Automatic winding device and winding method applying same

Abstract

The invention provides an automatic winding device and a winding method applying the automatic winding device. According to the automatic winding device, a wire separating mechanism comprises a wire feeding assembly and a wire breaking assembly which are movably arranged, the wire feeding assembly drives the end of a wire harness to move to a first position, and the wire breaking assembly cuts off the continuous wire harness to form multiple winding segments; the winding mechanism comprises a material clamping assembly and a wire pulling assembly which are movably arranged, the material clamping assembly comprises a piece clamping part and a wire clamping part which are arranged in a follow-up mode, the piece clamping part clamps a carrier and drives the carrier to rotate around a rotating axis, and the wire clamping part fixes the end of a wire harness at the first position and fixes the end of the wire harness at the second position. The wire pulling assembly comprises a wire pulling hook arranged in a telescopic mode in the direction of the rotating axis, and the wire pulling hook drives the winding section to move from one side of the carrying piece to the other side of the carrying piece in the direction of the rotating axis through a bending structure. The rewinding mechanism comprises a winding piece which is movably arranged, a positioning groove is formed in the winding piece, and the winding piece drives the winding section to the other side of the carrying piece to be rewound to one side of the carrying piece through the positioning groove.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to an automated winding device and a winding method using the same. Background Technology

[0002] In the manufacturing process of modern electronic, motor, and inductor coil products, wire harness winding is an indispensable key process. To improve production efficiency and product consistency, automated winding equipment has been widely used. Currently common automated winding devices, such as fly-fork winding machines, typically operate by using one or two fly-forks to clamp the wire harness and rotate it at high speed around a carrier (such as a bobbin or magnetic core), thus winding the wire harness onto the carrier. However, current automated winding devices generally suffer from poor winding accuracy and quality, low production efficiency, and limited automation. Specifically, traditional winding mechanisms like fly-fork machines have a large rotation radius and correspondingly large moment of inertia in their fly-fork components. During high-speed winding operations, significant vibration and centrifugal force are generated, which not only places high demands on the stability of the equipment itself but also easily leads to uneven wire harness tension, misalignment, and even damage to the wire harness insulation layer. Existing automated winding machines are usually single-station operations, resulting in a cycle time bottleneck in the entire production process and low overall production efficiency, making it difficult to meet the demands of large-scale, high-cycle production. Although the winding process itself is automated, many auxiliary processes, such as loading and unloading of equipment and transfer between workstations, still require manual intervention. This not only increases labor costs and intensity but also introduces uncertainties caused by human factors, affecting the overall automation level of the production line and product consistency. Therefore, how to provide a new automated winding solution to solve the technical problems of low winding accuracy, low production efficiency, and limited automation in existing technologies is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0003] To address the problems in the prior art, this application provides an automated winding device and a winding method using the same.

[0004] This application provides an automated winding device for winding a wire harness on a carrier. The automated winding device includes a wire separating mechanism, a winding mechanism, and a rewinding mechanism. The wire separating mechanism includes a wire feeding assembly and a wire cutting assembly, which are movably arranged respectively. The wire feeding assembly is used to drive the end of the wire harness to a first position, and the wire cutting assembly is used to cut the continuous wire harness into multiple winding segments. The winding mechanism includes a clamping assembly and a wire pulling assembly, which are movably arranged respectively. The clamping assembly includes a clamping component and a wire clamping component, which are movably arranged. The clamping component is used to clamp the carrier and drive the carrier to rotate around a rotation axis, and the wire clamping component is used to fix the end of the wire harness at the first position. The wire pulling assembly includes a wire hook that is telescopically arranged along the direction of the rotation axis. The wire hook is used to drive the winding segment to move from one side of the carrier to the other side along the direction of the rotation axis through a bending structure. The rewinding mechanism includes a movably arranged winding component with a positioning groove. The winding component is used to drive the winding segment to the other side of the carrier and then back to one side of the carrier through the positioning groove.

[0005] Understandably, the automated winding device claimed in this application decomposes the winding process into a process completed collaboratively by a wire-separating mechanism, a winding mechanism, and a rewinding mechanism. The wire-separating mechanism, through its wire feeding and cutting components, precisely prepares and cuts the required winding segment for each turn. The clamping component in the clamping assembly is responsible for driving the carrier to rotate at low speed or in increments, while the clamping component reliably fixes the end of the wire harness in a first position. The wire-pulling assembly's pull hook performs a linear telescoping motion along the rotation axis, pulling the winding segment from one side of the carrier to the other through its bending structure. This linear motion has a short stroke, low inertia, and is easy to control precisely, fundamentally avoiding the huge vibration and centrifugal force caused by the large radius rotation of traditional fly-fork winding. The complex spatial movement of winding the wire harness back to the starting side of the carrier is accomplished by an independent rewinding mechanism and its winding component. The positioning groove on the winding component reliably hooks and guides the winding segment during movement; the rewinding mechanism can be designed to be more lightweight, enabling it to smoothly and accurately complete complex spatial rewinding trajectories. The automated winding device claimed in this application achieves winding through a simple combination of two low-inertia, high-precision actions. The linear motion of the pull hook ensures the accuracy of the axial position of the wire bundle and the high-speed stability of the action, while the independent motion of the rewinding mechanism ensures the accuracy of the rewinding path and the controllability of the tension, significantly improving the accuracy and quality of winding and achieving precise and neat coil arrangement. Furthermore, the wire separating mechanism, winding mechanism, and rewinding mechanism work together to achieve at least automatic wire feeding and automatic winding, enabling automated processing of the winding process.

[0006] In one embodiment, the wire feeding assembly includes a conduit and a limiting assembly. The limiting assembly includes a positioning member and a plurality of guide wheels. The positioning member has a wire-passing hole. The plurality of guide wheels are spaced apart along the direction of the line connecting the wire-passing hole and the wire inlet end of the conduit and are arranged sequentially on both sides of the line connecting the wire-passing hole and the wire inlet end of the conduit.

[0007] Understandably, the conduit provides a partially enclosed and smooth transport channel for the wire harness, preventing interference with the external environment during transport. By sequentially passing the wire harness through the guide holes of the positioning component and the guide wheels on both sides, the wire harness can be effectively pre-straightened and guided before entering the conduit, preventing twisting, knotting, or deviation during transport. This improves the stability of the wire feeding action and the accuracy of feeding the wire to the first position, ensuring that the starting end of each winding is precisely fixed, providing a reliable guarantee for subsequent high-precision winding.

[0008] In one embodiment, the wire splitting mechanism further includes a wire splitting drive assembly, which includes a first wire splitting drive component and a second wire splitting drive component with the same linear driving direction. The first wire splitting drive component is driven to the wire feeding assembly, and the second wire splitting drive component is driven to the first wire splitting drive component and the wire breaking assembly. The wire breaking assembly includes a wire breaking carrier plate, a first wire breaking component movably connected to the wire breaking carrier plate, and a second wire breaking component fixedly connected to the wire breaking carrier plate. The wire breaking carrier plate has a clearance hole for the guide tube to move through. The first wire breaking component and the second wire breaking component are respectively disposed on both sides of the clearance hole. The first wire breaking component and the second wire breaking component are configured to be separably contacted for cutting the wire bundle.

[0009] Understandably, the second drive component simultaneously drives both the first drive component and the wire-breaking assembly, ensuring a precise timing relationship between the wire feeding and wire-breaking actions, thus avoiding length errors caused by control delays. The wire-breaking assembly employs separable first and second wire-breaking components, along with clearance holes for the guide tube, ensuring decisive action and a clean cut when cutting is necessary; while also allowing complete clearance during wire feeding. This achieves precise coordination and non-interference between the wire feeding and wire-breaking actions, improving the reliability and efficiency of the wire-separating mechanism and ensuring the efficient operation of the entire automated winding process.

[0010] In one embodiment, the winding mechanism further includes a rotating seat rotatably disposed about a rotation axis, and a clamping component and a wire clamping component are connected to the rotating seat and can rotate with the rotating seat; the clamping component includes a first clamping arm and a second clamping arm extending in the direction of the rotation axis, the first clamping arm and the second clamping arm being used to clamp the carrier and drive the carrier to move around the rotation axis; the wire clamping component includes a wire clamping end that can be opened and closed, the wire clamping end being located on the side of the first clamping arm and the second clamping arm in the clamping engagement state, and the wire clamping end being used to fix one end of the wire harness.

[0011] Understandably, the rotating base serves as a unified rotating platform, upon which both the clamping and wire clamping components are connected. This ensures that the clamped carrier and the fixed wire harness end do not have a constant relative position when rotating around the axis of rotation, thus guaranteeing the accuracy of the winding coil count and angle. The clamping components, through the cooperation of the first and second clamping arms, can apply force to the carrier from two directions, achieving a stable and centered clamping, preventing the carrier from wobbling or becoming eccentric during rotation. The wire clamping end of the wire clamping component is independently located on the side of the clamping arm. Its openable design allows it to independently and reliably fix and release the wire harness end without affecting the carrier's clamping state, reliably securing the starting end of the wire harness. This ensures the stability and positioning accuracy of the carrier during rotation, while also guaranteeing the reliability of the wire harness end fixation, avoiding winding failure or accuracy reduction due to slippage or loosening.

[0012] In one embodiment, the pull cable assembly further includes a fixedly disposed annular guide member located within the rotating seat; the annular guide member is disposed around the rotation axis and has a pull cable hole in the direction of the rotation axis, and a pull cable hook is disposed corresponding to the pull cable hole in the direction of the rotation axis. The pull cable hook is configured to be able to extend and retract in the direction of the rotation axis, and the pull cable hole is used for the pull cable hook and the cable bundle pulled by the pull cable hook to pass through.

[0013] Understandably, this application further defines the structure of the pull wire assembly by adding an annular guide member arranged around the rotation axis. The pull wire hole on the guide member constrains the movement trajectory of the wire bundle pulled by the pull wire hook, further ensuring the stability of the position of the wire bundle after being pulled, and facilitating the further capture of the wire bundle by the winding member.

[0014] In one embodiment, the winding mechanism further includes a multi-axis drive assembly and a connecting rod. The connecting rod is driven to the multi-axis drive assembly. The winding member is located at the end of the connecting rod facing the winding mechanism. The multi-axis drive assembly is used to drive the winding member to rise and fall at least along the direction of the rotation axis, and to move closer to or away from the rotation axis along at least two straight directions intersecting the rotation axis.

[0015] Understandably, multi-axis drive components can drive the winding element to achieve complex spatial movements in at least three dimensions (lifting and lowering along the axial direction, and moving closer or further away along two intersecting straight lines). This high degree of freedom in drive allows the winding element to execute an optimized spatial motion trajectory according to the shape of the carrier and the requirements of the winding process, smoothly and precisely rewinding the winding segment. This not only greatly enhances the adaptability of the device, enabling it to perform high-quality winding for carriers of different shapes and specifications, but also makes it possible to achieve more complex winding processes (such as layered winding, cross winding, etc.).

[0016] In one embodiment, the winding member is in the shape of a rotating body, and a positioning groove is formed on the rotating circumferential surface of the winding member. The positioning groove is a concave continuous ring.

[0017] Understandably, the winding component's rotational shape mitigates, to some extent, the negative impact of its spatial structural orientation on the degree of freedom of motion. The positioning grooves on the rotating surface are recessed, continuous rings that stably and reliably hook and guide the winding segment during rewinding, preventing slippage or positional changes in the wire harness. This design ensures the wire harness is stably guided during rewinding, with a clear and controllable path.

[0018] In one embodiment, the automated winding device includes at least two wire splitting mechanisms and at least two winding mechanisms. The rewinding mechanism includes a multi-axis drive assembly and at least two winding members. The at least two winding members are respectively driven and connected to the multi-axis drive assembly. The multi-axis drive assembly is used to drive the two winding members to rise or fall synchronously along the direction of the rotation axis, and to move synchronously closer to or away from the winding mechanism along a straight line direction intersecting the rotation axis. The multi-axis drive assembly is also used to drive the two winding members to move synchronously closer to or away from the two winding mechanisms on opposite sides along another straight line direction intersecting the rotation axis. One wire splitting mechanism, one winding mechanism, and one winding member cooperate to wind a portion of the wire harness on the carrier. Another wire splitting mechanism, another winding mechanism, and another winding member cooperate to wind another portion of the wire harness on the carrier.

[0019] Understandably, automated winding devices include at least two independent branching and winding mechanisms. By setting up at least two branching and two winding mechanisms, and synchronously driving at least two winding components with a multi-axis drive assembly, parallel or sequential winding operations are achieved. For example, while one station is winding, another station can perform the winding simultaneously or continue the previous process. This multi-station collaborative work scheme greatly improves overall production efficiency and equipment utilization, meeting the needs of large-scale, high-cycle production. Simultaneously, the design of driving at least two winding components with a single multi-axis drive assembly avoids equipping each station with an expensive and complex multi-axis drive system, reducing equipment costs and complexity. The specific synchronous movements (synchronous lifting, synchronous translation in one direction, and opposite translation in the other direction) performed by the multi-axis drive assembly on the two winding components are motion modes tailored for dual-station collaborative operations, enabling the most efficient completion of the winding tasks at both stations.

[0020] In one embodiment, the automated winding device further includes a feeding mechanism and a transfer mechanism. The feeding mechanism includes a feeding position for placing a carrier. The transfer mechanism includes a transfer drive assembly and at least three grippers. The at least three grippers are drivenly connected to the transfer drive assembly and configured to move synchronously. One gripper is used to grip a carrier located at the feeding position, another gripper is used to grip a carrier located at a winding mechanism, and yet another gripper is used to grip a carrier located at another winding mechanism. The transfer drive assembly is used to drive the three grippers to move synchronously up and down or translate.

[0021] Understandably, automated winding devices also include automated loading and transfer mechanisms. Multiple grippers move synchronously via a transfer drive component; these three grippers correspond to the loading position, one winding mechanism, and another winding mechanism, respectively. Through a single synchronous lifting or lateral movement, the transfer mechanism can simultaneously: pick up a new workpiece from the unprocessed area, pick up a semi-finished / finished product from station one, and pick up a finished product from station two. In the next operation, it simultaneously places the new workpiece into station one, the semi-finished product into station two, and the finished product into the finished product area. This solution solves the technical problems of low automation and reliance on manual loading, unloading, and transfer in existing technologies by enabling the automatic flow of workpieces between stations. Integrating loading, multi-station winding, and unloading into a fully automated production line operation further improves production cycle time and the overall automation level of the line.

[0022] This application also provides a winding method, which is applied to the automated winding device as described in any of the foregoing embodiments. The winding method includes the following steps: The clamping components hold and fix the carrier. The wire feeding assembly moves the end of the wire harness to the first position, and the wire clamping component fixes the end of the wire harness. Raise the pull hook above the wire harness, then lower the pull hook and pull the wire harness to detach a section of the wire harness from the wire feed assembly; The wire breaking assembly cuts the wire harness to form a winding segment of predetermined length, and the wire splitting mechanism retracts and resets. The winding component begins to move under the drive, pulling the winding segment located below the carrier, causing the winding segment to wrap around the carrier away from the side where the pull hook is located and move to the top of the carrier to complete one turn of winding; The hook rises again and pulls the winding segment downwards. The winding component is driven to start moving again and pulls the winding segment back to complete the second turn of winding. This process is repeated until the winding segment is completed.

[0023] Understandably, the winding method protected in this application clearly embodies the core process flow of "wire feeding and fixing - wire hook pulling - wire breaking - winding component rewinding". This method replaces the traditional large-radius winding method using a flying fork by combining the linear pulling of the wire hook with the spatial rewinding of the winding component. This optimized combination of steps also solves the technical problems of poor winding accuracy and quality caused by the large moment of inertia and significant vibration of the winding mechanism in the prior art. Moreover, each turn of winding is completed by stable and precise pulling and rewinding actions, ensuring uniform tension and neat arrangement of the wire bundle, thereby enabling the stable production of high-quality and highly consistent coil products. At the same time, the efficient and closely connected actions of each step also improve the overall efficiency of the winding cycle. Attached Figure Description

[0024] Figure 1 This is a three-dimensional schematic diagram of the automated winding device provided in the embodiments of this application.

[0025] Figure 2 This is a partial perspective view of the automated winding device provided in the embodiments of this application.

[0026] Figure 3 This is a partial perspective view of the automated winding device provided in the embodiments of this application.

[0027] Figure 4 This is a partial perspective view of the automated winding device provided in the embodiments of this application.

[0028] Figure 5 This is a partial perspective view of the automated winding device provided in the embodiments of this application.

[0029] Figure 6 This is a schematic flowchart of the winding method provided in the embodiments of this application.

[0030] Figure 7 This is a schematic diagram of the winding process of the winding method provided in the embodiments of this application.

[0031] Figure 8 This is a schematic diagram of the winding process of the winding method provided in the embodiments of this application.

[0032] Figure 9 This is a schematic diagram of the winding process of the winding method provided in the embodiments of this application.

[0033] Figure 10 This is a schematic diagram of the winding process of the winding method provided in the embodiments of this application.

[0034] Explanation of reference numerals in the attached drawings: 11. Winding mechanism; 110. Clamping assembly; 111. Clamping component; 1111. First clamping arm; 1112. Second clamping arm; 1113. Clamping drive unit; 112. Clamping component; 1121. Clamping end; 1122. Clamping drive unit; 113. Pulling assembly; 1130. Pulling hook; 1131. Bending structure; 114. Rotating seat; 115. Rotation drive assembly; 116. Annular guide; 1160. Pulling hole; 12. Wire separating mechanism; 121. Wire feeding assembly; 1210. Guide tube; 1211. Wire inlet end; 1212. Wire outlet end; 122. Limiting assembly; 1221. Positioning component; 1222. Wire through hole; 1223. Guide wheel; 1224. Wire inlet roller; 123. Wire inlet drive assembly; 124. Wire breaking assembly. Components; 1241, First wire breakage component; 1242, Second wire breakage component; 1243, Wire breakage carrier plate; 1244, Clearance hole; 1245, Wire breakage drive component; 1246, Wire breakage connecting plate; 125, Wire splitting drive assembly; 1251, First wire splitting drive component; 1252, Second wire splitting drive component; 13, Rewinding mechanism; 131, Winding component; 1311, Positioning groove; 132, Multi-axis drive assembly; 1321, First drive component; 1322, Second drive component; 1323, Third drive component; 133, Connecting rod; 14, Feeding mechanism; 141, Feeding position; 15, Transfer mechanism; 151, Transfer drive assembly; 152, Gripping clamp; 153, Transfer bracket; 154, Wire cutting clamp; 101, Rotation axis; 2, Carrier component; 3, Wire harness; 31, Winding segment. Detailed Implementation

[0035] The following is in conjunction with the appendix Figures 1 to 9 This application will be described in further detail below.

[0036] The technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of this application, but are not limited thereto. Other embodiments obtained by those skilled in the art in conjunction with the embodiments of this application without creative effort are also within the protection scope of this application.

[0037] like Figures 1 to 5As shown, this application embodiment provides an automated winding device for winding wire harnesses on a carrier. The automated winding device includes a wire separating mechanism 12, a winding mechanism 11, a rewinding mechanism 13, a feeding mechanism 14, and a transfer mechanism 15. The winding mechanism 11 is generally located in the middle of the automated winding device, and is used to fix the carrier and drive the carrier to rotate step by step; the wire separating mechanism 12 is generally located on one side of the winding mechanism 11, and is used to cooperate with the wire harness raw material tank to continuously supply metal wire harnesses and push the wire harnesses to be wound to the location of the winding mechanism 11; the rewinding mechanism 13 is generally located on the other side of the winding mechanism 11, and is used to cooperate with the winding mechanism 11 to complete the winding of the wire harness on the carrier; the feeding mechanism 14 is used to hold and continuously supply the carrier; the transfer mechanism 15 is used to transfer the carriers provided by the feeding mechanism 14 to the location of the winding mechanism 11, and is also used to transfer the carriers between multiple stations of the winding mechanism 11.

[0038] In one embodiment, the wire splitting mechanism 12 includes a wire feeding assembly 121 and a wire cutting assembly 124, which are movably disposed respectively. The wire feeding assembly 121 is used to drive the end of the wire bundle to a first position, and the wire cutting assembly 124 is used to cut the continuous wire bundle to form multiple winding segments. The winding mechanism 11 includes a clamping assembly 110 and a wire pulling assembly 113, which are movably disposed respectively. The clamping assembly 110 includes a clamping member 111 and a wire clamping member 112, which are movably disposed respectively. The clamping member 111 is used to clamp the carrier and drive the carrier to rotate around a rotation axis 101, and clamp the wire. Component 112 is used to fix the end of the wire harness at a first position. The wire pulling assembly 113 includes a wire pulling hook 1130 that is telescopically arranged along the direction of the rotation axis 101. The wire pulling hook 1130 is used to drive the winding segment to move from one side of the carrier to the other side along the direction of the rotation axis 101 through the bending structure 1131. The rewinding mechanism 13 includes a movably arranged winding member 131. The winding member 131 is provided with a positioning groove 1311. The winding member 131 is used to drive the winding segment to the other side of the carrier and rewind it to one side of the carrier through the positioning groove 1311.

[0039] The first position refers to the position where the end of the wire harness can be clamped by the wire clamping component 112. The first position can be a position predetermined after adjustment. The winding segment refers to a small segment of wire harness with a predetermined length cut from a continuous wire harness and used in the current winding process.

[0040] Understandably, the automated winding device claimed in this application decomposes the winding process into a process completed collaboratively by a wire separating mechanism 12, a winding mechanism 11, and a rewinding mechanism 13. The wire separating mechanism 12, through its wire feeding assembly 121 and wire cutting assembly 124, is used to precisely prepare and cut the required winding segment for each turn. The clamping component 111 in the clamping assembly 110 is responsible for driving the carrier to rotate at low speed or in increments, while the wire clamping component 112 reliably fixes the end of the wire harness in a first position. The wire pulling hook 1130 of the wire pulling assembly 113 performs a linear telescopic motion along the rotation axis 101, pulling the winding segment from one side of the carrier to the other through its bending structure 1131. This linear motion has a short stroke, low inertia, and is easy to control precisely, fundamentally avoiding the huge vibration and centrifugal force caused by the large radius rotation of traditional flying fork winding. The complex spatial movement of winding the wire harness back to the starting side of the carrier is accomplished by an independent rewinding mechanism 13 and its winding component 131. The positioning groove 1311 on the winding component 131 can reliably hook and guide the winding segment during the movement. The rewinding mechanism 13 can be designed to be more lightweight, enabling it to smoothly and accurately complete complex spatial rewinding trajectories. The automated winding device claimed in this application achieves winding through a combination of two simple actions with low inertia and high precision. The linear movement of the pull hook 1130 ensures the accuracy of the axial position of the wire harness and the high-speed stability of the movement, while the independent movement of the rewinding mechanism 13 ensures the accuracy of the rewinding path and the controllability of the tension, significantly improving the accuracy and quality of the winding and achieving precise and neat coil arrangement. Furthermore, the wire separating mechanism 12, the winding mechanism 11, and the rewinding mechanism 13 work together to achieve at least automatic wire feeding and automatic winding, enabling automated processing of the winding process.

[0041] In one embodiment, the winding mechanism 11 further includes a rotating seat 114 rotatably disposed about a rotation axis 101, and a rotation drive assembly 115 movably connected to the rotating seat 114. The clamping assembly 110 is connected to the rotation drive assembly 115 and can rotate relative to the rotating seat 114 via the rotation drive assembly 115. The wire pulling assembly 113 is independently disposed relative to the rotating seat 114, the rotation drive assembly 115, and the clamping assembly 110.

[0042] In this embodiment, the rotating seat 114 is substantially annular, and its circumferential surface may have a recessed groove structure (not shown). The rotation drive assembly 115 is supported on the side of the rotating seat 114 and clamps its circumferential surface via rollers. The rollers are positioned corresponding to the groove structure. The side of the rotation drive assembly 115 away from the rotating seat 114 supports the clamping assembly 110. The rotation drive assembly 115 contains a rotation drive unit (e.g., a motor, not shown) connected to the rollers, used to drive the rollers to rotate, thereby causing the entire rotation drive assembly 115 to move along a curved path along the rotating seat 114. The rotation drive assembly 115 can thus drive the clamping assembly 110 to perform a curved movement, which can be, for example, a circular segment that roughly matches the shape of the substantially circular carrier, thereby uniformly winding the wire harness on the carrier.

[0043] In one embodiment, the clamping component 111 and the wire clamping component 112 are respectively connected to the rotating base 114 and can rotate with the rotating base 114. The clamping component 111 includes a first clamping arm 1111 and a second clamping arm 1112 extending in the direction of the rotation axis 101. The first clamping arm 1111 and the second clamping arm 1112 are used to clamp the carrier and drive the carrier to move around the rotation axis 101. The wire clamping component 112 includes an openable and closable wire clamping end 1121. The wire clamping end 1121 is located on the side of the first clamping arm 1111 and the second clamping arm 1112 in the clamping engagement state. The wire clamping end 1121 is used to fix one end of the wire harness.

[0044] In this embodiment, the first clamping arm 1111 and the second clamping arm 1112 are respectively supported by different sliders and driven by the clamping drive unit 1113 (e.g., a cylinder, not described in detail). The first clamping arm 1111 and the second clamping arm 1112 can follow different sliders to move on opposite sides along the same straight direction, realizing the opening and closing of the first clamping arm 1111 and the second clamping arm 1112. The ends of the first clamping arm 1111 and the second clamping arm 1112 are respectively provided with plastic parts, which are used to achieve a certain degree of flexible fit with the carrier and to increase the friction between the first clamping arm 1111, the second clamping arm 1112 and the carrier to a certain extent, so as to make the fixation of the carrier more secure.

[0045] In this embodiment, the wire clamping component 112 and the first clamping arm 1111 are disposed on the same slider. The wire clamping component 112 can move with the first clamping arm 1111, avoiding interference with the process of the wire clamping component 112 clamping the carrier. The wire clamping component 112 is disposed on the side of the first clamping arm 1111 away from the second clamping arm 1112.

[0046] In this embodiment, the clamping end 1121 of the wire clamping component 112 is driven by the wire clamping drive unit 1122 (e.g., a cylinder, not described in detail) to perform linear motion to avoid obstacles, and can also be driven to open or close to fix the end of the wire harness. The clamping end 1121 of the wire clamping component 112 may also be provided with a generally toothed clamping structure for better clamping the end of the metal wire harness. The clamping end 1121 can be opened before the wire harness arrives, and is driven to close and clamp the end of the wire harness after the end of the wire harness is inserted into it. Then, it is driven to retract before the winding begins or after one turn of winding to tighten and fix the winding start section of the wire harness, ensuring winding accuracy.

[0047] In this embodiment, when the first clamping arm 1111 and the second clamping arm 1112 clamp the carrier, the center hole of the carrier aligns with the rotation axis 101 of the rotating seat 114. That is, when the clamping component 111 drives the carrier to rotate, the carrier also rotates around the rotation axis 101.

[0048] Understandably, the rotating base 114 serves as a unified rotating platform, upon which both the clamping component 111 and the wire clamping component 112 are connected. This ensures that the clamped carrier and the fixed wire harness end do not have a constant relative position when rotating around the rotation axis 101, thus guaranteeing the accuracy of the winding coil count and angle. The clamping component 111, through the cooperation of the first clamping arm 1111 and the second clamping arm 1112, can apply force to the carrier from two directions, achieving a stable and centered clamping, preventing the carrier from swaying or becoming eccentric during rotation. The wire clamping end 1121 of the wire clamping component 112 is independently located on the side of the clamping arm. Its openable design allows it to independently and reliably fix and release the wire harness end without affecting the carrier's clamping state, reliably securing the starting end of the wire harness. This ensures the stability and positioning accuracy of the carrier during rotation, while also guaranteeing the reliability of the wire harness end fixation, avoiding winding failure or accuracy reduction due to slippage or loosening.

[0049] In one embodiment, the pull cable assembly 113 further includes a fixedly disposed annular guide 116 located within the rotating seat 114. The annular guide 116 is disposed around the rotation axis 101 and has a pull cable hole 1160 in the direction of the rotation axis 101. A pull cable hook 1130 is disposed corresponding to the pull cable hole 1160 in the direction of the rotation axis 101. The pull cable hook 1130 is configured to be telescopically oriented in the direction of the rotation axis 101. The pull cable hole 1160 is used for the pull cable hook 1130 and the cable bundle pulled by the pull cable hook 1130 to pass through.

[0050] In this embodiment, the annular guide 116 and the rotating seat 114 are approximately concentric. The driving structure (e.g., a lifting cylinder or motor) for the pull hook 1130 is located below the annular guide 116. The pull hook 1130 can be driven to rise, pass through the annular guide 116 and the carrier, hook the wire harness (or winding segment) above the carrier, and then be driven to descend and pull the wire harness down. The wire harness (or winding segment) is pulled by the pull hook 1130 and, under the limiting action of the annular guide 116, extends downward approximately along the direction of the rotation axis 101 (in this embodiment, the vertical direction along the direction of gravity). This not only enables the pulling of the wire harness (or winding segment) but also ensures that the position of the wire harness (or winding segment) is approximately determined, guaranteeing that the wire harness (or winding segment) can be successfully grasped by the winding component 131 subsequently, thus improving the accuracy of the automatic winding process.

[0051] In this embodiment, one end of the pull hook 1130 is connected to a drive structure (e.g., a lifting cylinder), and the other end of the pull hook 1130 has a bending structure 1131. When the pull hook 1130 rises to the preset upper limit of its stroke, the bending structure 1131 should be at least one distance above the upper surface of the carrier to ensure that the bending structure 1131 can hook the wire harness (or winding segment) during the pull-down process. The bending structure 1131 bends downwards approximately along the direction of the rotation axis 101 to capture the wire harness (or winding segment) and drive the wire harness (or winding segment) downwards along the direction of the rotation axis 101 through the carrier and even the annular guide 116. Furthermore, the lower part of the bending structure 1131 may have an arc-shaped groove or a V-shaped groove.

[0052] Understandably, this application further defines the structure of the pull wire assembly 113 by adding an annular guide 116 arranged around the rotation axis 101. The pull wire hole 1160 on the guide constrains the movement trajectory of the wire bundle (or winding segment) pulled by the pull wire hook 1130, further ensuring the stability of the position of the pulled wire bundle (or winding segment) and facilitating the further capture of the wire bundle (or winding segment) by the winding member 131.

[0053] In this embodiment, the annular guide 116 has a contact area on its upper surface along the direction of the rotation axis 101. This contact area is the area where the annular guide 116 can easily contact the winding member 131. This area can be constructed to be smoother or more wear-resistant to avoid interference with the operation of the winding member 131, while reducing the wear between components, improving processing accuracy, reducing maintenance cycle, and ensuring effective processing time.

[0054] In one embodiment, the wire splitting mechanism 12 further includes a wire splitting drive assembly 125, which includes a first wire splitting drive component 1251 and a second wire splitting drive component 1252 with the same linear driving direction. The first wire splitting drive component 1251 is driven to be connected to the wire feeding assembly 121 and the wire breaking assembly 124, and the second wire splitting drive component 1252 is driven to be connected to the first wire splitting drive component 1251 and the wire breaking assembly 124.

[0055] In one embodiment, the wire breaking assembly 124 includes a wire breaking carrier plate 1243, a first wire breaking member 1241 movably connected to the wire breaking carrier plate 1243, and a second wire breaking member 1242 fixedly connected to the wire breaking carrier plate 1243. The wire breaking carrier plate 1243 has a clearance hole 1244 through which the conduit 1210 can move. The first wire breaking member 1241 and the second wire breaking member 1242 are respectively disposed on both sides of the clearance hole 1244. The first wire breaking member 1241 and the second wire breaking member 1242 are configured to detachably contact each other for cutting the wire bundle to obtain a wound segment.

[0056] In this embodiment, the second wire splitting drive component 1252 can drive the first wire splitting drive component 1251 and the wire breaking component 124 to move forward or backward relative to the winding mechanism 11. This is used to push the wire breaking component 124 and the wire feeding component 121 closer to the winding mechanism 11, avoiding excessively long unwound segments between the unfixed ends of the wire harness and the carrier, thus preventing material waste or unnecessary interference. The first wire splitting drive component 1251 can drive the wire feeding component 121 to move forward or backward relative to the winding mechanism 11, causing the wire feeding component 121 to extend forward through the clearance hole 1244 to be close to the winding mechanism 11 and to feed the end of the wire harness located at the front end of the wire feeding component 121 to the first position, improving the wire feeding accuracy. At the same time, after the wire harness is fixed, the first wire splitting drive component 1251 drives the wire feeding component 121 to retract through the clearance hole 1244, avoiding interference with the process of the first wire breaking component 1241 and the second wire breaking component 1242 cutting the wire harness.

[0057] In this embodiment, the wire breaking assembly 124 further includes a wire breaking drive component 1245, which is fixedly connected to the wire breaking carrier plate 1243, and the first wire breaking member 1241 is slidably connected to the wire breaking drive component 1245. The wire breaking drive component 1245 can drive the first wire breaking member 1241 to move towards the side where the second wire breaking member 1242 is located, until the first wire breaking member 1241 and the second wire breaking member 1242 contact and / or intersect, thereby cutting the wire harness. The wire breaking drive component 1245 can be a drive structure capable of outputting linear motion, such as a cylinder slide or a linear motor, which will not be described in detail here.

[0058] Understandably, the second wire-splitting drive component 1252 simultaneously drives the first wire-splitting drive component 1251 and the wire-breaking assembly 124, ensuring a precise timing relationship between the wire feeding and wire-breaking actions, and avoiding length errors caused by control delays. The wire-breaking assembly 124 employs a separable first wire-breaking component 1241 and a second wire-breaking component 1242, which, in conjunction with the clearance hole 1244 through which the guide tube 1210 passes, ensures decisive action and a clean cut when cutting is required; and complete clearance during wire feeding, achieving precise coordination and non-interference between wire feeding and wire-breaking actions, improving the reliability and efficiency of the wire-splitting mechanism 12, and providing a guarantee for the efficient operation of the entire automated winding process.

[0059] In one embodiment, the wire feeding assembly 121 includes a conduit 1210, a limiting assembly 122, and a wire feeding drive assembly 123. The limiting assembly 122 includes a positioning member 1221 and a plurality of guide wheels 1223. The positioning member 1221 has a wire-passing hole 1222. The plurality of guide wheels 1223 are spaced apart along the direction of the line connecting the wire-passing hole 1222 and the wire-entry end of the conduit 1210 and are arranged sequentially on both sides of the line connecting the wire-passing hole 1222 and the wire-entry end of the conduit 1210.

[0060] In this embodiment, the limiting component 122 further includes a wire feeding roller 1224, which is located at the tail end of the wire feeding component 121. The wire feeding roller 1224, the positioning member 1221, several guide rollers 1223, the wire feeding drive component 123, and the conduit 1210 are arranged sequentially along the wire feeding direction. Part of the wire harness begins to feed around the wire feeding roller 1224, then passes through the wire through hole 1222 and through the positioning member 1221, and is further straightened and guided by several guide rollers 1223 in an alternating manner. Subsequently, it passes through the wire feeding drive component 123 and further enters the conduit 1210 from the wire feeding end and exits the conduit 1210 from the wire output end 1212. The feed roller 1224 is used to guide the wire harness to achieve continuous and smooth wire feeding; the positioning member 1221 positions the wire harness, and several guide rollers 1223 straighten the wire harness; the feed drive assembly 123 further drives the wire harness into the conduit 1210 and transmits the wire harness to the designated position under the guidance of the conduit 1210.

[0061] Understandably, the conduit 1210 provides a partially enclosed and smooth transport channel for the wire harness, preventing interference with the external environment during transport. By sequentially passing the wire harness through the wire hole 1222 of the positioning member 1221 and the guide wheels 1223 on both sides, the wire harness before entering the conduit 1210 can be effectively pre-straightened and guided, preventing twisting, knotting, or deviation during transport. This improves the stability of the wire feeding action and the accuracy of feeding the wire to the first position, ensuring that the starting end of each winding is precisely fixed, providing a reliable guarantee for subsequent high-precision winding.

[0062] In one embodiment, the winding member 131 is in the shape of a rotating body, and the positioning groove 1311 is formed on the rotating circumferential surface of the winding member 131. The positioning groove 1311 is a concave continuous ring.

[0063] In this embodiment, the winding member 131 is generally cylindrical. In other embodiments, the winding member 131 may also be any other shape capable of rotating around an axis. In this embodiment, a positioning groove 1311 is formed on the side of the cylindrical winding member 131, and one side of the cylindrical winding member 131 is connected to the connecting rod 133 of the winding mechanism 13. The recessed positioning groove 1311 can limit the winding segment through the recessed structure, making it easier for the winding member 131 to drive the winding segment to move, while preventing the winding segment from coming off during the swinging process; the continuous annular positioning groove 1311 can capture the winding segment in multiple directions, making the winding process more accurate.

[0064] Understandably, the winding component 131 is in the shape of a rotating body, which to some extent avoids the negative impact that the spatial orientation of the winding component 131 may have on the degree of freedom of movement. The positioning groove 1311, which is a concave continuous ring on the rotating circumference, can stably and reliably hook and guide the winding segment during the winding process, preventing the winding segment from slipping or changing position during movement. This design ensures that the winding segment is stably guided during the winding process, and the path is clear and controllable, thereby ensuring that each turn of the coil can be neatly and tightly arranged on the carrier.

[0065] In other embodiments, the winding member 131 can also be a controllable electromagnetic chuck adapted to a metal winding segment; alternatively, the winding member 131 can also be a miniature pneumatic gripper with high-precision gripping function. Using a rotating winding member 131 can achieve a relatively reliable actuation process through a relatively simple structure, while using an electromagnetic chuck or a miniature pneumatic gripper can also achieve higher precision or accuracy control.

[0066] In one embodiment, the winding mechanism 13 further includes a multi-axis drive assembly 132 and a connecting rod 133. The connecting rod 133 is drivenly connected to the multi-axis drive assembly 132. The winding member 131 is disposed at the end of the connecting rod 133 facing the winding mechanism 11. The multi-axis drive assembly 132 is used to drive the winding member 131 to rise and fall at least along the direction of the rotation axis 101, and to move closer to or away from the rotation axis 101 along at least two straight directions intersecting the rotation axis 101.

[0067] In this embodiment, the multi-axis drive assembly 132 includes a first drive member 1321, a second drive member 1322, and a third drive member 1323. The first drive member 1321 drives the second drive member 1322, the third drive member 1323, the connecting rod 133, and the winding member 131 to move closer to or away from the winding mechanism 11. The first drive member 1321 can be a lead screw motor. The second drive member 1322 drives the third drive member 1323, the connecting rod 133, and the winding member 131 to rise or fall along the direction of the rotation axis 101. The second drive member 1322 can be a cylinder slide structure. The third drive member 1323 drives the winding member 131 to make a small-range offset near the carrier via the connecting rod 133, cooperating with the second drive member 1322 to enable the winding member 131 to capture the suspended winding segment.

[0068] Understandably, the multi-axis drive assembly 132 can drive the winding member 131 to achieve complex spatial movements in at least three dimensions (lifting and lowering along the axial direction, and moving closer or further away along two intersecting straight lines). This high degree of freedom of drive allows the winding member 131 to execute an optimized spatial motion trajectory according to the shape of the carrier and the requirements of the winding process, so as to smoothly and accurately rewind the winding segment. This not only greatly enhances the adaptability of the device, enabling it to perform high-quality winding for carriers of different shapes and specifications, but also makes it possible to realize more complex winding processes (such as layered winding, cross winding, etc.).

[0069] In one embodiment, the automated winding device includes at least two branching mechanisms 12 and at least two winding mechanisms 11. The rewinding mechanism 13 includes a multi-axis drive assembly 132 and at least two winding members 131. The two winding members 131 are respectively drivenly connected to a multi-axis drive assembly 132. The multi-axis drive assembly 132 is used to drive the two winding members 131 to synchronously rise or fall along the direction of the rotation axis 101, and to synchronously approach or move away from the winding mechanism 11 along a straight line direction intersecting the rotation axis 101. The multi-axis drive assembly 132 is also used to drive the two winding members 131 to synchronously approach or move away from the two winding mechanisms 11 on opposite sides along another straight line direction intersecting the rotation axis 101. A wire splitting mechanism 12, a wire winding mechanism 11, and a wire winding element 131 cooperate to wind a portion of the wire on the carrier (e.g., winding a wire harness end on one half of a continuous arc of the annular carrier). Another wire splitting mechanism 12, another wire winding mechanism 11, and another wire winding element 131 cooperate to wind another portion of the wire on the carrier (e.g., winding another wire harness end on the other half of a continuous arc of the annular carrier).

[0070] In this embodiment, at least two winding mechanisms 11 are arranged sequentially at intervals approximately along the central axis of the automated winding device, with a gap maintained between adjacent winding mechanisms 11 to prevent interference during the rotation of the clamping component 112. At least two wire-splitting mechanisms 12 are located on the same side of the at least two winding mechanisms 11, and the at least two wire-splitting mechanisms 12 can share a second wire-splitting drive component 1252. Multiple wire-breaking components 124 are connected via a wire-breaking connecting plate 1246, improving the consistency of wire-splitting actions and increasing winding accuracy. At least two winding members 131 are respectively connected to different sliders of a third drive member 1323 via two connecting rods 133. The third drive member 1323 can drive the two winding members 131 to move on opposite sides along the same straight direction. That is, the two winding members 131 can be generally arranged between the two winding mechanisms 11. When the number of winding members 131 is even, they can be arranged in pairs according to the above structure. When the number of winding members 131 is odd, one winding mechanism 11 can be equipped with only one winding member 131. Those skilled in the art will understand that this is certainly achievable.

[0071] Understandably, the automated winding device includes at least two independent branching mechanisms 12 and winding mechanisms 11. By setting at least two branching mechanisms 12 and two winding mechanisms 11, and synchronously driving at least two winding components 131 by a multi-axis drive assembly 132, parallel or continuous winding operations are achieved. For example, when one station is winding, another station can perform the winding simultaneously or continue the previous process. This multi-station collaborative work scheme greatly improves overall production efficiency and equipment utilization, meeting the needs of large-scale, high-cycle production. At the same time, the design of driving at least two winding components 131 with a multi-axis drive assembly 132 avoids equipping each station with an expensive and complex multi-axis drive system, reducing equipment costs and complexity. The specific synchronous movements (synchronous lifting, synchronous translation in one direction, and opposite translation in the other direction) performed by the multi-axis drive assembly 132 driving the two winding components 131 are motion modes tailored for dual-station collaborative operations, enabling the most efficient completion of the winding tasks of the two stations.

[0072] In one embodiment, the loading mechanism 14 includes a loading position 141 for placing a carrier, and the transfer mechanism 15 includes a transfer drive assembly 151 and at least three grippers 152. The at least three grippers 152 are drivenly connected to the transfer drive assembly 151 and configured to move synchronously. One gripper 152 is used to grip a carrier located at the loading position 141, another gripper 152 is used to grip a carrier located at a winding mechanism 11, and yet another gripper 152 is used to grip a carrier located at another winding mechanism 11. The transfer drive assembly 151 is used to drive the three grippers 152 to move synchronously up and down or translate.

[0073] In this embodiment, the feeding mechanism 14 may include a storage cavity for storing multiple carriers and a chute for sequentially conveying the multiple carriers to the feeding position 141, ensuring that at least one carrier is provided at the feeding position 141 when there is no shortage of material. The feeding position 141 may be arranged at intervals along the same direction as the multiple winding mechanisms 11 and is located on one side of the multiple winding mechanisms 11.

[0074] In this embodiment, the transfer mechanism 15 further includes a transfer bracket 153, which is drivenly connected to the transfer drive assembly 151. At least three grippers 152 are respectively connected to the transfer bracket 153 and are arranged at intervals along the same direction as the arrangement direction of the plurality of winding mechanisms 11. The at least three grippers 152 are suspended above the loading position 141 and the plurality of winding mechanisms 11. The transfer drive assembly 151 drives the at least three grippers 152 to descend via the transfer bracket 153 and grip blank carriers and / or partially wound carriers and / or completed wound carriers. The transfer drive assembly 151 can further drive the at least three grippers 152 to translate along the same direction as the arrangement direction of the plurality of winding mechanisms 11 via the transfer bracket 153, for realizing the transfer of carriers between the loading position 141 and the winding mechanism 11, and / or the transfer of carriers between one winding mechanism 11 and another winding mechanism 11.

[0075] In other embodiments, in addition to the three grippers 152 for transferring the carrier, at least one wire cutter 154 may be included, which is used to cut off the excess portion of the winding segment on the carrier after the winding action on the carrier is completed.

[0076] Understandably, the transfer drive component 151 drives multiple grippers 152 to move synchronously. These three grippers 152 correspond to the loading position 141, one winding mechanism 11, and another winding mechanism 11, respectively. Through a single synchronous lifting or translating operation, the transfer mechanism 15 can simultaneously: grab a new workpiece from the unprocessed area, grab a semi-finished / finished product from station one (corresponding to one winding mechanism 11), and grab a finished product from station two (corresponding to another winding mechanism 11). In the next operation, it simultaneously completes: placing the new workpiece into station one, placing the semi-finished product into station two, and placing the finished product into the finished product area. This solution solves the technical problems of low automation and reliance on manual loading, unloading, and transfer in existing technologies by realizing the automatic flow of workpieces between stations. By integrating loading, multi-station winding, and unloading into a fully automated production line operation, it further improves the production cycle time and the overall automation level of the line.

[0077] Further integration Figure 6 As shown, this application also provides a winding method, which is applied to the automated winding device as described in any of the foregoing embodiments. The winding method includes the following steps: The clamping component 111 clamps and fixes the carrier 2; The wire feeding assembly 121 drives the end of the wire harness 3 to the first position, and the wire clamping component 112 fixes the end of the wire harness 3. Raise the pull hook 1130 above the wire harness 3, then pull the pull hook 1130 down and pull the wire harness 3, causing a section of the wire harness 3 to come out of the wire feeding assembly 121; The wire breaking assembly 124 cuts the wire harness 3 to form a winding segment 31 with a predetermined length, and the wire splitting mechanism 12 retracts and resets. The winding component 131 begins to be driven to pull the winding segment 31 located below the carrier 2, causing the winding segment 31 to wrap back around the carrier 2 away from the side where the pull hook 1130 is located and move to the top of the carrier 2 to complete one turn of winding. The pull hook 1130 rises again and pulls the winding segment 31 downward. The winding component 131 is driven to start moving again and pulls the winding segment 31 back to complete the second turn of winding. This process is repeated until the winding segment 31 is completed.

[0078] In this embodiment, the specific steps of the winding method can be further described as follows: Step S1: Initial loading, the wire harness 3 is sequentially fed to the wire inlet drive assembly 123 via the wire inlet roller 1224, the positioning member 1221 and the guide roller 1223 of the limiting assembly 122, and the wire harness 3 is driven by the wire inlet drive assembly 123 to enter the conduit 1210 from the wire inlet end and exit the conduit 1210 from the wire outlet end 1212; Initial feeding, a certain number of carriers 2 are added to the feeding mechanism 14, and the feeding position 141 has at least one carrier 2.

[0079] Step S2: At least one gripper 152 of the transfer mechanism 15 is driven down by the transfer drive assembly 151 and grabs a carrier 2 at the loading position 141. Then the gripper 152 is driven up by the transfer drive assembly 151. The transfer drive assembly 151 further drives the transfer bracket 153 to move the gripper 152 horizontally so that it reaches above the winding mechanism 11. The transfer drive assembly 151 drives the gripper 152 down again so that the carrier 2 is located at the clamping position of the clamping component 111.

[0080] Step S3: The clamping drive unit 1113 drives the first clamping arm 1111 and the second clamping arm 1112 to clamp the carrier 2, and the transfer drive assembly 151 drives the gripper 152 to rise and reset.

[0081] Step S4: The rotation drive assembly 115 drives the rotating seat 114 to rotate, and the rotating seat 114 drives the clamping assembly 110 to rotate, so that the clamping end 1121 of the clamping component 112 moves to the first position; the clamping drive part 1122 drives the clamping end 1121 to switch to the open state.

[0082] Step S5: The wire splitting drive assembly 125 drives the wire feeding assembly 121 and the wire breaking assembly 124 to extend toward the winding mechanism 11, so that the end of the wire harness 3 located at the front end of the conduit 1210 reaches the first position.

[0083] Step S6: The wire clamping drive unit 1122 drives the wire clamping end 1121 to switch to the clamping state, so that the wire clamping end 1121 fixes one end of the wire harness 3.

[0084] Step S7: Further integration Figure 7 As shown, the pull hook 1130 is driven to rise until the bending structure 1131 is higher than the carrier 2 and the wire harness 3. Then, the pull hook 1130 is driven to descend and hook the wire harness 3. The pull hook 1130 continues to descend and pulls the wire harness 3 through the pull hole 1160 of the annular guide 116. When the pulled wire harness 3 reaches the predetermined length, the pull hook 1130 stops descending, and the second wire splitting drive component 1252 drives the wire feeding assembly 121 to retract, causing the guide tube 1210 to exit the clearance hole. Simultaneously, the wire harness 3 is kept passing through the clearance hole 1244. The wire breaking drive component 1245 drives the first wire breaking component 1241 to descend and cooperate with the second wire breaking component 1242 to cut the wire harness 3 to obtain a winding segment 31 of suitable length. The first wire splitting drive component 1251 drives the wire breaking assembly 124 to retract and avoid the clearance hole. The pull hook 1130 continues to descend a certain distance and pulls the winding segment 31 so that the winding segment 31 is generally in a vertical position passing through the annular guide 116.

[0085] Step S8: Further integration Figure 8 As shown, the first driving member 1321 drives the second driving member 1322, the third driving member 1323, and the winding member 131 to move closer to the winding mechanism 11, so that the wire harness 3 is located between the winding member 131 and the multi-axis drive assembly 132; the second driving member 1322 drives the third driving member 1323 and the winding member 131 to descend along the direction of the rotation axis 101, so that the winding member 131 is located between the carrier 2 and the annular guide member 116; further combined Figure 9 As shown, the third drive member 1323 drives the winding member 131 to approach the wire harness 3 from the side via the connecting rod 133, and places the wire harness 3 on the path of the winding wheel being driven to retract by the first drive member 1321.

[0086] Step S9: Further integration Figure 10 As shown, the first driving member 1321 drives the winding member 131 to retract, so that the winding member 131 and the carrier 2 are offset in the vertical direction; during the retraction of the winding member 131, the wire harness 3 is limited by the positioning groove 1311 and follows the offset of the winding member 131.

[0087] Step S10: Further integration Figure 10As shown, the second drive member 1322 drives the winding member 131 to rise to a position higher than the carrier 2 in the vertical direction, and then the first drive assembly drives the winding member 131 to extend forward, so that at least a portion of the winding segment 31 is wound back from below the carrier 2 to above the carrier 2. Step S11: The pull hook 1130 is driven to rise to the upper surface of the overload member 2, and then the pull hook 1130 is driven to descend and hook the wire harness 3 while the rotating seat 114 rotates synchronously at a predetermined angle. The pull hook 1130 continues to descend and pulls the wire harness 3 to cross the carrier 2 in the vertical direction to complete one turn of winding. The first driving member 1321 drives the winding member 131 to retract in the direction away from the carrier 2, so that the winding member 131 and the carrier 2 are offset in the vertical direction.

[0088] Step S12: Repeat steps S8 to S11 until the winding action of a winding segment 31 on the carrier 2 is completed.

[0089] Step S13: The wire clamping drive unit 1122 drives the wire clamping end 1121 to switch to the open state. The gripper 152 is driven by the transfer drive component 151 to descend and grip a carrier 2 with a wound wire segment 31. The clamping drive unit 1113 drives the first clamping arm 1111 and the second clamping arm 1112 to release the carrier 2. Subsequently, the gripper 152 is driven by the transfer drive component 151 to rise and move horizontally to complete the unloading or station switching.

[0090] When the winding mechanism 11 includes multiple winding mechanisms 11, the rewinding mechanism 13 includes a multi-axis drive assembly 132 and at least two winding members 131. A second drive member 1322 drives the two winding members 131 to rise or fall synchronously. A first drive member 1321 drives the two winding members 131 to move closer or further away from the winding mechanism 11 along a straight line direction intersecting the rotation axis 101. A third drive member 1323 drives the two winding members 131 to move closer or further away from the two winding mechanisms 11 synchronously on opposite sides along another straight line direction intersecting the rotation axis 101. A second wire-splitting drive member 1252 can simultaneously drive multiple wire-breaking assemblies 124 and multiple wire-feeding assemblies 121 to move forward or backward relative to their respective corresponding winding mechanisms 11. Multiple first wire-splitting drive members 1251 can each drive multiple wire-feeding assemblies 121 to move forward or backward relative to their respective corresponding winding mechanisms 11. A wire splitting mechanism 12, a winding mechanism 11, and a winding element 131 cooperate to wind a portion of the wire harness 3 on the carrier 2. Another wire splitting mechanism 12, another winding mechanism 11, and another winding element 131 cooperate to wind another portion of the wire harness 3 on the carrier 2. At least three grippers 152 and a transfer drive assembly 151 are drivenly connected via a transfer bracket 153 and configured to move synchronously. One gripper 152 is used to grip the carrier 2 located at the loading position 141, another gripper 152 is used to grip the carrier 2 located at a winding mechanism 11, and yet another gripper 152 is used to grip the carrier 2 located at another winding mechanism 11. The transfer drive assembly 151 is used to drive the three grippers 152 to move synchronously up and down or translate. That is, multiple winding mechanisms 11 can wind wire synchronously, and the carrier 2 can be transferred synchronously by a transfer mechanism 15 when the winding is paused or finished.

[0091] Understandable. Figures 8 to 10 The dotted line indicates the winding member 131, which is a schematic diagram of at least one position state of the winding member 131 during the dynamic change process shown in the solid line.

[0092] The winding method protected in this application clearly embodies the core process flow of "wire feeding and fixing - wire hook pulling - wire breaking - winding component rewinding". This method replaces the traditional large-radius winding method using a flying fork by coordinating the linear pulling of the wire hook 1130 and the spatial rewinding of the winding component 131. This optimized combination of steps also solves the technical problem of poor winding accuracy and quality caused by the large moment of inertia and significant vibration of the winding mechanism 11 in the prior art. Furthermore, each turn of winding is completed by stable and precise pulling and rewinding actions, ensuring uniform wire tension and neat arrangement, thereby enabling the stable production of high-quality, highly consistent coil products. Simultaneously, the efficient and tightly connected actions of each step also improve the overall efficiency of the winding cycle.

[0093] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automated wire wrapping device for wrapping a wire harness on a carrier, characterized by, The automatic winding device comprises: a wire separating mechanism (12) comprising a wire feeding assembly (121) and a wire cutting assembly (124) movably arranged respectively, the wire feeding assembly (121) is used to drive the end of the wire harness to move to a first position, and the wire cutting assembly (124) is used to cut the continuous wire harness to form a plurality of winding segments; a winding mechanism (11) comprising a clamping assembly (110) and a wire pulling assembly (113) movably arranged respectively, the clamping assembly (110) comprises a clamping part (111) and a wire clamping part (112) movably arranged, the clamping part (111) is used to clamp the carrier and drive the carrier to rotate around a rotating axis (101), the wire clamping part (112) is used to fix the end of the wire harness at the first position, and the wire pulling assembly (113) comprises a wire pulling hook (1130) telescopically arranged along the direction of the rotating axis (101), and the wire pulling hook (1130) is used to drive the winding segment to move from one side of the carrier to the other side along the direction of the rotating axis (101) through a bending structure (1131). a rewinding mechanism (13) comprising a winding part (131) movably arranged, the winding part (131) is provided with a positioning groove (1311), and the winding part (131) is used to drive the winding segment to rewind to one side of the carrier from the other side of the carrier through the positioning groove (1311).

2. The automated wire winding device of claim 1, wherein: The wire feeding assembly (121) comprises a guide pipe (1210) and a limiting assembly (122), the limiting assembly (122) comprises a positioning part (1221) and a plurality of guide wheels (1223), the positioning part (1221) is provided with a wire passing hole (1222), and the plurality of guide wheels (1223) are arranged at intervals along the direction of the wire passing hole (1222) and the connecting line between the wire passing hole (1222) and the wire inlet end of the guide pipe (1210) on both sides of the connecting line.

3. The automated wire winding device of claim 2, wherein: The wire separating mechanism (12) further comprises a wire separating driving assembly (125), the wire separating driving assembly (125) comprises first and second wire separating driving parts (1251) and (1252) with the same linear driving direction, the first wire separating driving part (1251) is drivingly connected with the wire feeding assembly (121), the second wire separating driving part (1252) is drivingly connected with the first wire separating driving part (1251) and the wire cutting assembly (124), the wire cutting assembly (124) comprises a wire cutting carrier plate (1243), a first wire cutting part (1241) movably connected with the wire cutting carrier plate (1243), and a second wire cutting part (1242) fixedly connected with the wire cutting carrier plate (1243), the wire cutting carrier plate (1243) is provided with an avoiding hole (1244) through which the guide pipe (1210) movably passes, the first and second wire cutting parts (1241) and (1242) are arranged on both sides of the avoiding hole (1244) respectively, and the first and second wire cutting parts (1241) and (1242) are configured to be separably contacted for cutting the wire harness.

4. The automated wire winding device of claim 1, wherein: The winding mechanism (11) further comprises a rotating seat (114) arranged to rotate around the rotating axis (101), the clamping component (111) and the wire clamping component (112) are connected with the rotating seat (114) and can rotate with the rotating seat (114); the clamping component (111) comprises a first clamping arm (1111) and a second clamping arm (1112) extending towards the direction of the rotating axis (101), the first clamping arm (1111) and the second clamping arm (1112) are used to clamp the carrier and drive the carrier to move around the rotating axis (101); the wire clamping component (112) comprises a wire clamping end (1121) arranged to be opened and closed, the wire clamping end (1121) is arranged on the same side of the first clamping arm (1111) and the second clamping arm (1112) in clamping cooperation, and the wire clamping end (1121) is used to fix one end of the wire harness.

5. The automated wire winding device of claim 4, wherein: The pull wire assembly (113) further comprises a fixed annular guide (116) arranged in the rotating seat (114); the annular guide (116) is arranged around the rotating axis (101) and has a pull wire hole (1160) opened in the direction of the rotating axis (101), the pull wire hook (1130) is arranged in the direction of the rotating axis (101) corresponding to the pull wire hole (1160), the pull wire hook (1130) is configured to be arranged to be telescopic in the direction of the rotating axis (101), and the pull wire hole (1160) is used for the pull wire hook (1130) and the wire harness pulled by the pull wire hook (1130) to pass through.

6. The automated wire winding device of claim 1, wherein: The winding mechanism (11) further comprises a rotating seat (114) arranged to rotate around the rotating axis (101), the clamping component (111) and the wire clamping component (112) are connected with the rotating seat (114) and can rotate with the rotating seat (114); the clamping component (111) comprises a first clamping arm (1111) and a second clamping arm (1112) extending towards the direction of the rotating axis (101), the first clamping arm (1111) and the second clamping arm (1112) are used to clamp the carrier and drive the carrier to move around the rotating axis (101); the wire clamping component (112) comprises a wire clamping end (1121) arranged to be opened and closed, the wire clamping end (1121) is arranged on the same side of the first clamping arm (1111) and the second clamping arm (1112) in clamping cooperation, and the wire clamping end (1121) is used to fix one end of the wire harness.

7. The automated wire winding device of claim 6, wherein: The winding component (131) is in the shape of a rotary body, and the positioning groove (1311) is arranged on the rotary peripheral surface of the winding component (131), and the positioning groove (1311) is in the shape of a concave continuous ring.

8. The automated wire winding device of claim 1, wherein: The automatic winding device comprises at least two of the wire separating mechanisms (12) and at least two of the winding mechanisms (11), the rewinding mechanism (13) comprises a multi-axis driving assembly (132) and at least two of the winding members (131), the multi-axis driving assembly (132) is drivingly connected with the winding members (131) respectively, the multi-axis driving assembly (132) is used to drive the winding members (131) to ascend or descend synchronously along the direction of the rotation axis (101) and to approach or move away from the winding mechanisms (11) along a straight line direction intersecting with the rotation axis (101) synchronously, and the multi-axis driving assembly (132) is also used to drive the winding members (131) to approach or move away from the winding mechanisms (11) on the opposite sides along another straight line direction intersecting with the rotation axis (101) respectively; one of the wire separating mechanisms (12), one of the winding mechanisms (11) and one of the winding members (131) are matched to wind part of the wire harness on the carrier, and the other wire separating mechanism (12), the other winding mechanism (11) and the other winding member (131) are matched to wind another part of the wire harness on the carrier.

9. The automated wire winding device of claim 8, wherein: The automatic winding device further comprises a feeding mechanism (14) and a transfer mechanism (15), the feeding mechanism (14) comprises a feeding position (141) for placing the carrier, the transfer mechanism (15) comprises a transfer driving assembly (151) and at least three gripping clamps (152), the gripping clamps (152) are drivingly connected with the transfer driving assembly (151) and are configured to move synchronously; one of the gripping clamps (152) is used to grab the carrier located at the feeding position (141), another of the gripping clamps (152) is used to grab the carrier located at one of the winding mechanisms (11), and the other gripping clamp (152) is used to grab the carrier located at the other winding mechanism (11), and the transfer driving assembly (151) is used to drive the three gripping clamps (152) to ascend or descend or translate synchronously.

10. A winding method, characterized by, The application applies the automatic winding device as claimed in any one of claims 1 to 9, and the winding method comprises the following steps: The clamp member (111) clamps and fixes the carrier; The wire feeding assembly (121) drives one end of the wire harness to move to the first position, and the wire clamping member (112) fixes one end of the wire harness; The wire pulling hook (1130) is raised above the wire harness, and then the wire pulling hook (1130) is pulled down and pulls the wire harness, so that a section of the wire harness is separated from the wire feeding assembly (121); The wire cutting assembly (124) cuts the wire harness to form a winding section with a predetermined length, and the wire separating mechanism (12) is reset; The winding member (131) starts to be driven to pull the winding section below the carrier, so that the winding section is rewound away from the side where the wire pulling hook (1130) is located and moves above the carrier to complete a winding. The pull hook (1130) rises again and pulls the winding section downward, the winding member (131) starts to be driven again and pulls the winding section to complete the second winding, and the process is repeated until the winding section is wound completely.

Images