed at opposite surfaces of the two clamping parts 513.

As shown in fig. 7 and 9, the twist assembly 500 is connected to a reciprocating driving mechanism for driving the twist assembly to reciprocate along the axial direction of the second rotating shaft 501, specifically, the shaft fixing frame 503 is slidably disposed on the second sliding rail 516 through the moving seat 515, the extending direction of the second sliding rail 516 is parallel to the axis of the second rotating shaft 501, and is disposed on a stand 517 on the working table 3, and a moving cylinder 518 for driving the moving seat 515 to reciprocate along the second sliding rail 516 is further disposed on the stand 517, and of course, the moving cylinder 518 may be replaced by a hydraulic cylinder or a linear motor. When the cylinder shaft of the moving cylinder 518 is extended, the twist assembly 500 is in a twisting position near the spool for twisting; when the cylinder shaft of the moving cylinder 518 is retracted, the twist assembly 500 is at a avoiding position away from the wire spool, and at this time, the distance between the twist assembly 500 and the carrying jig 101 is greater than the distance between the shifter lever 301 and the carrying jig 101, so as to avoid the twist assembly 500 interfering with the rotation of the shifter lever 301.

As shown in fig. 10, in order to cooperate with the thread end fixing mechanism 4, a thread grabbing manipulator 14 and a thread fusing mechanism 15 are further disposed beside the first manipulator 12.

As shown in fig. 10, the wire grabbing mechanical arm 14 is disposed on a side portion of the carrier plate 121, and includes a wire clamping tube 141 fixed on the side portion of the carrier plate 121, an axis of the wire clamping tube 141 is parallel to an axis of the carrier plate 121 and extends to a front of a front end surface of the carrier plate 121, a wire grabbing rod 142 is retractably disposed in the wire clamping tube 141, a wire grabbing hook 143 is formed at a first end (an end facing away from the connecting frame 13) of the wire grabbing rod 142, and a magnet may be disposed beside the wire grabbing hook 143, so as to more effectively grab a metal wire; the first end of the wire grabbing rod 142 is further coaxially connected with a clamping block 144 located outside the front end of the wire grabbing tube 141, the diameter of the clamping block 144 is larger than the inner diameter of the wire grabbing tube 141, the second end of the wire grabbing rod 142 is connected with a wire grabbing rod driving source 145 driving the wire grabbing rod to reciprocate along the wire grabbing tube 141, the wire grabbing rod driving source 145 can be an air cylinder, a hydraulic cylinder or a linear motor, when the air cylinder is retracted, the clamping block 144 keeps a distance from the front end face (the end face facing away from the connecting frame 13) of the wire grabbing tube 141, meanwhile, the wire grabbing hook 143 is exposed, when the air cylinder shaft of the wire grabbing rod driving source 145 extends out, the clamping block 144 abuts against the front end face of the wire grabbing tube 141, and the wire grabbing hook 143 extends into the wire grabbing tube 141.

As shown in fig. 10, the wire fusing mechanism 15 includes a wire fusing module 151, the wire fusing module 151 is connected to a linear moving power source 152 that drives the wire fusing module 151 to reciprocate along an axis direction parallel to the wire spool grabbing manipulator 2, the moving direction of the wire fusing module 151 is parallel to the axis of the carrier plate 121, the linear moving power source 152 may be a cylinder, a hydraulic cylinder, a linear motor, etc., the linear moving power source 152 is disposed on a side portion of the connecting frame 13, for example, a sliding table cylinder, and a front end of a sliding member of the linear moving power source 152 is connected to the wire fusing module 151.

As shown in fig. 11, the wire fusing module 151 includes two hot-melt clamping blocks 153 that cooperate to perform a hot-melt wire, wherein one hot-melt clamping block 153 is connected to a clamping block driving source 154 that drives the hot-melt clamping block 153 to move relative to the other hot-melt clamping block 153, and the clamping block driving source 154 may also be a cylinder, a hydraulic cylinder, or the like, and when the cylinder shaft of the clamping block driving source 154 extends, as an example, the two hot-melt clamping blocks 153 are closed to fuse the wire clamped by the two hot-melt clamping blocks; when the cylinder shaft of the clamp block driving source 154 is retracted, an opening 155 for the wire to enter is formed between the two hot melt clamp blocks 153.

As shown in fig. 11, the wire fusing module 151 is further provided with two guide plates 156, the guide plates 156 are located at two sides of an opening 155 formed by two hot-melt clamping blocks 153, guide grooves 157 are respectively formed on the two sides of the opening 155, the guide grooves 157 are opposite to the opening 155, and the guide grooves have a bell mouth located in front of the opening 155. When the wire fusing module 151 moves toward the wire, the wire enters the guide groove 157 from the flare of the guide groove 157, thereby ensuring that the wire enters the opening 155.

When the wire is required to be fused, the wire grabbing mechanical arm 14 is used for grabbing the wire between the wire spool and the paying-off wheel, then the linear moving power source 152 enables the wire fusing module 151 to move towards the wire between the wire grabbing mechanical arm 14 and the paying-off wheel to the opening 155 where the wire moves between the two hot melting clamping blocks 153, then the clamping block driving source 154 enables the two hot melting clamping blocks 153 to be closed to clamp the wire, and the two hot melting clamping blocks 153 heat the wire positioned in the opening 155 to fuse, so that the wire spool can move.

The specific positions of the wire fusing mechanism and the wire grabbing mechanical arm at the side part of the wire winding disc grabbing mechanical arm can be adaptively designed according to the positions between the wire winding disc on the wire winding machine and the wire releasing wheel of the wire releasing machine, so long as the condition that the wire grabbing mechanism grabs the wires is met, the wires between the wire clamping jaw and the wire releasing wheel can smoothly enter the guide groove when the wire fusing module 151 of the wire fusing mechanism stretches forwards, and more preferably, the wire grabbing mechanical arm can grab the wires between the wire winding disc and the wire releasing wheel when the wire grabbing mechanical arm grabs the wires between the wire winding disc and the wire releasing wheel, and the wire winding disc grabbing mechanical arm can grab the wires on the wire winding machine is not limited.

As shown in fig. 1, the spool mobile robot 1 and the workbench 3 are both disposed on a mobile vehicle 5, which may be a known tram, an AGV vehicle, an RGV vehicle, etc., and will not be described herein.

When the wire spool processing device is used for wire spool processing, the process is as follows:

when a wire breakage is detected in the winding process of a wire spool on a winding machine, the wire spool on the winding machine is grabbed by a wire spool moving robot 1 of the wire spool processing device and moved to a tape attaching mechanism 2, and an adhesive tape attached to the wire spool is attached to a wire on the wire spool by an adhesive tape attaching mechanism 25 of the tape attaching mechanism 2 so as to fix a wire head on the wire spool.

Specifically, the head of the tape roll on the tape unreeling machine 21 is pulled out manually and the tape is placed on the anti-sticking support block 22 with the adhesive surface facing downwards, then the adhesive pulling driving device 232 of the adhesive pulling mechanism 23 drives the adhesive pulling clamping jaw 231 to move to the upper and lower clamping plates 234 to be located on the upper and lower sides of the tape at the notch 222, then the upper and lower clamping plates 234 are closed to clamp the adhesive tape, and then the adhesive pulling driving device 232 drives the adhesive pulling clamping jaw 231 to move and reset in the direction to pull out a section of the adhesive tape. At this time, the linear moving device 252 drives the vacuum adsorption plate 251 to move downwards and adsorb the adhesive tape between the adhesive pulling mechanism 23 and the anti-sticking support block 22, then the cutting structure cuts off the adhesive tape, the garbage clamping jaw loosens the adhesive tape, then the linear moving device 252 drives the vacuum adsorption plate 251 to move upwards for resetting, and the rotating device 253 drives the vacuum adsorption plate 251 to rotate 180 degrees so that the adhesive tape adsorbed by the vacuum adsorption plate faces upwards.

The technology for detecting broken wires is in the prior art, and can be realized by arranging a tension sensor and the like at a paying-off machine, and the specific detection mode and structure are not innovation points of the utility model and are not repeated here. When a broken wire is detected, the moving mechanism drives the first manipulator 12 to grasp and move the wire wheel on the winding machine to the position of the tape attaching mechanism 2, and the wire spool moving robot 1 enables the wire spool to be placed right above the vacuum adsorption plate 251 in a state that the axis is parallel to the reel, and at the position, the wire end on the wire spool keeps a sagging state under the action of gravity and is opposite to the tape attached to the vacuum adsorption plate 251, so that the position of the wire end does not need to be found through visual detection and the like, the vacuum adsorption plate 251 can be directly moved upwards through the linear moving device 252 to attach the tape to the wire of the wire spool, and at the moment, the wire end on the wire spool can be directly attached and fixed to the wire spool through the tape, and the wire end fixing of the wire spool with abnormal winding is effectively realized.

When the wire spool on the winding machine is determined to normally finish winding, after the wire spool processing device cuts off the wire between the wire spool and the paying-off machine, the wire spool is moved to the wire head fixing mechanism 4 to fix the wire head on the wire spool.

The knot tying method disclosed in the patent of the utility model with the publication number of CN215710630U can be adopted for the thread end fixing.

Preferably, in this embodiment, the thread end fixing mechanism 4 fixes the thread end by screwing the thread end on the wire spool.

The specific thread end screwing process is as follows:

s1, the wire spool carrying device grabs the wire spool full of wires on the wire winding machine, grabs wires between the wire spool and the paying-off wheel through the wire fusing mechanism, and fuses the wires between the wire grabbing mechanical arm and the paying-off wheel.

S2, the wire spool carrying device places the wire spool 5 grabbed by the wire spool carrying device on the bearing jig 101 and clamps the wire heads 51 of the wire spool through the wire head clamping assembly 200, as shown in fig. 12.

Specifically, after the wire spool handling device places the wire spool that it grabs onto the carrier 101, the wire grabbing component 810 moves to enable the wire end 51 that it grabs to be located at the position that the wire clamping component 200 can clamp, at this time, the wire spool rotating component can drive the wire spool to rotate and pay out, after the wire clamping component 200 clamps the wire between the wire grabbing component 810 and the wire spool, the wire grabbing component 810 loosens the wire end 51, and the wire end twisting device can continue to twist.

S3, the wire pulling assembly 300 is matched with the wire winding disc rotating assembly 100, so that the wire between the wire winding disc and the wire clamping head assembly 200 forms a coil 53 and a V-shaped bending section 55 matched with the twisting clamping jaw under the action of the pulling rod 301.

Specifically, as shown in fig. 13, the wire pulling assembly 300 is started to rotate the pulling rod 301 counterclockwise, the pulling rod 301 contacts with the first wire 52 of the wire spool and wire clamping head assembly 200 and picks up the first wire 52 to rotate counterclockwise, and after the pulling rod 301 contacts with the first wire 52 and continues to rotate for one turn, the pulling rod 301 forms a coil 53 with the wire on one side of the wire spool, as shown in fig. 14. The pulling rod 301 continues to rotate against the needle to contact with the second wire 54 between the wire clamping head assembly 200 and the wire spool and stops when the wire clamping head assembly 200 is opposite to the gap between the two wire clamping heads 511 of the twist assembly 500, at this time, the pulling rod 301 makes the second wire 54 form a V-shaped bending section 55, as shown in fig. 15; meanwhile, the first plate 316 at the lower end of the lever 301 corresponds to the second plate 401 in position and is located below the second plate 401. When the shift lever 301 performs thread picking, the spool rotating assembly 100 drives the spool to rotate and pay out thread to match with the thread picking operation of the shift lever 301.

S4, clamping the coil 53 and the V-shaped bending section 55 through the twisting clamping jaw; specifically, as shown in fig. 16, the translation mechanism 515 drives the twist assembly 500 to move toward the wire spool, at this time, the two opened wire clamping heads 511 press against the two sections of the V-shaped bending section 55 and are located at two sides of the coil 53, and then the clamping jaw cylinder 510 drives the two wire clamping heads 511 to close to clamp both the V-shaped bending section 55 and the coil 53, as shown in fig. 17.

S5, separating the shift lever 301 from the coil 53 and the V-shaped bending section 55; specifically, the cylinder shaft of the pulling cylinder 402 is retracted, so that the second plate 401 drives the first plate 316 to move downward, and further drives the lever 301 to move downward to disengage from the coil 53 and the V-shaped bending section 55.

And S6, finally, a motor III 507 of the twist assembly 500 drives the second rotating shaft 501 to rotate and drives the twist clamping jaw to rotate to finish twisting, and the number of turns of the twist clamping jaw can be designed according to the needs and is not repeated here.

When the whole equipment works, the control device can be combined with the sensor to control each mechanism to automatically work, and the corresponding control technology is known technology and is not described herein.

The utility model has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the utility model.

Claims (7)

1. Wire reel processing apparatus, including wire reel mobile robot, its characterized in that: the wire reel mobile robot is provided with an operation table, the operation table is provided with an adhesive tape attaching mechanism, the adhesive tape attaching mechanism comprises an adhesive tape unreeling machine, an anti-adhesive supporting block, an adhesive pulling mechanism, a cutting mechanism and an adsorption adhesive tape attaching mechanism, the anti-adhesive supporting block is used for enabling an adhesive tape pulled out of a film on the adhesive tape unreeling machine to be located on the top surface of the adhesive tape in a tiled state, the adhesive pulling mechanism is used for clamping the adhesive tape at the anti-adhesive supporting block and pulling the adhesive tape to a preset position outside the second side of the anti-adhesive supporting block, the adsorption adhesive tape attaching mechanism is used for adsorbing the adhesive tape between the adhesive pulling mechanism and the anti-adhesive supporting block and enabling the adhesive tape to turn over by a preset angle, and the cutting mechanism is used for cutting the adhesive tape between the adhesive pulling mechanism and the anti-adhesive supporting block and the adhesive tape between the cutting position is close to the anti-adhesive supporting block.

2. The spool processing device according to claim 1, wherein: the anti-sticking support block is positioned below the scroll of the adhesive tape unreeling machine, a compression roller is arranged above the anti-sticking support block in a clearance mode, and the compression roller is positioned on the first side, close to the adhesive tape unreeling machine, of the anti-sticking support block.

3. The spool processing device according to claim 1, wherein: the second side of antiseized supporting shoe is provided with the breach, draw gluey mechanism including drawing gluey clamping jaw and drive draw gluey drive arrangement that gluey clamping jaw rectilinear movement was drawn, draw gluey clamping jaw includes punch holder and lower plate, punch holder and lower plate are in when opening the state, the punch holder is located antiseized supporting shoe's top, the lower plate can stretch into in the breach.

4. A spool processing device according to claim 3 wherein: the glue pulling clamping claw comprises an opening and closing cylinder, the upper end of a cylinder shaft of the opening and closing cylinder is connected with the lower clamping plate, and the opening and closing cylinder and the upper clamping plate are fixed on a linear module or a moving piece of the sliding table cylinder.

5. A spool processing device according to claim 3 wherein: the anti-sticking support block is further provided with a stop block in a clearance mode, the stop block is provided with an avoidance port corresponding to the position of the notch, and when the upper clamping plate and the lower clamping plate are in an open state, the lower clamping plate can extend into the avoidance port.

6. The spool processing device according to claim 1, wherein: the adsorption rubberizing mechanism comprises a vacuum adsorption plate, the vacuum adsorption plate is connected with a linear moving device which drives the vacuum adsorption plate to reciprocate along the direction perpendicular to the vacuum adsorption plate, the linear moving device is arranged on a rotating device which drives the linear moving device to rotate, the rotating device drives the linear moving device to rotate around a first axis, the first axis is parallel to the axis of a scroll of the adhesive tape unreeling machine, and the rotating device is fixed on a support.

7. The spool processing device according to any one of claims 1 to 6, wherein: the operation table is also provided with a thread end fixing mechanism for fixing the thread end on the wire spool.