Two-color casing winding and rubber coating machine

Abstract

The invention discloses a two-color casing-threading, winding and gluing machine; it comprises a frame, a main controller, a wire feeding mechanism, a two-color tube feeding mechanism, a casing-threading mechanism, a wire winding and casing-wrapping mechanism, a gluing mechanism and a casing-mouth expansion mechanism; the two-color tube feeding mechanism comprises a second guide tube, a third guide tube, a second feeding pair of rollers, a third feeding pair of rollers and a two-color guide tube head connected to the casing-threading mechanism for converging a tube A and a tube B; the beneficial effect is that the invention can automatically wind a coil skeleton, automatically wrap a two-color casing and automatically gluing, the whole flow operation has good continuity and sustainability, so that the coil skeleton assembly production cycle can be greatly shortened, the casing-mouth expansion mechanism is used to expand the rear end tube mouth of the casing, so that it is convenient for the wire to be threaded, the tube A and the tube B guided out through the two-color guide tube head can both enter the casing clamping groove of the casing-threading mechanism well, eliminating the need to move the position of the casing clamping groove, so that the displacement deviation that causes the wire to be difficult to thread can be avoided.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, in particular to a two-color bushing winding and rubber coating machine. Background Art

[0002] In daily life, coil skeletons such as transformers are often used. During the assembly production process, after the outer wire is wound to form a coil, it is necessary to wrap the wound coil with glue. Before winding, two different colored sleeves are required to be passed through the wire. First, one colored sleeve is fixed on the positive pin of the corresponding coil skeleton, and then the wire is wound. After the winding is completed, the other colored sleeve is fixed on the negative pin of the corresponding coil skeleton to mark and distinguish the positive and negative pins of the corresponding coil skeleton for subsequent wiring.

[0003] For the sleeve threading operation, a two-color sleeve threading machine is generally required, for the wire winding operation and the sleeve wrapping operation, a winding and sleeve wrapping equipment is generally required, and for the tape wrapping operation, a wrapping mechanism is generally required. In this way, for each of the above processes, the work is independent and cannot be connected together, that is, after the two-color sleeve threading machine is used to thread two sleeves of different colors on the wire, it is necessary to unload the material, and then manually feed the wire with the two-color sleeve to the winding and sleeve wrapping equipment for coil skeleton winding and sleeve wrapping. After the coil skeleton winding and sleeve wrapping are completed, it is necessary to unload the material to the wrapping machine for tape wrapping. As a result, the entire assembly line operation will be constantly interrupted, making the assembly line operation discontinuous, and then it is impossible to effectively improve the efficiency of sleeve threading, winding, wrapping and wrapping, so that the coil skeleton assembly production cycle is long, and the labor cost and time cost are greatly increased.

[0004] At the same time, for the existing two-color casing threading machine, when threading the wire through the casing made of relatively soft material, the rear end of the casing made of relatively soft material is cut off by the cutter, so that the rear end of the pipe mouth is bound to have burrs and is easily deformed to form a shrinkage, making it difficult for the wire to be inserted.

[0005] In addition, when the sleeve is being threaded, the sleeve clamping groove of the sleeve threading mechanism needs to be moved to a first position to clamp the introduced first sleeve and needs to be moved to a second position to clamp the introduced second sleeve. If the movement position of the sleeve clamping groove of the sleeve threading mechanism is not accurate enough, it is easy to be out of position, resulting in the first sleeve to be introduced and / or the second sleeve to be introduced not being able to be located exactly in the sleeve clamping groove, making the subsequent insertion of the wire more likely to fail.

[0006] Therefore, in view of the above situation, it is very necessary to design a two-color casing threading, winding and rubber coating machine with good casing threading effect and integrated two-color casing threading function, winding function, casing tightening function and rubber coating function. Summary of the invention

[0007] The object of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a two-color sleeve winding and rubber coating machine.

[0008] The technical solution adopted by the present invention to solve the existing technical problems is: a two-color sleeve winding and rubber coating machine, including a frame and a main controller arranged on the frame, and also including:

[0009] Wire feeding mechanism; the wire feeding mechanism is connected to the main controller and is used to feed the wire material forward;

[0010] Two-color tube feeding mechanism; the two-color tube feeding mechanism is connected to the main controller, arranged beside the wire feeding mechanism, and used to feed two colors of tubes forward;

[0011] The sleeve inserting mechanism is connected to the main controller and is arranged at the front side of the wire feeding mechanism and the two-color tube feeding mechanism, and is used to cut the two-color tubes conveyed forward by the two-color tube feeding mechanism to form two sections of sleeves of different colors and insert the two sections of sleeves of different colors onto the wires conveyed forward by the wire feeding mechanism;

[0012] A wire winding and sleeve winding mechanism; the wire winding and sleeve winding mechanism is connected to the main controller, and includes a wire pulling mechanism arranged in the wire conveying direction for positioning and straightening the wire, and a multi-axis manipulator arranged on the left side of the wire pulling mechanism in the left and right directions for grabbing the coil skeleton; the multi-axis manipulator is used to drive the coil skeleton to rotate around the R axis to wind the wire into the wire groove of the coil skeleton to form a coil, and to drive the coil skeleton to move along the X, Y, and Z axes to wind the two sections of sleeves of different colors onto the two pins of the coil skeleton respectively;

[0013] The rubber wrapping mechanism is connected to the main controller and is arranged in front of the wire pulling mechanism to wrap at least one layer of insulating tape on the coil surface of the coil frame after winding through the sleeve.

[0014] The above technical solution is further explained below:

[0015] Preferably, it also includes a cannula opening expansion mechanism;

[0016] A pipe insertion base is fixedly arranged at the right rear of the upper end face of the frame; a pipeline seat is stacked on the rear side of the upper end face of the pipe insertion base; and the casing insertion mechanism is arranged on the front side of the upper end face of the pipe insertion base;

[0017] The casing opening expansion mechanism includes a cylinder transmission linear module connected to the main controller and fixed to the right end surface of the pipeline seat in the front-to-back direction, a connecting plate fixed to the front end of the cylinder transmission linear module and capable of moving forward and backward under the drive of the cylinder transmission linear module, and a casing opening expansion needle with a diameter gradually decreasing from back to front and installed on the connecting plate in the front-to-back direction; the connecting plate is located on the front end surface of the pipeline seat; the casing opening expansion needle is directly opposite to the casing insertion mechanism;

[0018] When the sleeve threading mechanism cuts the two colors of pipes conveyed forward by the two-color pipe feeding mechanism to form two sections of sleeves with different colors, the cylinder transmission linear module can drive the connecting plate to drive the sleeve opening expansion needle to move forward and insert it into the rear ends of the two sections of sleeves with different colors one by one, so as to expand the rear end pipe openings of the two sections of sleeves with different colors one by one.

[0019] Preferably, the wire feeding mechanism and the two-color tube feeding mechanism are fixed parallel to the upper end surface of the pipeline seat from left to right;

[0020] The wire feeding mechanism comprises a first guide tube whose front end is connected to the rear end of the sleeve threading mechanism and a first feeding roller member connected to the main controller for driving the wire to move forward in the first guide tube;

[0021] The two-color tube feeding mechanism includes a second conduit, a third conduit, a second feeding roller connected to the main controller for driving the tube A to move forward in the second conduit, a third feeding roller connected to the main controller for driving the tube B of a color different from the tube A to move forward in the third conduit, and a two-color conduit head for converging the tubes A and B, the diameters of which gradually decrease from the back to the front and the front end of which is connected to the rear end of the sleeve threading mechanism;

[0022] The front end of the second catheter is flush with and close to the front end of the third catheter, and is connected with the rear end opening of the two-color catheter head; the second feeding roller pair and the third feeding roller pair are used to drive the pipe A along the two-color catheter head into the sleeve threading mechanism in a corresponding order so that it can be cut off by the sleeve threading mechanism to form a section of sleeve A and drive the pipe B along the two-color catheter head into the sleeve threading mechanism so that it can be cut off by the sleeve threading mechanism to form a section of sleeve B.

[0023] Preferably, the sleeve insertion mechanism comprises a slide rail arranged on the front side of the upper end face of the sleeve insertion base in the left-right direction, a base fixed on the slide rail and capable of sliding left-right, a clamping device connected to the main controller and installed on the base in the front-back direction and capable of opening / closing to clamp the sleeve A and the sleeve B, a pushing cylinder connected to the main controller and used for pushing the base to move along the slide rail between the first position and the second position, and a pipe cutting component connected to the main controller and arranged between the clamping device and the two-color catheter head and used for cutting the pipe A to form the sleeve A and for cutting the pipe B to form the sleeve B;

[0024] The clamping device has a sleeve clamping groove arranged along the front-back direction for clamping the sleeve A and the sleeve B;

[0025] When the clamping device is located at the first position, the axis of the two-color catheter head coincides with the axis of the sleeve clamping groove; when the clamping device is located at the second position, the axis of the first catheter coincides with the axis of the sleeve clamping groove.

[0026] Preferably, the wire pulling mechanism comprises:

[0027] A wire clamp, used to clamp or loosen the wire;

[0028] A guide needle clamp, wherein the guide needle clamp and the wire clamp are arranged side by side in the conveying direction for the wire to pass through; when the multi-axis manipulator drives the coil frame to move along the X, Y, and Z axes, the pins of the coil frame move around the guide needle clamp to wrap the sleeve on the wire around the pins of the coil frame;

[0029] A movable seat, on which the wire clamp and the guide needle clamp are arranged;

[0030] A moving drive device is connected to the moving seat and is used to drive the moving seat to move along the X-axis so that the wire clamp can straighten the wire after clamping it.

[0031] Preferably, the wire pulling mechanism further comprises:

[0032] A rotating seat, on which the wire clamp and the guide needle clamp are fixedly mounted;

[0033] A rotation drive device, the rotation drive device is connected to the rotating seat and fixed to the moving seat, and is used to drive the rotating seat to rotate 180 degrees relative to the moving seat and switch between position A and position B, so that the positions of the wire clamp and the guide needle clamp are interchanged;

[0034] When the rotating seat is located at the position A, the multi-axis manipulator is configured to drive the coil frame to move around the guide pin clamp to wrap the sleeve A sleeved on the wire around a pin of the coil frame;

[0035] When the rotating seat is located at the position B, the multi-axis manipulator is configured to drive the coil frame to move around the guide pin clamp to wrap the sleeve B sleeved on the wire around another pin of the coil frame.

[0036] Preferably, the guide needle clamp comprises a guide needle clamp block A, a guide needle clamp block B and a finger cylinder;

[0037] The guide needle clamp block A and the guide needle clamp block B are arranged opposite to each other, and the guide needle clamp block A is formed with a first mouth extending along the conveying direction, and the guide needle clamp block B is formed with a second mouth extending along the conveying direction;

[0038] The finger cylinder drives the guide needle clamp A and the guide needle clamp B to move toward each other and close or move away from each other and open; when the guide needle clamp A and the guide needle clamp B move toward each other and close, a wire passing hole is defined between the first mouth and the second mouth, and the diameter of the wire passing hole is larger than the diameter of the wire and smaller than the outer diameter of the sleeve A and the outer diameter of the sleeve B.

[0039] Preferably, the wire pulling mechanism further comprises a wire cutting assembly, and the wire cutting assembly and the wire clamp are arranged side by side in the conveying direction for cutting the wire.

[0040] Preferably, the multi-axis manipulator comprises a manipulator arm and a multi-axis motion mechanism;

[0041] The robotic arm has a plug-in portion, which is suitable for plugging into the coil frame; the multi-axis motion mechanism is connected to the robotic arm to drive the robotic arm to move along the X-axis, Y-axis, and Z-axis and pivot around the R-axis, and the R-axis coincides with the coil axis.

[0042] Preferably, the encapsulation mechanism comprises:

[0043] A guide wheel for the tape to pass around;

[0044] Tape clip, used to clamp or loosen the tape;

[0045] A lifting drive device, the lifting drive device is connected to the tape clamp and is used to drive the tape clamp to move up and down, so that the tape clamp can stretch the tape after clamping it;

[0046] A top wheel assembly, the top wheel assembly is arranged on one side of the tape clamp, and is used to press the stretched tape against the coil surface of the coil frame, so that the tape adheres to the coil surface of the coil frame;

[0047] A cutter assembly is arranged on one side of the tape clamp and is used for cutting the tape.

[0048] A belt pressing assembly is arranged on one side of the guide wheel and is used to press the adhesive tape onto the guide wheel when the adhesive tape needs to be cut.

[0049] The beneficial effects of the present invention are:

[0050] First, a two-color sleeve threading, winding and rubber coating machine provided by the present invention, in specific implementation, on the one hand, is provided with a wire feeding mechanism, a two-color tube feeding mechanism, a sleeve threading mechanism, a winding and sleeve winding mechanism, and a rubber coating mechanism, so that it can continuously realize wire feeding, two-color tube feeding and two-color sleeve threading, and can automatically wind the coil skeleton and automatically wind the sleeve, and can automatically rubber coat the coil skeleton after winding and sleeve winding. In this process, there is no need to repeatedly load and unload the coil skeleton, so that the entire flow operation is continuous and uninterrupted, so that the operation efficiency of wearing two-color sleeves, winding, winding sleeves and rubber coating can be effectively improved, so that the coil skeleton assembly production cycle can be greatly shortened, and the labor cost and time cost can be greatly reduced. On the other hand, the sleeve mouth expansion mechanism provided can be used to remove the burrs at the rear end mouths of the two sections of sleeves of different colors one by one and expand their mouths, so that it is more convenient to insert the subsequent wire, and in the provided two-color tube feeding mechanism, its The two-color catheter head is convenient for gathering the tube A conveyed forward through the second catheter and for gathering the tube B conveyed forward through the third catheter. When the front end of the two-color catheter head is aligned with the sleeve clamping groove of the sleeve threading mechanism, the tube A and the tube B guided out through the two-color catheter head can enter the sleeve clamping groove of the sleeve threading mechanism through the front end thereof. Compared with the traditional two-color sleeve threading mechanism, it is unnecessary to move the position of the sleeve clamping groove when threading the sleeve, so as to avoid the displacement deviation caused by the position movement, which makes it difficult for the wire to be inserted. In other words, when the tube A and the tube B are inserted, the present application does not need to move the sleeve clamping groove of the sleeve threading mechanism, as long as it is aligned with the front end of the two-color catheter head. Then, through the synergistic effect of the sleeve mouth expansion mechanism, the present application can effectively ensure that the wire is inserted into the sleeve A and the sleeve B at one time without failure, so that the present application has good operational reliability and stability. Furthermore, the present application has strong practicality and good use effect, and can be widely popularized and effectively promoted. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the overall structure of the double-color sleeve winding and rubber coating machine of the present invention;

[0052] Figure 2 It is a schematic diagram of the overall structure in which the wire feeding mechanism, the two-color tube feeding mechanism, the casing threading mechanism and the casing opening expansion mechanism are fixed to the pipeline seat in this embodiment;

[0053] Figure 3 is a schematic diagram of the overall structure of the sleeve threading mechanism in this embodiment;

[0054] Figure 4 yes Figure 3 A magnified view of middle;

[0055] Figure 5 is a schematic diagram of the overall structure of the wire pulling mechanism in this embodiment;

[0056] Figure 6 is a schematic diagram of the overall structure of the multi-axis manipulator in this embodiment;

[0057] Figure 7 In this embodiment, the overall structure of the encapsulation mechanism is shown in FIG. Figure 1 ;

[0058] Figure 8 In this embodiment, the overall structure of the encapsulation mechanism is shown in FIG. Figure 2 ;

[0059] Fig. 9 is an exploded view of the encapsulation mechanism in this embodiment;

[0060] Fig.10 It is a partial structural schematic diagram of the rubber encapsulation mechanism in this embodiment;

[0061] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

[0062] Figure Number:

[0063] Two-color casing winding and rubber coating machine 1000;

[0064] Rack 10;

[0065] Pipe base 101; pipeline base 102;

[0066] Wire feeding mechanism 20;

[0067] A first guide tube 201; a first feeding roller 202;

[0068] Wire 30;

[0069] Two-color tube feeding mechanism 40;

[0070] The second conduit 401; the third conduit 402; the second feeding roller 403; the third feeding roller 404; the two-color conduit head 405;

[0071] Casing mechanism 50;

[0072] Slide rail 501; base 502; opening groove 5021; guide rod 5022; clamping device 503; upper pressing block 5031; lower pressing block 5032; driving member 5033; sleeve placement groove A 50311; sleeve placement groove B 50321; sleeve clamping groove 504; pushing cylinder 505; tube cutting member 506;

[0073] Wire winding and casing wrapping mechanism 60;

[0074] Wire pulling mechanism 601; wire clamp 6011; guide needle clamp 6012; guide needle clamp block A 60121; guide needle clamp block B 60122; finger cylinder 60123; first nozzle 601211; second nozzle 601221; moving seat 6013; moving drive device 6014; rotating seat 6015; rotating drive device 6016; wire cutting assembly 6017; multi-axis manipulator 602; manipulator arm 6021; plug-in part 60211; multi-axis motion mechanism 6022; wire pressing mechanism 6023; wire pressing plate 60231; wire pressing drive mechanism 60232;

[0075] Coil skeleton 70;

[0076] Wire slot 701; pin 702;

[0077] Rubber coating mechanism 80;

[0078] Guide wheel 801; tape clamp 802; first clamping piece 8021; second clamping piece 8022; clamping cylinder 8023; lifting drive device 803; top wheel assembly 804; top wheel 8041; mounting plate 8042; first telescopic cylinder 8043; cutter assembly 805; cutter 8051; connecting frame 8052; second telescopic cylinder 8053; tape pressing assembly 806; sliding rod 8061; L-shaped connecting piece 8062; pressing block 8063; third telescopic cylinder 8064; rubber-coated bracket 807; fixing seat 8071; tape wheel 808;

[0079] Cannula opening expansion mechanism 90;

[0080] Cylinder drive linear module 901; connecting plate 902; cannula opening expansion needle 903;

[0081] Direct vibration feeding mechanism 100;

[0082] Feeding chute 1001;

[0083] Discharge hopper 110;

[0084] Discharge port 1101; DETAILED DESCRIPTION

[0085] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, so as to more clearly and intuitively understand the inventive essence of the present invention.

[0086] Combination Figure 1-Figure 10 As shown;

[0087] A two-color sleeve threading, winding and rubber coating machine 1000 provided by the present invention includes a frame 10 and a main controller arranged on the frame 10, and further includes:

[0088] The wire feeding mechanism 20 is connected to the main controller to feed the wire 30 forward;

[0089] Two-color tube feeding mechanism 40; the two-color tube feeding mechanism 40 is connected to the main controller, and is arranged beside the wire feeding mechanism 20, and is used to feed two colors of tubes forward;

[0090] The sleeve inserting mechanism 50 is connected to the main controller and is arranged in front of the wire feeding mechanism 20 and the two-color tube feeding mechanism 40, and is used to cut the two-color tubes conveyed forward by the two-color tube feeding mechanism 40 to form two sections of sleeves of different colors and insert the two sections of sleeves of different colors onto the wire 30 conveyed forward by the wire feeding mechanism 20;

[0091] A wire winding and sleeve wrapping mechanism 60; the wire winding and sleeve wrapping mechanism 60 is connected to the main controller, and includes a wire drawing mechanism 601 arranged in the conveying direction of the wire 30 for positioning and straightening the wire 30, and a multi-axis manipulator 602 arranged on the left side of the wire drawing mechanism 601 in the left-right direction for grabbing the coil skeleton 70; the multi-axis manipulator 602 is used to drive the coil skeleton 70 to rotate around the R axis to wind the wire 30 into the wire groove 701 of the coil skeleton 70 to form a coil, and to drive the coil skeleton 70 to move along the X, Y, and Z axes to wind the two sections of sleeves of different colors onto the two pins 702 of the coil skeleton 70 respectively;

[0092] Specifically, during implementation, after the sleeve inserting mechanism 50 inserts two sections of sleeves of different colors on the wire 30, the wire 30 can be straightened by the wire pulling mechanism 601. For example, the wire pulling mechanism 601 clamps the end of the wire 30 and then moves away from the sleeve inserting mechanism 50 to straighten the wire 30. After straightening, the multi-axis manipulator 602 can grab the coil skeleton 70 and move between the wire pulling mechanism 601 and the sleeve inserting mechanism 50 to perform winding and sleeve tightening.

[0093] For example, the coil skeleton is first driven to move along the X-axis, Y-axis, and Z-axis to wind one of the two different-color sleeves on the wire 30 around a pin 702 of the coil skeleton 70, and then the coil skeleton 70 is driven to rotate around the R-axis to wind the wire 30 into the wire groove 701 of the coil skeleton 70 to form a coil, and then the coil skeleton 70 is driven to move along the X-axis, Y-axis, and Z-axis to wind the other of the two different-color sleeves on the wire 30 around the other pin 702 of the coil skeleton 70. In this way, the winding of the wire coil skeleton 70 and the entanglement of the two-color sleeves are completed.

[0094] The rubber wrapping mechanism 80 is connected to the main controller and is arranged in front of the wire pulling mechanism 601 to wrap at least one layer of insulating tape on the coil surface of the coil frame 70 after winding through the sleeve.

[0095] Based on the above, it is clear that the two-color sleeve threading, winding and gluing machine 1000 provided by the present invention, when implemented specifically, is mainly used as an intelligent automation equipment with the functions of threading two-color sleeves, winding, wrapping the sleeves around the pins 701 of the coil skeleton 70 and gluing the outer surface of the coil skeleton 70.

[0096] On the one hand, the present application is provided with a wire feeding mechanism 20 and a two-color tube feeding mechanism 40, so that the trouble of manually feeding wires and feeding two-color tubes is eliminated, and the operation is time-saving and labor-saving. On the other hand, the present application is provided with a casing threading mechanism 50, a winding and casing tightening mechanism 60, and a rubber coating mechanism 80, so that the two-color casing can be continuously threaded, and the coil skeleton 70 can be automatically wound and the casing can be automatically tightened, and the coil skeleton 70 after winding and casing tightening can be automatically rubber coated. In this process, there is no need to repeatedly load and unload the coil skeleton 70, so that the entire assembly line operation is continuous and uninterrupted, so that the efficiency of threading two-color casings, winding, tightening casings and rubber coating can be effectively improved, so that the assembly production cycle of the coil skeleton 70 can be greatly shortened, and the labor cost and time cost can be greatly reduced.

[0097] Furthermore, the present invention has strong practicability and good use effect.

[0098] Preferably, in the technical solution, the present application further comprises a cannula opening expansion mechanism 90;

[0099] A pipe insertion base 101 is fixedly arranged at the right rear of the upper end face of the frame 10; a pipeline seat 102 is stacked on the rear side of the upper end face of the pipe insertion base 101; and the casing insertion mechanism 50 is arranged on the front side of the upper end face of the pipe insertion base 101;

[0100] The cannula opening expansion mechanism 90 includes a cylinder transmission linear module 901 connected to the main controller and fixed to the right end surface of the pipeline seat 102 along the front-to-back direction, a connecting plate 902 fixed to the front end of the cylinder transmission linear module 901 and capable of moving forward and backward under the drive of the cylinder transmission linear module 901, and a cannula opening expansion needle 903 with a diameter gradually decreasing from back to front and installed on the connecting plate 902 along the front-to-back direction; the connecting plate 902 is located at the front end surface of the pipeline seat 102; the cannula opening expansion needle 903 is directly opposite to the cannula insertion mechanism 50;

[0101] When the sleeve threading mechanism 50 cuts the two colors of tubes conveyed forward by the two-color tube feeding mechanism 40 to form two sections of sleeves with different colors, the cylinder transmission linear module 901 can drive the connecting plate 902 to drive the sleeve opening expansion needle 903 to move forward and insert it into the rear ends of the two sections of sleeves with different colors one by one, so as to expand the rear end tube openings of the two sections of sleeves with different colors one by one.

[0102] Thus, it is clear that the provided sleeve opening expansion mechanism 90 can be used to remove the burrs at the rear end openings of the two sections of sleeves of different colors one by one and expand their openings, so that the subsequent insertion of the wire 30 can be more convenient, so that the wire 30 is not easy to contact the burrs at the rear end opening of the sleeve during the insertion of the sleeve, so that the insertion is blocked, and after the rear end opening of the sleeve is expanded, the insertion aperture can be increased, so that the insertion of the wire 30 will be smoother.

[0103] Furthermore, in a specific implementation, the wire feeding mechanism 20 and the two-color tube feeding mechanism 40 in the technical solution are fixed parallel to the upper end surface of the pipeline seat 102 from left to right;

[0104] The wire feeding mechanism 20 includes a first guide tube 201 whose front end is connected to the rear end of the sleeve threading mechanism 50 and a first feeding roller 202 connected to the main controller for driving the wire 30 to move forward in the first guide tube 201;

[0105] Furthermore, the two-color tube feeding mechanism 40 comprises a second conduit 401, a third conduit 402, a second feeding roller 403 connected to the main controller for driving the tube A to move forward in the second conduit 401, a third feeding roller 404 connected to the main controller for driving the tube B of a color different from that of the tube A to move forward in the third conduit 402, and a two-color conduit head 405 for converging the tubes A and B, the diameters of which gradually decrease from the back to the front and the front end of which is connected to the rear end of the sleeve threading mechanism 50;

[0106] The front end of the second conduit 401 is flush with and close to the front end of the third conduit 402, and is connected to the open rear end of the two-color conduit head 405; the second feeding roller pair 403 and the third feeding roller pair 404 are used to drive the pipe A along the two-color conduit head 405 into the sleeve threading mechanism 50 in a corresponding order so as to be cut off by the sleeve threading mechanism 50 to form a section of sleeve A and drive the pipe B along the two-color conduit head 405 into the sleeve threading mechanism 50 so as to be cut off by the sleeve threading mechanism 50 to form a section of sleeve B.

[0107] Furthermore, in a specific implementation, the sleeve insertion mechanism 50 of the present application includes a slide rail 501 arranged on the front side of the upper end face of the sleeve insertion base 101 along the left-right direction, a base 502 fixed on the slide rail 501 and capable of sliding left-right, a clamping device 503 connected to the main controller and installed on the base 502 along the front-back direction and capable of opening / closing to clamp the sleeve A and the sleeve B, a pushing cylinder 505 connected to the main controller and used to push the base 502 to move between the first position and the second position along the slide rail 501, and a pipe cutting member 506 connected to the main controller and arranged between the clamping device 503 and the two-color catheter head 405 for cutting the pipe A to form the sleeve A and for cutting the pipe B to form the sleeve B;

[0108] The clamping device 503 has a sleeve clamping groove 504 arranged along the front-to-back direction for clamping the sleeve A and the sleeve B;

[0109] When the clamping device is located in the first position, the axis of the two-color catheter head 405 coincides with the axis of the sleeve clamping groove 504, so that the pipe A or the pipe B can pass through it; when the clamping device 503 is located in the second position, the axis of the first catheter 201 coincides with the axis of the sleeve clamping groove 504, so that the wire 30 can pass through the sleeve A and the sleeve B clamped therein.

[0110] Specifically, the clamping device 503 includes an upper pressing block 5031, a lower pressing block 5032, and a driving member 5033 connected to the main controller for controlling the upper pressing block 5031 and the lower pressing block 5032 to move synchronously toward each other or synchronously away from each other. The right side of the left end surface of the base 502 is provided with an open groove 5021 that runs through the right side of the rear end surface thereof. The upper pressing block 5031 and the lower pressing block 5032 are stacked in the open groove 5021 and are sleeved on a guide rod 5022 installed on the base 502. On the top; the lower surface of the upper pressing block 5031 is provided with a sleeve placement groove A50311, and the upper surface of the lower pressing block is provided with a sleeve placement groove B50321, the sleeve placement groove A50311 and the sleeve placement groove B50321 are opposite to each other up and down to form the sleeve clamping groove 504, and the vertical dimension of the opening groove 5021 is larger than the sum of the thicknesses of the upper pressing block 5031 and the lower pressing block 5032, so that the driving member 5033 can drive the upper pressing block 5011 and the lower pressing block 5032 to fit together or separate.

[0111] Moreover, in the present application, the casing threading mechanism 50 is substantially the same as the technical solution of the invention patent “casing threading machine” with patent number “201420427208.7” applied by the present applicant, which is the prior art, and the specific details are not described in detail here.

[0112] From the above, we can conclude:

[0113] On the one hand, the first feeding pair of rollers 202 is driven to drive the wire 30 to be transported forward along the first conduit 201, so that the wire 30 has good transport guidance; the second feeding pair of rollers 403 is driven to drive the tube A to be transported forward along the second conduit 401, so that the tube A has good transport guidance; the third feeding pair of rollers 404 is driven to drive the tube B to be transported forward along the third conduit 402, so that the tube B has good transport guidance.

[0114] On the other hand, in the two-color tube feeding mechanism 40, its two-color catheter head 405 is convenient for gathering the tube A conveyed forward through the second catheter 401 and for gathering the tube B conveyed forward through the third catheter 402. When its front end is aligned with the sleeve clamping groove 504 of the sleeve threading mechanism 50, the tube A and the tube B guided out through it can enter the sleeve clamping groove 504 of the sleeve threading mechanism 50 through its front end. Compared with the traditional two-color sleeve threading mechanism 50, it is unnecessary to move the position of the sleeve clamping groove 504 when threading the sleeve, so that it can avoid displacement deviation caused by position movement, which makes it difficult for the wire 30 to penetrate. In other words, when the present application is inserting the tubes A and B, there is no need to move the sleeve clamping groove 504 of the sleeve threading mechanism 50, as long as it is aligned with the front end of the two-color catheter head 405, so that it can effectively ensure that the wire 30 is penetrated once and not prone to failure.

[0115] Before the above-mentioned wire 30 is inserted, the two colors of tubes (corresponding to tube A and tube B) transported forward by the two-color tube feeding mechanism 40 are cut by the sleeve insertion mechanism 50 to form two sections of sleeves with different colors (corresponding to sleeve A and sleeve B) and the two sections of sleeves with different colors (corresponding to sleeve A and sleeve B) are inserted outside the wire 30 transported forward by the wire feeding mechanism 20. Through the synergistic effect of the sleeve opening expansion mechanism 90, the rear end pipe openings of the two sections of sleeves with different colors (corresponding to sleeve A and sleeve B) are expanded one by one, so that the present application makes the wire 30 insertion operation reliable and stable during the process of inserting the wire 30 into the sleeve A and the sleeve B.

[0116] Furthermore, the present application is highly practical and has good use effect.

[0117] Furthermore, in a specific implementation, the wire pulling mechanism 601 of the present application includes a wire clamp 6011, a guide needle clamp 6012, a movable seat 6013 and a movable driving device 6014; the movable driving device 6014 is preferably a cylinder-driven linear module;

[0118] The wire clamp 6011 is used to clamp or loosen the wire 30; the wire clamp 6011 is preferably a parallel jaw cylinder;

[0119] The guide needle clamp 6012 and the wire clamp 6011 are arranged side by side in the conveying direction, so as to allow the wire 30 to pass through but not the sleeve to pass through; when the multi-axis manipulator 602 drives the coil skeleton 70 to move along the X, Y, and Z axes, the pin 702 of the coil skeleton 70 moves around the guide needle clamp 6012 and the sleeve that is sleeved on the wire 30 and adjacent to its rear end is wound around the pin 702 of the coil skeleton 70;

[0120] The wire clamp 6011 and the guide needle clamp 6012 are arranged on the movable seat 6013;

[0121] The moving drive device 6014 is connected to the moving seat 6013 to drive the moving seat 6013 to move along the X-axis, so that the wire clamp 6011 clamps the wire 30 and straightens it to facilitate the winding of the sleeve.

[0122] Furthermore, in a specific implementation, the wire pulling mechanism 601 further includes:

[0123] A rotating seat 6015, on which the wire clamp 6011 and the guide needle clamp 6012 are fixedly mounted;

[0124] A rotation drive device 6016, which is connected to the rotating seat 6015, preferably a rotating motor, and is fixed to the moving seat 6013, and is used to drive the rotating seat 6015 to rotate 180° relative to the moving seat 6013 and switch between position A and position B, so that the wire clamp 6011 and the guide needle clamp 6012 are interchanged in position;

[0125] When the rotating seat 6015 is located at the position A, the guide needle clamp 6012 is located directly behind the wire clamp 6011, and the multi-axis manipulator 602 is configured to drive the coil frame 70 to move around the guide needle clamp 6012 to wrap the sleeve A on the wire 30 around a pin 702 of the coil frame 70;

[0126] When the rotating seat 6015 is located at the position B, the guide needle clamp 6012 is located directly in front of the wire clamp 6011, and the multi-axis manipulator 602 is configured to drive the coil skeleton 70 to move around the guide needle clamp 6012 to wrap the sleeve B inserted on the wire 30 around the other pin 702 of the coil skeleton 70.

[0127] At the same time, the guide needle clamp 6012 includes a guide needle clamp block A60121, a guide needle clamp block B60122 and a finger cylinder 60123; the guide needle clamp block A60121 and the guide needle clamp block B60122 are arranged opposite to each other, and the guide needle clamp block A60121 is formed with a first mouth 601211 extending along the conveying direction, and the guide needle clamp block B60122 is formed with a second mouth 601221 extending along the conveying direction;

[0128] The finger cylinder 60123 drives the guide needle clamp A 60121 and the guide needle clamp B 60122 to move toward each other to close or move away from each other to open;

[0129] When the guide needle clamp A60121 and the guide needle clamp B60122 move in opposite directions and open, the distance between the first nozzle 601211 and the second nozzle 601221 is enlarged, so that the wire 30 can be pulled out easily; when the guide needle clamp A60121 and the guide needle clamp B60122 move in opposite directions and close, a wire passing hole is defined between the first nozzle 601211 and the second nozzle 601221, and the diameter of the wire passing hole is larger than the diameter of the wire 30 and smaller than the outer diameter of the sleeve A and the outer diameter of the sleeve B.

[0130] From the above, it can be concluded that the general working principle of the winding and sleeve winding mechanism 60 of the present application is:

[0131] S1, so that the rotating seat 6015 is located at position A, the wire 30 is transported to the right through the pipe clamp 6011 and is tightened and straightened by the wire clamp 6011, and the sleeve A is stopped at the rear end of the guide needle clamp 6012. The multi-axis manipulator 602 can be used to drive a pin 702 of the coil skeleton 70 to move around the rear end of the guide needle clamp 6012, and the sleeve A can be smoothly wound around a pin 702 of the coil skeleton 70.

[0132] S2. After the sleeve A is wound around a pin 702 of the coil frame 70, the portion of the wire 30 near its end is also wound around it, and the multi-axis manipulator 602 continues to drive the coil frame 70 to move around the rear end of the guide needle clamp 6012, and the wire 30 can be wound in the wire groove 701 of the coil frame 70;

[0133] S3, after the wire 30 is wound in the wire groove 701 of the coil skeleton 70, so that the guide needle clamp 6012 and the wire clamp 6011 are in an open state, the multi-axis manipulator 602 is used to take the wire 30 away from the wire pulling mechanism 601, and the rotating seat 6015 is located at position B. At this time, the guide needle clamp 6012 is located in front of the wire clamp 6011. Subsequently, the mobile drive device 6014 controls the mobile seat 6013 to drive the wire clamp 6011 and the guide needle clamp 6012 to move backward, so that the wire 30 on the wire 30 is The inserted sleeve B is just located in front of the guide needle clamp 6012, and then the moving seat 6013 is controlled by the moving drive device 6014 to drive the wire clamp 6011 and the guide needle clamp 6012 to move forward, so that the sleeve B inserted on the wire 30 can be pressed against the other pin 702 of the coil skeleton 70, and then, the multi-axis manipulator 602 can be used to drive the other pin 702 of the coil skeleton 70 to move around the rear end of the guide needle clamp 6012, and the sleeve B can be smoothly wound around the other pin 702 of the coil skeleton 70.

[0134] Thus, through the above steps S1, S2 and S3, the sleeve A is wound around one pin 702 of the coil frame 70, the wire 30 is wound in the wire groove 701 of the coil frame 70, and the sleeve B is wound around the other pin 702 of the coil frame 70.

[0135] In addition, in a specific implementation, the wire pulling mechanism 601 further includes a wire cutting assembly 6017, which is arranged side by side with the wire clamp 6011 in the conveying direction to cut the wire 30. The wire cutting assembly 6017 is preferably connected to the wire clamp 6011 as a whole, so that it opens synchronously with the opening of the wire clamp 6011 and closes synchronously with the closing of the wire clamp 6011.

[0136] That is, after the above steps S1, S2 and S3 are completed, the wire cutting assembly 6017 can be used to cut the wire 30 to complete the winding of a coil frame 70 and the wrapping of a two-color sleeve. The end of the wire 30 after cutting is still clamped in the wire clamp 6011 to prepare for the winding of the next coil frame 70 and the wrapping of a two-color sleeve.

[0137] It should be added that, in a specific implementation, the multi-axis manipulator 602 of the present application includes a manipulator arm 6021 and a multi-axis motion mechanism 6022;

[0138] The robotic arm 6021 has a plug-in portion 60211, which is suitable for plugging into the coil frame 70; the multi-axis motion mechanism 6022 is connected to the robotic arm 6021, and is used to drive the robotic arm 6021 to move along the X-axis, Y-axis, and Z-axis and pivot around the R-axis, and the R-axis coincides with the axis of the coil frame 70.

[0139] That is to say, the plug-in portion 60211 on the robot arm 6021 can be plugged into the hole on the coil frame 70 , so that it is convenient for the robot arm 6021 to load the coil frame 70 .

[0140] Among them, the multi-axis motion mechanism 6022 is common in existing winding and gluing machines. For example, it can be equivalent to the combination of the three-dimensional moving mechanism and the winding mechanism in the technical scheme of the invention patent "Direct-push loading and unloading winding and gluing integrated machine" with patent number "201822270673.5" applied by the applicant. It is a prior art and no further examples will be given here.

[0141] Advantageously, the multi-axis manipulator 602 is further provided with a wire pressing mechanism 6023, which includes a wire pressing plate 60231 and a wire pressing drive mechanism 60232. The wire pressing plate 60231 is arranged on one side of the manipulator 6021 and is opposite to the plug-in portion 60211 on the X-axis. The wire pressing drive mechanism 60232 drives the wire pressing plate 60231 away from or close to the coil skeleton 70 on the plug-in portion 60211, so as to stop the wire 30 in the wire groove 701 of the coil skeleton 70 during winding, thereby ensuring reliable winding. The wire pressing drive mechanism 60232 is preferably a cylinder-driven linear module.

[0142] It is further necessary to add that, in a specific implementation, the encapsulation mechanism 80 of the present application includes:

[0143] A guide wheel 801 is used for the tape to pass around;

[0144] A tape clamp 802, used to clamp or release the tape;

[0145] A lifting drive device 803, the lifting drive device 803 is connected to the tape clamp 802, and is used to drive the tape clamp 802 to move up and down, so that the tape clamp 802 is stretched after tightening the tape clamp 802; the lifting drive device 803 is preferably a lifting cylinder;

[0146] A top wheel assembly 804, which is disposed on one side of the tape clamp 802 and is used to press the stretched tape against the coil surface of the coil frame 70 so that the tape adheres to the coil surface of the coil frame 70;

[0147] The cutter assembly 805 is arranged on one side of the tape clamp 802 to cut the tape.

[0148] The belt pressing assembly 806 is arranged on one side of the guide wheel 801, and is used to press the tape onto the guide wheel 801 when the tape needs to be cut.

[0149] The rubber-coating mechanism 80 of the present application further includes a rubber-coating bracket 807 for fixing the tape, and the rubber-coating bracket 807 is provided with a tape wheel 808 and the guide wheel 801:

[0150] Based on this, it can be understood that the general working principle of the rubber encapsulation mechanism 80 described in this application is:

[0151] Before the rubber is coated, the lifting drive device 803 can be used to drive the tape clamp 802 to move upward so that the lower end of the tape is located in the tape clamp 802. At this time, the tape clamp 802 can be closed to clamp the lower end of the tape. Then, the lifting drive device 803 drives the tape clamp 802 to move downward so that the tape can be stretched downward.

[0152] After the winding and sleeve wrapping mechanism 60 completes the winding and two-color sleeve wrapping on the coil skeleton 70, the multi-axis manipulator 602 can drive the coil skeleton 70 to move to the side of the guide wheel 801 close to the tape, and then the tape is pushed out to the side of the coil skeleton 70 by the top wheel assembly 804, so that the tape is attached to the coil of the coil skeleton 70, and then the tape clamp 802 is released, and the coil skeleton 70 is driven to rotate around the R axis by the multi-axis manipulator 602, so that the tape can be wrapped around the outer surface of the coil skeleton 70 for at least one circle, and then the cutter assembly 805 is extended to cut the tape, so that the coil skeleton 70 after the rubber wrapping is completed can be moved to other stations, such as moving to the unloading station for unloading.

[0153] At the same time, before the tape is cut by the cutter assembly 805, the tape can be pressed onto the guide wheel 801 by the tape pressing assembly 806. At this time, one end of the tape is wound around the coil frame 70, and the tape is pressed onto the guide wheel 801 by the tape pressing assembly 806 at the guide wheel 801. Therefore, the portion of the tape between the guide wheel 801 and the coil frame 70 is fixed, and then extended by the cutter assembly 805. The cutter assembly 805 can cut off the portion of the tape between the guide wheel 801 and the coil frame 70. In this way, reliable cutting of the tape can be ensured.

[0154] Preferably, in this embodiment, two rubber coating mechanisms 80 are arranged side by side, so that the coil skeleton 70 delivered thereto can be continuously rubber coated, so as to further improve the rubber coating operation speed.

[0155] And preferably, in this embodiment:

[0156] The tape clamp 802 includes a first clamp 8021, a second clamp 8022 and a clamping cylinder 8023. The first clamp 8021 and the second clamp 8022 are arranged opposite to each other. The clamping cylinder 8023 drives the first clamp 8021 and the second clamp 8022 to move relative to each other to achieve clamping or loosening of the tape.

[0157] The top wheel assembly 804 includes a top wheel 8041, a mounting plate 8042 and a first telescopic cylinder 8043. The top wheel 8041 is arranged at one end of the mounting plate 8042, and the first telescopic cylinder 8043 is connected to the other end of the mounting plate 8042. The first telescopic cylinder 8043 drives the mounting plate 8042 to move toward or away from the tape, thereby enabling the top wheel 8041 to press the tape onto the coil frame 70.

[0158] The cutter assembly 805 includes a cutter 8051, a connecting frame 8052 and a second telescopic cylinder 8053. The connecting frame 8052 is slidably disposed on a fixed seat 8071, and the fixed seat 8071 is fixed on the rubber-coated bracket 807. The cutter 8051 is fixed on the connecting frame 8052. The second telescopic cylinder 8053 is connected to the connecting frame 8052 to drive the connecting frame 8052 to move, thereby allowing the cutter 8051 to extend with the connecting frame 8052 to cut the tape.

[0159] The belt pressing assembly 806 includes a sliding rod 8061, an L-shaped connecting piece 8062, a pressure block 8063 and a third telescopic cylinder 8064. The sliding rod 8061 is slidably arranged on the fixed seat 8071. The L-shaped connecting piece 8062 is connected to one end of the sliding rod 8061. The pressure block 8063 is installed on the L-shaped connecting piece 8062 and is opposite to the guide wheel 801. The other end of the sliding rod 8061 is connected to the third telescopic cylinder 8064. The third telescopic cylinder 8064 drives the sliding rod 8061 to slide, and then drives the pressure block 8063 to move toward or away from the guide wheel 801, so as to press the tape on the guide wheel 801 or loosen the tape.

[0160] It is further necessary to add that, in a specific implementation, the present application also includes a direct vibration feeding mechanism 100 installed on the front right side of the frame 10 along the front-to-back direction, and a feeding trough 1001 for conveying the coil skeleton 70 is provided on the direct vibration feeding mechanism 100 along the front-to-back direction; the coil skeleton 70 can be conveyed to its rear end in sequence through the front end of the feeding trough 1001 of the direct vibration feeding mechanism 100, and the robot arm 6021 can move to the rear end output end of the feeding trough 1001 of the direct vibration feeding mechanism 100, and be inserted into the hole of the coil skeleton 70, so as to directly take materials from the direct vibration feeding mechanism 100, so that the degree of automation can be higher and the production efficiency can be further improved.

[0161] Moreover, in a specific implementation, the present application also includes a discharge funnel 110 arranged along the left-right direction; the discharge funnel 110 is installed on the frame 10, and is located on the rear side of the direct vibration feeding mechanism 100 and has a certain material passing gap between it and the direct vibration feeding mechanism 100, and its upper left part is downwardly opened with a discharge port 1101 with a diameter larger than the outer diameter of the plug-in part 60211 and smaller than the outer diameter of the coil skeleton 70.

[0162] In this way, the multi-axis manipulator 602 moves downward to place the coil frame 70 that has been wound, wrapped with a two-color sleeve, and coated with glue in the unloading funnel 110. When it moves to the left and moves out of the unloading port 1101, the coil frame 70 that has been wound, wrapped with a two-color sleeve, and coated with glue grabbed on it can be stopped by the unloading port 1101 and fall into the unloading funnel 110 for unloading.

[0163] Other embodiments and the like are not described one by one here.

[0164] To sum up, the overall structure of the present invention is simple, easy to implement, easy to operate, highly practical, highly specific, and has low manufacturing cost. There is no need to increase too much cost in the improvement of the structure and the improvement of the technology, which makes the present invention bound to have good market promotion value. The present invention will be very popular and can be effectively popularized.

[0165] The above description is only a preferred embodiment of the present invention, and does not limit the patent protection scope of the present invention. Any transformation of equivalent structures or equivalent processes made using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A two-color casing winding and rubber coating machine, comprising a frame and a main controller arranged on the frame, characterized in that: Also includes: Wire feeding mechanism; The wire feeding mechanism is connected to the main controller and is used to feed the wire material forward; Two-color tube feeding mechanism; the two-color tube feeding mechanism is connected to the main controller, arranged beside the wire feeding mechanism, and used to feed two colors of tubes forward; The sleeve inserting mechanism is connected to the main controller and is arranged at the front side of the wire feeding mechanism and the two-color tube feeding mechanism, and is used to cut the two-color tubes conveyed forward by the two-color tube feeding mechanism to form two sections of sleeves of different colors and insert the two sections of sleeves of different colors onto the wires conveyed forward by the wire feeding mechanism; A wire winding and sleeve winding mechanism; the wire winding and sleeve winding mechanism is connected to the main controller, and includes a wire pulling mechanism arranged in the wire conveying direction for positioning and straightening the wire, and a multi-axis manipulator arranged on the left side of the wire pulling mechanism in the left and right directions for grabbing the coil skeleton; the multi-axis manipulator is used to drive the coil skeleton to rotate around the R axis to wind the wire into the wire groove of the coil skeleton to form a coil, and to drive the coil skeleton to move along the X, Y, and Z axes to wind the two sections of sleeves of different colors onto the two pins of the coil skeleton respectively; A rubber wrapping mechanism, which is connected to the main controller and is disposed in front of the wire pulling mechanism, and is used to wrap at least one layer of insulating tape on the surface of the coil on the coil frame after the wire is wound through the casing; Also included is a cannula port expansion mechanism; A pipe insertion base is fixedly arranged at the right rear of the upper end face of the frame; a pipeline seat is stacked on the rear side of the upper end face of the pipe insertion base; and the casing insertion mechanism is arranged on the front side of the upper end face of the pipe insertion base; The casing opening expansion mechanism includes a cylinder transmission linear module connected to the main controller and fixed to the right end surface of the pipeline seat in the front-to-back direction, a connecting plate fixed to the front end of the cylinder transmission linear module and capable of moving forward and backward under the drive of the cylinder transmission linear module, and a casing opening expansion needle with a diameter gradually decreasing from back to front and installed on the connecting plate in the front-to-back direction; the connecting plate is located on the front end surface of the pipeline seat; the casing opening expansion needle is directly opposite to the casing insertion mechanism; When the sleeve threading mechanism cuts the two-color pipes delivered forward by the two-color pipe delivery mechanism to form two sections of sleeves with different colors, the cylinder transmission linear module can drive the connecting plate to drive the sleeve opening expansion needle to move forward and insert it into the rear ends of the two sections of sleeves with different colors one by one, so as to expand the rear ends of the two sections of sleeves with different colors one by one; The wire feeding mechanism and the two-color tube feeding mechanism are fixed parallel to the upper end surface of the pipeline seat from left to right; The wire feeding mechanism comprises a first guide tube whose front end is connected to the rear end of the sleeve threading mechanism and a first feeding roller member connected to the main controller for driving the wire to move forward in the first guide tube; The two-color tube feeding mechanism includes a second conduit, a third conduit, a second feeding roller connected to the main controller for driving the tube A to move forward in the second conduit, a third feeding roller connected to the main controller for driving the tube B of a color different from the tube A to move forward in the third conduit, and a two-color conduit head for converging the tubes A and B, the diameters of which gradually decrease from the back to the front and the front end of which is connected to the rear end of the sleeve threading mechanism; The front end of the second conduit is flush with the front end of the third conduit and connected with the rear end opening of the two-color conduit head; the second feeding roller pair and the third feeding roller pair are used to drive the pipe A along the two-color conduit head into the sleeve threading mechanism in sequence to be cut off by the sleeve threading mechanism to form a section of sleeve A and drive the pipe B along the two-color conduit head into the sleeve threading mechanism to be cut off by the sleeve threading mechanism to form a section of sleeve B; The wire pulling mechanism comprises: A wire clamp, used to clamp or loosen the wire; A guide needle clamp, wherein the guide needle clamp and the wire clamp are arranged side by side in the conveying direction for the wire to pass through; when the multi-axis manipulator drives the coil frame to move along the X, Y, and Z axes, the pins of the coil frame move around the guide needle clamp to wrap the sleeve on the wire around the pins of the coil frame; A movable seat, on which the wire clamp and the guide needle clamp are arranged; A moving drive device, the moving drive device is connected to the moving seat and is used to drive the moving seat to move along the X-axis so that the wire clamp can tighten the wire and then straighten it; The wire pulling mechanism also includes: A rotating seat, on which the wire clamp and the guide needle clamp are fixedly mounted; A rotation drive device, the rotation drive device is connected to the rotating seat and fixed to the moving seat, and is used to drive the rotating seat to rotate 180 degrees relative to the moving seat and switch between position A and position B, so that the positions of the wire clamp and the guide needle clamp are interchanged; When the rotating seat is located at the position A, the multi-axis manipulator is configured to drive the coil frame to move around the guide pin clamp to wrap the sleeve A sleeved on the wire around a pin of the coil frame; When the rotating seat is located at the position B, the multi-axis manipulator is configured to drive the coil frame to move around the guide pin clamp to wrap the sleeve B sleeved on the wire around another pin of the coil frame; The guide needle clamp comprises a guide needle clamp block A, a guide needle clamp block B and a finger cylinder.

2. The double-color sleeve winding and rubber coating machine according to claim 1 is characterized in that: The sleeve insertion mechanism includes a slide rail arranged on the front side of the upper end face of the pipe insertion base in the left-right direction, a base fixed on the slide rail and capable of sliding left-right, a clamping device connected to the main controller and installed on the base in the front-back direction and capable of opening / closing to clamp the sleeve A and the sleeve B, a pushing cylinder connected to the main controller and used to push the base to move along the slide rail between the first position and the second position, and a pipe cutting component connected to the main controller and arranged between the clamping device and the two-color catheter head and used to cut the pipe A to form the sleeve A and to cut the pipe B to form the sleeve B; The clamping device has a sleeve clamping groove arranged along the front-back direction for clamping the sleeve A and the sleeve B; When the clamping device is located at the first position, the axis of the two-color catheter head coincides with the axis of the sleeve clamping groove; when the clamping device is located at the second position, the axis of the first catheter coincides with the axis of the sleeve clamping groove.

3. The double-color sleeve winding and rubber coating machine according to claim 1 is characterized in that: The guide needle clamp block A and the guide needle clamp block B are arranged opposite to each other, and the guide needle clamp block A is formed with a first mouth extending along the conveying direction, and the guide needle clamp block B is formed with a second mouth extending along the conveying direction; The finger cylinder drives the guide needle clamp A and the guide needle clamp B to move toward each other and close or move away from each other and open; when the guide needle clamp A and the guide needle clamp B move toward each other and close, a wire passing hole is defined between the first mouth and the second mouth, and the diameter of the wire passing hole is larger than the diameter of the wire and smaller than the outer diameter of the sleeve A and the outer diameter of the sleeve B.

4. The double-color sleeve winding and rubber coating machine according to claim 1 is characterized in that: The wire pulling mechanism further comprises a wire cutting assembly, and the wire cutting assembly and the wire clamp are arranged side by side in the conveying direction for cutting the wire.

5. The double-color casing winding and rubber coating machine according to claim 1 is characterized in that: The multi-axis manipulator comprises a mechanical arm and a multi-axis motion mechanism; The robotic arm has a plug-in portion, which is suitable for plugging into the coil frame; the multi-axis motion mechanism is connected to the robotic arm to drive the robotic arm to move along the X-axis, Y-axis, and Z-axis and pivot around the R-axis, and the R-axis coincides with the coil axis.

6. The double-color casing winding and rubber coating machine according to claim 1 is characterized in that: The encapsulation mechanism comprises: A guide wheel for the tape to pass around; Tape clip, used to clamp or loosen the tape; A lifting drive device, the lifting drive device is connected to the tape clamp and is used to drive the tape clamp to move up and down, so that the tape clamp can stretch the tape after clamping it; A top wheel assembly, the top wheel assembly is arranged on one side of the tape clamp, and is used to press the stretched tape against the coil surface of the coil frame, so that the tape adheres to the coil surface of the coil frame; A cutter assembly, the cutter assembly being arranged on one side of the tape clamp and used for cutting the tape; A belt pressing assembly is arranged on one side of the guide wheel and is used to press the adhesive tape onto the guide wheel when the adhesive tape needs to be cut.

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