Winding machine supporting trolley and winding system

Abstract

The present invention discloses a supporting trolley and a winding system for a winding machine, wherein the supporting trolley includes a mobile trolley, a 6-axis robot and a placement table are arranged on the mobile trolley, a thread end knotting device, a thread wheel thread end grabbing device and an automatic threading mechanism are arranged on the placement table, the 6-axis robot is connected to the thread wheel thread end grabbing device and the automatic threading mechanism through a quick-change device, an image collector is also arranged at the front end of the 6-axis robot, the axis of the image collector is parallel to the axis of the quick-change device and the lens faces forward, and an automatic wire disconnection mechanism for disconnecting the silk thread on the full wire wheel from the silk thread at the winding machine is arranged between the 6-axis robot and the placement table. This scheme arranges a thread end knotting mechanism and an automatic threading mechanism on the mobile trolley, the thread end knotting mechanism can realize offline knotting operations, which is conducive to improving work efficiency, and the automatic threading mechanism can effectively realize automatic perforation of the thread end, thereby realizing the automation of the entire process of loading and unloading the wire wheel at the winding machine, and the degree of automation is high.

Description

Technical Field

[0001] The invention relates to the field of winding equipment, in particular to a winding machine supporting trolley and a winding system. Background Art

[0002] When enterprises carry out winding production, they usually set up multiple winding machines to carry out winding at the same time to improve efficiency. The winding operation on each winding machine has the following process:

[0003] (1) Place the empty wire reel on the winding machine's winding shaft - (2) Pass the wire end at the winding machine into the threading hole of the reel shaft of the empty wire reel for winding - (3) Fill the reel with wire - (4) Disconnect the wire between the reel and the winding machine - (5) Tie a knot on the wire end - (6) Label the full reel - (7) Unload the full reel.

[0004] Many steps of the above process usually require manual intervention and have a low degree of automation. For example, the structure shown in publication number CN211466404 U can achieve operations (1), (4), (5), and (7), but cannot achieve actions (2) and (6). In addition, during action (5), the wire binding operation must be performed online at the winding machine. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a winding machine supporting trolley and a winding system.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The winding machine is equipped with a trolley, including a mobile trolley, on which a 6-axis robot and a placement table are arranged, on which a thread knotting device, a thread wheel thread grabbing device and an automatic threading mechanism are arranged, the 6-axis robot is connected to the thread wheel thread grabbing device and the automatic threading mechanism through a quick-changing device, and the front end of the 6-axis robot is also provided with an image collector located outside the quick-changing device, the axis of the image collector is parallel to the axis of the quick-changing device and the lens faces forward, and an automatic wire breaking mechanism for disconnecting the silk thread on the full wire wheel from the silk thread at the winding machine is arranged between the 6-axis robot and the placement table.

[0008] Preferably, the thread knotting device includes a driving shaft and a driven shaft which are coaxial and have a gap arranged on the workbench, the driving shaft and / or the driven shaft are driven by an axial driving mechanism to move axially, the driving shaft is connected to a first driving mechanism that drives its rotation, an automatic clamping jaw driven by a second driving mechanism to revolve around the driven shaft is arranged on the periphery of the driven shaft, the clamping head of the automatic clamping jaw faces the driving shaft and extends to a certain distance in front of the driven shaft; a thread gripper is arranged outside the gap between the driving shaft and the driven shaft, and the thread gripper is connected to a translational driving mechanism that drives it to reciprocate along the axial direction parallel to the driving shaft.

[0009] Preferably, the wire wheel thread grabbing device includes a carrier and two clamps driven to open and close by an opening and closing driving mechanism on the carrier, a U-shaped notch opening outward is formed on the clamp, and limiting protrusions are arranged at the opposite end faces of the two clamps, and the limiting protrusions are located at least at the two end top angles of each clamp; a wire end clamp is arranged on the side of the carrier, and the front end of the claw body of the wire end clamp is facing the clamp that is consistent with the opening direction of the U-shaped notch and is close to one side of the clamp.

[0010] Preferably, the automatic threading mechanism comprises a carrier, and the carrier is provided with a first threading clamp located on the outer side thereof.

[0011] Preferably, a second threading jaw is also provided on the carrier, and the angle between the lengthwise extension lines of the first threading jaw and the second threading jaw is acute, and the front ends of their clamps face outward and the opening and closing directions of their clamps are parallel, and the first threading jaw is connected to a mechanism that drives it to move between an extended position and a retracted position, and in the extended position, the moving mechanism makes the first threading jaw and the second threading jaw in a left-right position relationship, and the notch between the two first clamps of the first threading jaw and the notch between the two second clamps of the second threading jaw are relative in position and have a comparable height.

[0012] Preferably, the carrier is also provided with a thread end clamping mechanism located outside the second threading clamp, which includes a pressure roller whose axis is parallel to the opening and closing direction of the clamp of the second threading clamp and a clamping cylinder that drives the pressure roller to move along a line extending along the length direction parallel to the second threading clamp.

[0013] Preferably, the automatic wire breaking mechanism includes a mounting frame, on which a fuse and a pneumatic clamp located at least outside the fuse are provided, the mounting frame is connected to a slide cylinder that drives it to translate along a linear moving direction perpendicular to the moving trolley, and the slide cylinder is connected to a linear module that drives it to translate along a telescopic direction perpendicular to its cylinder axis.

[0014] Preferably, a wire diameter measuring instrument is also provided on the mounting frame.

[0015] Preferably, the placement table is provided with a label generating device, a label transferring device and a labeling device; the label transferring device is located at the side of the label generating device, and comprises a suction block with a suction hole facing upward, the suction block is connected to a cylinder driving its translation, the cylinder is connected to a lifting cylinder, at the material receiving position, the cylinder and the lifting cylinder move the suction block to the discharge port of the label generating device; at the material feeding position, the cylinder and the lifting cylinder move the suction block to above the label generating device;

[0016] The labeling device is located above the label transfer device, and includes a suction cup, which is connected to a rotating cylinder, and the rotating cylinder is connected to a moving structure that drives its translation and lifting. In a first state, the rotating cylinder and the moving structure make the suction hole of the suction cup face downward and correspond to the adsorption block at the feeding position; in a second state, the rotating cylinder makes the adsorption hole of the suction cup face sideways.

[0017] Preferably, the label generating device further comprises an image acquisition device which is arranged on the placing table and whose axis is parallel to the driven axis.

[0018] Preferably, a pin hole positioning mechanism is also provided on the workbench.

[0019] A winding system, comprising a trolley for any of the above winding machines.

[0020] The advantages of the technical solution of the present invention are mainly reflected in:

[0021] This solution sets a thread knotting mechanism and an automatic threading mechanism on a mobile trolley. The thread knotting mechanism can realize offline knotting operations, which is conducive to improving work efficiency. The automatic threading mechanism can effectively realize automatic perforation of the thread ends, thereby realizing the full automation of the loading and unloading process of the wire reel at the winding machine, with a high degree of automation. The knotting structure, 6-axis robot, wire reel thread grabbing device, automatic wire breaking mechanism and automatic threading mechanism are integrated into a mobile trolley, and one set of equipment can serve multiple winding machines, which is conducive to simplifying the structure and improving equipment utilization.

[0022] The automatic threading mechanism of the present invention has a two-stage threading clamp, which can thread as much silk thread as possible into the wire hole in two steps. Combined with the pressure roller, it can effectively ensure the reliability of pre-winding and prevent the thread end from being pulled out of the wire hole.

[0023] The automatic disconnection mechanism of this solution is simpler than the existing structure, which is conducive to reducing the occupied space and meeting the use needs of small spaces.

[0024] A wire diameter measuring instrument is provided at the automatic wire breaking mechanism, which can effectively identify the type of wire wound around the wire reel. Combined with the labeling operation, it can provide a data basis for the subsequent classification and storage of wire reels, which is conducive to the traceability of each wire reel.

[0025] Setting up a pin hole positioning mechanism can effectively position the empty wire wheel and the winding machine, thereby providing the basic conditions for automatically replacing the empty wire wheel. Further combined with the automatic threading mechanism, the thread end can be automatically threaded into the threading hole of the empty wire wheel and the silk thread can be wound onto the wire wheel without manual intervention, thereby further realizing the automation of the upper wheel.

[0026] The mobile mechanism of the present invention is connected with the wire wheel grabbing device and the automatic threading mechanism by a quick-change disk, so that two sets of tools can effectively share one mobile structure and can be replaced quickly, thus greatly improving the utilization rate of the mobile mechanism.

[0027] This solution sets a label generating device and a labeling device on the trolley, which can effectively and automatically label the full-line wheel, thereby meeting actual production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a stereoscopic view of the thread knotting device of the present invention (a clamping claw of the thread gripper is hidden);

[0029] Figure 2 : This is a top view of the thread knotting device of the present invention (in the figure, the driving wheel and the driven wheel are at the maximum gap position, and a clamping claw of the thread gripper is hidden)

[0030] Figure 3 is a state diagram of a full-line wheel installed on the thread end knotting device;

[0031] Figure 4 is a cross-sectional view of the thread knotting device of the present invention;

[0032] Figure 5 is a side view of the thread knotting device of the present invention;

[0033] Figure 6 is a three-dimensional diagram of the automatic clamping jaw of the present invention;

[0034] Figure 7 yes Figure 2 A magnified image of area A;

[0035] Figure 8 is an end view of the thread knotting device of the present invention;

[0036] Fig. 9 is a top view of the thread end gripper in the thread end knotting device of the present invention in a first position;

[0037] Fig.10 is a top view of the thread end gripper in the thread end knotting device of the present invention in the second position;

[0038] Fig.11It is a first-view stereoscopic diagram of the thread knotting device of the present invention equipped with an automatic loading and unloading mechanism;

[0039] Fig.12 It is a second perspective stereogram of the thread knotting device of the present invention equipped with an automatic loading and unloading mechanism;

[0040] Fig.13 It is a first-view stereoscopic diagram of the wire wheel grabbing device and the wire end clamping claw of the present invention;

[0041] Fig.14 It is a second perspective stereoscopic diagram of the wire wheel grabbing device and the wire end clamping claw of the present invention;

[0042] Fig.15 yes Fig.12 Enlarged view of area B;

[0043] Fig.16 is a three-dimensional diagram of the automatic wire breaking mechanism of the present invention;

[0044] Fig.17 It is a structural stereogram of the automatic wire breaking mechanism of the present invention on a mounting frame;

[0045] Fig.18 is a top view of the automatic wire breaking mechanism of the present invention;

[0046] Fig.19 It is a front view of the automatic wire breaking mechanism of the present invention;

[0047] Fig. 20 It is a partial stereogram of the automatic labeling mechanism area of ​​the present invention;

[0048] Fig.21 is a top view of the workbench of the present invention and the structure thereon;

[0049] Fig. 22 is a three-dimensional diagram of the workbench of the present invention and the structure thereon;

[0050] Fig.23 This is a front view of the automatic threading mechanism of the present invention from a first viewing angle;

[0051] Fig.24 It is a front view from a second viewing angle of the automatic threading mechanism of the present invention;

[0052] Fig.25 is a top view of the automatic threading mechanism of the present invention;

[0053] Fig.26 It is a schematic diagram of the state of the automatic threading mechanism of the present invention performing the first step of threading;

[0054] Fig. 27 It is a schematic diagram of the state of the automatic threading mechanism of the present invention performing the second threading step;

[0055] Fig.28 This is an end view of the present invention integrating a mobile trolley, an empty wheel conveyor line, and a full wheel return flow line (the pay-off machine is hidden in the figure);

[0056] Fig.29 is a partial stereogram of the winding system of the present invention;

[0057] Fig.30 It is a three-dimensional diagram of an end plate chain line of an empty wheel conveyor line of the present invention;

[0058] Fig.31 It is a three-dimensional diagram of the destacking and stacking area and the truss robot in the present invention;

[0059] Fig.32 is a top view of the thread gripper of the present invention clamping the thread at the second position;

[0060] Fig.33 is a top view of the thread gripper of the present invention moving the thread gripped by it to a first position;

[0061] Fig.34 Schematic diagram of the rotation of the automatic gripper of the present invention (the direction of the dotted arrow in the figure is the rotation direction);

[0062] Fig.35 It is a schematic diagram of the automatic clamping jaws of the present invention continuing to rotate after contacting the silk thread and the full-thread wheel rotating synchronously (the direction of the dotted arrow in the figure is the rotation direction of the automatic clamping jaws, and the direction of the solid arrow is the rotation direction of the full-thread wheel);

[0063] Fig.36 It is a schematic diagram of the automatic clamping claw of the present invention when it stops after rotating to form a wire loop. DETAILED DESCRIPTION

[0064] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0065] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0066] Example 1

[0067] The thread knotting device disclosed by the present invention is described below in conjunction with the accompanying drawings. Figure 1 As shown, it includes a driving shaft 100 and a driven shaft 200 which are coaxial and gap-arranged on a placement table 1000, their axes are parallel to the table surface of the placement table, and their distance from the table surface of the placement table 1000 is designed according to the size of the I-shaped wheel to be processed so that the I-shaped wheel can be suspended and fixed between them.

[0068] As attached Figure 1 As shown, the driving shaft 100 and / or the driven shaft 200 are driven by an axial driving mechanism 300 to move axially, the driving shaft 100 is connected to a first driving mechanism 400 that drives its rotation, and an automatic clamp 600 is arranged on the periphery of the driven shaft 200 and is driven by a second driving mechanism 500 to revolve around the driven shaft 200, the chuck 610 of the automatic clamp 600 faces the driving shaft 100 and extends to a certain distance in front of the driven shaft 200, and the distance is determined according to the edge position of the silk thread of the last certain number of turns of the full wire wheel on the winding machine.

[0069] As attached Figure 1 , Attachment Figure 2 As shown, a thread end grasping mechanism 700 is provided beside the gap between the driving shaft 100 and the driven shaft 200, and the thread end grasping mechanism 700 is used to grasp the thread end of the silk thread on the full thread wheel and cooperate with the driving shaft, the driven shaft and the automatic clamp 600 to achieve thread end knotting. The thread end grasping mechanism 700 includes a thread end grasping device 710, and the thread end grasping device 710 is connected to a translation driving mechanism 720 that drives it to reciprocate along the axis direction parallel to the driving shaft 100.

[0070] Specifically, as shown in the attached Figure 3As shown, the driving shaft 100 and the driven shaft 200 are used to cooperate in applying opposite pressures from both ends of the full-line wheel a10 to clamp and fix the full-line wheel a10 and drive the full-line wheel a10 to rotate. Their shapes can be adaptively designed according to the shape of the full-line wheel a10. In this embodiment, the full-line wheel a10 is a structure in which the wheel shaft has a center hole, and the opposite ends of the driving shaft 100 and the driven shaft 200 are cone heads, so that they can be inserted into the center hole a1 of the full-line wheel a10 to fix the wheel.

[0071] The driving shaft 100 and the driven shaft 200 are fixed to the wire wheel by axial movement of at least one of them. Figure 1 As shown, in order to avoid the structure on the side where the driven shaft 200 is located being too complicated, only the driving shaft 100 is allowed to move along its axis, even if the driving shaft 100 is connected to the axial drive mechanism 300 .

[0072] As attached Figure 1 As shown, the axial drive mechanism 300 includes a drive source 310 capable of generating linear motion. The drive source 310 may be a cylinder, a hydraulic cylinder, or an electric linear motion device. For example, a cylinder is fixed on the placement table 1000. The cylinder shaft of the cylinder is connected to a vertical plate 320. The driving shaft 100 is connected to the vertical plate 320 via a first drive mechanism 400. Figure 2 As shown, when the cylinder shaft of the cylinder is retracted, the driving shaft 100 and the driven shaft 200 maintain a maximum spacing G1, which is greater than the width of the full-line wheel a10. At this time, the driving shaft 100 is in an open position, and the full-line wheel a10 can be placed between them. When the cylinder shaft of the cylinder is extended, the spacing between the driving shaft 100 and the driven shaft 200 is reduced to less than the width of the line wheel, so that the two cooperate to clamp and fix the full-line wheel a10 located between them. At this time, the driving shaft 100 is in a clamping position.

[0073] As attached Figure 4 As shown, the first driving mechanism 400 includes a motor 410, and the motor 410 is connected to a reducer 420. The reducer 420 is fixed on the outer side of the vertical plate 320 and its rotating shaft 421 passes through the through hole 321 on the vertical plate 320. A bearing 430 is arranged in the through hole 321. A transmission shaft 440 located on the inner side of the vertical plate is coaxially connected to the bearing 430. The transmission shaft 440 is coaxially connected to the rotating shaft 421 of the reducer 420, and the front end of the transmission shaft is coaxially arranged with the driving shaft 100.

[0074] As attached Figure 4 , Attachment Figure 5As shown, the revolution of the automatic gripper 600 around the driven shaft 200 can be achieved through various feasible structures. In this embodiment, the second driving mechanism 500 includes a rotating body 510, and the rotating body 510 is preferably a turntable, and of course it can also be a cylinder, etc. The automatic gripper 600 is eccentrically arranged on the inner side 511 of the turntable. More specifically, the automatic gripper 600 is fixed on the turntable by an adjustment mounting frame 520 and is located on the outside of the turntable. The adjustment mounting frame 520 includes an L-shaped straight rod 521 and a T-shaped mounting piece 522. One end of the straight rod 521 is fixed to the inner side of the turntable, and the other end of the straight rod 521 is rotatably provided with a T-shaped mounting piece 522 relative to the straight rod 521. The T-shaped mounting piece faces the driving shaft 100. The cylinder 620 of the automatic gripper 600 is fixed on the T-shaped mounting piece 522. The installation angle of the automatic gripper 600 can be adjusted by rotating the T-shaped mounting piece relative to the straight rod 521.

[0075] As attached Figure 4 , Attachment Figure 5 As shown, a support shaft 530 is coaxially arranged on the inner side 511 of the turntable, and the driven shaft 200 is coaxially connected to the support shaft 530 via a bearing 540 sleeved on the support shaft 530 so as to be rotatable.

[0076] As attached Figure 4 , Attachment Figure 5 As shown, the outer side (right side) of the turntable is coaxially connected to a large gear 550, and the large gear is rotatably arranged in a gear box 560. The gear box 560 is fixed on the placement table 1000, and the gear box 560 is also provided with a small gear (not shown in the figure) that meshes with the large gear 550. The small gear is located below the large gear, and the small gear is coaxially connected to the motor shaft of the motor 570 on the outer side of the gear box 560.

[0077] The two clamps 610 of the automatic clamp 600 not only need to effectively prevent the silk thread wound thereon from falling off during the rotation process, but also need to facilitate the withdrawal from the wire loop when tying a knot later. Figure 6 , Attachment Figure 7 As shown, the chuck 610 includes a clamping portion 611, which is connected to the blocking portion 612 at an obtuse angle, and their outer surfaces form a V-shaped limiting groove 614. The blocking portion 612 is connected to the mounting portion 613 at an obtuse angle, and the extension direction of the mounting portion 613 is parallel or nearly parallel to the extension direction of the clamping portion 611.

[0078] As attached Figure 6 , Attachment Figure 7As shown, when the two clamps 610 are closed, their clamping parts 611 are combined into a frustum with a small outer end and a large inner end, preferably a truncated cone. When the two clamps 610 are in the open state, the front end spacing L2 of the clamping surfaces 615 of their clamping parts 611 is greater than the rear end spacing L3, that is, their clamping surfaces are trapezoidal with a large front end and a small rear end, and the clamping surfaces of the two clamping parts 611 facing each other are rough surfaces with a concave-convex structure to ensure the stability of clamping.

[0079] As attached Figure 6 As shown, the mounting portion 613 is fixed on a long rod 631 of an L-shaped rotating block 630, the inner end of the long rod 631 is pivotally connected to the front end of the cylinder body 621 of the cylinder 620, the outer end of the short rod 632 of the rotating block 630 is pivotally connected to the cylinder shaft 622 of the cylinder 620, and the short rods of the two rotating blocks 630 are pivotally connected to the cylinder shaft 622 through a connecting shaft 640. When the cylinder shaft 622 is extended, the two rotating blocks 630 are each rotated around the connecting axis with the cylinder body to open; when the cylinder shaft 622 is retracted, the two rotating blocks 630 are closed to close the two chucks 610.

[0080] Furthermore, when the automatic clamp 600 is located directly below the driven shaft 200, it is inclined, that is, the axis of the shaft around which the clamp 610 rotates is not perpendicular to the horizontal plane. This makes it easier for the wire loop to be expanded as much as possible during the subsequent winding so that the wire loop can be blocked by the subsequent blocking pin. At the same time, it is easier for the distance between the two clamps 610 to correspond to the silk thread grasped by the wire end gripper 710.

[0081] As attached Figure 1 As shown, the thread end gripper 710 is used to fix the thread end on the full-line wheel a10 fixed between the driving shaft 100 and the driven shaft 200 so as to facilitate the subsequent winding of a thread loop when the above-mentioned automatic clamp 600 revolves, and the translation of the thread end gripper 710 is used to avoid interference with the revolving motion of the automatic clamp 600 and to move a section of silk thread 301 straightened between it and the wire wheel to between the two clamps 610 of the automatic clamp 600 so that the automatic clamp 610 can grab the thread end.

[0082] As attached Figure 8As shown, the two jaws 711 of the thread gripper 710 are driven to open and close by a clamping cylinder 712, and the shape of the jaws 711 can be adaptively designed according to their orientation. In one embodiment, the front ends of the two jaws 711 face the gap between the driving shaft and the driven shaft. At this time, the clamping cylinder 712 is located on the outside of the jaws 711, and the jaws 711 are approximately L-shaped or include a horizontal portion 7111 and a clamping portion 7112 that is at an angle of 90°-145° to the horizontal portion 7111, and the clamping portion 7112 faces upward and is closer to the driving shaft.

[0083] In another embodiment, the front ends of the two clamping jaws 711 are arranged upward, that is, the clamping cylinder 712 is located below the clamping jaws 711. At this time, the shape of the two clamping jaws 711 can be the shape of an ordinary chuck so as to stably clamp the wire.

[0084] As attached Figure 8 As shown, the translational drive mechanism 720 that drives the thread gripper 710 to reciprocate can be various known devices that can produce linear movement, such as known devices such as cylinders and hydraulic cylinders. The translational drive mechanism 720 takes a translation cylinder as an example. The clamping cylinder 712 of the thread gripper 710 is fixed on a connecting plate set at the front end of the cylinder shaft of the translation cylinder, and the position of the clamping cylinder 712 is higher than the translation cylinder, and the position of the translation cylinder is fixed.

[0085] In order to better cooperate with the automatic gripper 600, the translation drive mechanism 720 drives the thread grabber 710 to move to a certain position. When the cylinder shaft of the translation cylinder is retracted, the thread grabber 710 is in the first position, and when the cylinder shaft of the translation cylinder is extended, the thread grabber 710 is in the second position.

[0086] As attached Fig. 9 As shown, in the first position, the clamping surface 7113 of the closed jaw 711 is close to the midpoint P of the maximum distance G1 between the driving shaft 100 and the driven shaft, that is, when the jaw 711 clamps the thread end and moves to the first position, the silk thread between the wire wheel and the jaw 711 is inclined from the edge of the wire wheel to the middle position of the wire wheel.

[0087] As attached Fig.10 As shown, at the second position, the clamping surface 7113 of the clamping jaw 711 in the closed state is adjacent to the front end 210 of the driven shaft 200 (the end facing the driving shaft).

[0088] As attached Figure 8As shown, the installation height of the thread gripper 710 can be designed as needed. For example, when manual feeding is adopted, the thread gripper 710 can be installed at any height. When automatic feeding is adopted, the thread gripper 710 is preferably slightly higher than the driving shaft 100 and the driven shaft 200. Specifically, the translation cylinder is fixed on a mounting plate 730, and the mounting plate 730 is height-adjustably arranged on two guide pillars 750 through two locking blocks 740. The guide pillars 750 are fixed on the placement table 1000 through a seat sleeve 760.

[0089] As attached Figure 8 As shown, in order to prevent the wound wire loop from following the movement of the automatic clamping claws and affecting the knotting during knotting, a blocking mechanism 900 is horizontally arranged below the wire end gripper 710, and the blocking mechanism moves synchronously with the wire end gripper 710. The blocking mechanism 900 includes a blocking pin 910, which is horizontally arranged (parallel to the table panel of the placement table 1000), and its extension direction is perpendicular to the axis of the driving shaft 100 and is connected to a blocking driving mechanism 920 that drives it to move along its axial direction. The blocking driving mechanism 920 is preferably a cylinder, and the blocking driving mechanism 920 is fixed to the mounting plate 730. Of course, the blocking mechanism 900 is not necessary and can also be omitted.

[0090] In this embodiment, the full wire wheel on the winding machine can be manually moved to be fixed between the driving shaft and the driven shaft, and the wire end can be placed on the clamping claw of the wire end gripper for fixation.

[0091] Example 2

[0092] In the above-mentioned embodiment 1, manual loading and unloading is adopted, but the weight of the full-line reel is relatively large, and manual loading and fixing the thread end on the thread end gripper is an inefficient and labor-intensive method. Therefore, a better method is to use automated equipment for loading and unloading and placing the thread end between the two jaws of the thread end gripper.

[0093] As attached Fig.11 , Attachment Fig.12 As shown, in this embodiment, the above functions are realized by a loading and unloading robot b, and the loading and unloading robot b and the placement table 1000 are both arranged on a substrate c, and the loading and unloading robot b includes a wire wheel grasping device b1 for grasping the wire wheel, a moving mechanism b2 for driving the wire wheel grasping device b1 to move, and a wire end clamp b3 for clamping the wire between the wire wheel and the wire pay-off frame e1 of the winding machine e before the wire is disconnected.

[0094] Specifically, as attached Fig.13As shown, the reel grasping device b1 includes a carrier b100, and the carrier b100 includes a carrier plate b110. Two parallel guide rails b130 are arranged at the bottom of the carrier plate b110 near the edge through a pad b120. Two clamping plates b200 are slidably arranged on the two guide rails b130. A U-shaped notch b210 is formed on the clamping plate b200, and the opening of the U-shaped notch b210 faces outward. When grabbing the reel from the winding shaft of the winding machine, the rotating shaft of the winding machine can be avoided through the U-shaped notch b210, and the rotating shaft of the winding machine can be entered into the U-shaped notch b210, so that the reel is held by the two end faces of the reel.

[0095] And, as attached Fig.13 As shown, the two opposite end faces of the two clamps b200 are respectively provided with a pad b300 and a limiting protrusion b400. The outer contour of the pad b300 is approximately a large semicircle and does not protrude outside the clamp b200. The pad b300 is formed with a notch b310 corresponding to the position of the U-shaped notch b210 and having the same shape and size. The limiting protrusions b400 are four cylinders and are arranged around the outer periphery of the pad b300. The height of the limiting protrusions b400 is greater than the thickness of the pad b300. Two of them are located at the two lower top corners of the clamp b200, and the other two are at the same height as the top of the U-shaped notch, so that they can cooperate to limit the wheel a2 of the full line wheel a10 to prevent the line wheel from falling off the clamp b200 under the action of gravity. Of course, in other embodiments, only two limiting protrusions at the bottom can be provided.

[0096] As attached Fig.13 As shown, in order to ensure the strength of the splint b200, reinforcing plates b500 perpendicular to it are formed on both sides of the splint, and the splint b200 and the reinforcing plate b500 are connected to the flat plate b600 on their top, and the flat plate b600 is slidably connected to the two guide rails b130 through a slider.

[0097] As attached Fig.14 As shown, the two clamping plates b200 are driven by the opening and closing driving mechanism b700 to move and open and close along the two guide rails. The opening and closing driving mechanism b300 can be various known structures, such as a double-headed cylinder, or a double slider screw driven by a motor and other known devices. Specifically, in order to ensure stability during clamping, the opening and closing driving mechanism b700 includes two cylinders b710 fixed at the bottom of the carrier plate b110, and the cylinder axes of the two cylinders b710 are arranged back to back, and are respectively connected to one of the clamping plates b200 through a connecting plate b720.

[0098] As attached Fig.11 , Attachment Fig.12As shown, the moving mechanism b2 is connected to the wire wheel grabbing device b1 and drives it to move, which can be various known mechanisms capable of realizing multi-axis movement and rotation, preferably a 6-axis robot, and the 6-axis robot can at least drive the wire wheel grabbing device b1 to the winding machine e to grab the wire wheel and can place the wire wheel grabbed from the winding machine coaxially between the driving shaft 100 and the driven shaft 200.

[0099] As attached Fig.14 , Attachment Fig.15 As shown, in order to adapt to different operational needs, the moving mechanism b2 and the wire wheel grabbing device b1 can be quickly connected. Preferably, they are connected through quick-change disks b201 and b800. The specific structure of the quick-change disk b201 is a known technology and will not be described here.

[0100] As attached Fig.15 As shown, in order to accurately control the moving position of the wire wheel grabbing device b1 through the moving mechanism b2, the moving device b2 is also provided with an image collector b202 located on the side of the quick-change disk b201, and the axis of the image collector b202 is parallel to the axis of the quick-change disk b201 and its lens faces outward. At the same time, a light source b203 is also provided next to the image collector b202.

[0101] As attached Fig.13 , Attachment Fig.14 As shown, in order to effectively place the thread ends on the full-line wheel between the two clamping jaws 711 of the thread end gripper 710, when the full-line wheel a10 is grabbed at the winding machine e, the thread ends need to be clamped and the position is limited by the thread end clamping jaw b3. The thread end clamping jaw b3 is arranged on the side of the carrier plate b110 and is located between the two clamping plates b200. When the two clamping plates b200 are closed, one of the clamping plates b200 is adjacent to the thread end clamping jaw b3. The thread end clamping jaw b3 includes a clamping jaw cylinder b301 and two clamping blocks b302 driven to open and close by the clamping jaw cylinder b301. The front ends of the two clamping blocks b302 are oriented in the same direction as the opening direction of the U-shaped notch, that is, downward.

[0102] The height of the front end (lower end) of the two clamping blocks b302 is adaptively designed according to the height of the wire wheel and the U-shaped notch and the height of the silk thread between the full wire wheel and the pay-off frame e1 on the winding machine. In one embodiment, the thread end clamp can be fixed to the carrier plate by a bracket b4, and the front end of the two clamping blocks b302 is equivalent to the middle position of the U-shaped notch, so that when the two clamping plates b200 hold the full wire wheel a10 on the winding machine e, the two clamping blocks of the thread end clamp b3 can clamp the silk thread between the full wire wheel a10 and the pay-off frame e1.

[0103] In another embodiment, the thread end clamp b3 is connected to a driving cylinder (not shown in the figure), and the lifting cylinder is fixed on the carrier plate. Under normal circumstances, the cylinder shaft of the lifting cylinder remains retracted, and the front end height of the clamping block of the thread end clamp b3 is higher than the U-shaped notch. When the clamping plate is opposite to the position of the wire wheel on the winding machine or clamps the full wire wheel, the cylinder shaft of the lifting cylinder extends out. At this time, the clamping block b302 is in an open state, so that the two clamping blocks b302 move downward so that the wire between the wire wheel and the pay-off frame is located in the gap between the two clamping blocks b302, and then the two clamping blocks b302 close to clamp the wire.

[0104] After the wire end clamp b3 clamps the wire, the wire between the wire end clamp b3 and the wire pay-off frame e1 is cut off, melted or severed, so that the loading and unloading robot b can remove the full wire wheel from the winding machine e and place it between the driving shaft and the driven shaft. The wire breaking operation can be achieved manually or by automated equipment at the winding machine.

[0105] Example 3

[0106] In the above-mentioned embodiment 2, the silk thread between the full-line wheel and the pay-off stand e1 is cut manually, or the silk thread between the full-line wheel and the pay-off stand e1 is cut by a clamping claw and a wire cutting mechanism provided at the winding machine or the pay-off stand.

[0107] As attached Fig.11 As shown, in this embodiment, the fusing of the wire and the clamping of the wire end on one side of the pay-off frame are achieved by setting an automatic wire breaking mechanism d. Specifically, the automatic wire breaking mechanism d is set on the substrate c and is located between the placement table 1000 and the loading and unloading robot b, and is adjacent to the placement table 1000.

[0108] As attached Fig.16 As shown, the automatic wire breaking mechanism d includes a mounting frame d100, and a fuse d200 is arranged on the vertical plate d110 of the mounting frame d100. The fuse d200 is a device that heats the fuse head to generate a high temperature to melt and cut off the wires and the like located between the fuse heads. The specific structure and principle of heating the fuse head are known technologies and will not be elaborated here.

[0109] As attached Fig.17As shown, the fuse heads of the fuse d200 are arranged in an upper and lower position relationship, and the lower fuse heads d210 are two adjacently mounted on a flat plate d130 vertically fixed to the side of the vertical plate d110, and the upper fuse head d220 is connected to the lifting cylinder d230 that drives its lifting through the connecting piece d240, and the lifting cylinder d230 is fixed to the vertical plate. In addition, the upper fuse head d220 is L-shaped, the lower fuse head d210 is located below the horizontal part d221 of the upper fuse head d220, the vertical part d222 of the upper fuse head d220 is located on the inner side of the lower fuse head d210 and fits with the inner side wall of the lower fuse head or maintains a micro gap, and the height of the area where the vertical part d222 fits with the lower fuse head is greater than the moving stroke of the lifting cylinder d230, so that the wire can be effectively prevented from moving outside the gap between the two fuse heads.

[0110] Of course, in addition to the fusing method, the wire can also be disconnected by shearing. The structure of automatic shearing is a known technology and will not be described in detail here.

[0111] Furthermore, the height of the fuse surface of the lower fuse head d210 is comparable to the top height of the wire on the full wire wheel of the winding machine e, thereby facilitating the wire to enter the gap between the upper fuse head d220 and the lower fuse head d210 through translation of the fuse d200.

[0112] As attached Fig.16 , Attachment Fig.18 As shown, the horizontal movement of the fuse d200 is achieved by moving the mounting frame d100. The horizontal plate d120 of the mounting frame d100 is arranged on the sliding part of a slide cylinder d300. The slide cylinder d300 drives the fuse d200 to translate along the axial direction perpendicular to the driving shaft 100 and the driven shaft 200. The slide cylinder d300 is connected to the linear module d500 which is driven to translate along the extension direction parallel to the driving shaft 100 and the driven shaft 200 through the adapter frame d400, and the slide cylinder d300 is located outside the linear module d500. The structure of the linear module d500 is a known technology and will not be described here. Of course, the linear module d500 can also be replaced by other devices that can produce linear movement, such as slide cylinders, rodless cylinders, etc. The linear module d500 can translate the mounting frame d100 to the outside of the substrate c, and its specific movement stroke is adaptively adjusted according to the spacing between different devices. The linear module d500 is set on the frame d600 so that the lower fuse head d210 meets the above-mentioned height requirements.

[0113] Under normal conditions, the fuse surfaces of the two fuse heads of the fuse d200 maintain a gap, and the sliding part of the slide cylinder d300 retracts. When the wire needs to be cut, the linear module d500 drives the slide cylinder d300 to move to the outside of the substrate c until the gap between the two fuse heads of the fuse d200 is directly opposite to the wire between the full-wire wheel a10 and the wire pay-off frame e1, and is located on the outside of the wire. Then, the sliding part of the slide cylinder d300 extends out, and the fuse d200 moves in the direction of the wire until the wire enters the gap between the upper fuse head d220 and the lower fuse head d210. Then, the lifting cylinder d230 drives the upper fuse head to descend to clamp the wire, and the upper fuse head and / or the lower fuse head are heated to complete the fusing.

[0114] Furthermore, before the wire is broken, it is necessary to clamp the wire end between the fuse point and the pay-off frame e1, so that after the wire is broken, the wire end on one side of the pay-off frame e1 can be limited in position, thereby facilitating the subsequent winding of the wire end onto the empty wire wheel for continued winding. In conventional embodiments, a pneumatic clamp can be provided at the winding machine or the pay-off frame, and the wire near the pay-off frame e1 is clamped by the pneumatic clamp before the fuse d200 is blown.

[0115] In another embodiment, as shown in the attached Fig.17 As shown, a pneumatic clamp d700 located outside the fuse d200 can also be provided on the mounting frame d100, and the pneumatic clamp d700 includes a fixed claw d710, a movable claw d720 and a cylinder d730, and the fixed claw d710 is fixed on the horizontal plate d120 of the mounting frame d100 and corresponds to the position of the fuse head of the fuse d200, and a V-shaped groove d711 is formed on the top of the fixed claw d710, and the V-shaped groove d711 extends along a straight line movement direction parallel to that generated by the linear module d500, and the bottom height of the V-shaped groove d711 is equivalent to the height of the fuse surface d211 of the lower fuse block d210.

[0116] As attached Fig.17 As shown, the movable claw d720 is connected to the cylinder shaft of the cylinder d730, and the cylinder d730 is fixed to the side of the vertical plate d110 of the mounting frame d100 and drives the movable claw d720 to move up and down. The lower end of the movable claw d720 is a V-shaped cone d721 corresponding to the V-shaped groove d711. In this way, it is unnecessary to set a pneumatic clamp at each winding machine e or pay-off frame e1. There are two pneumatic clamps d700 and they are distributed on both sides of the fuse d200, so as to ensure the accuracy of the wire position when the fuse is blown.

[0117] As attached Fig.19As shown, the vertical plate d110 is also provided with a wire diameter measuring instrument d800 located between the pneumatic clamp d700 and the fuse d200 on the outside. The wire diameter measuring instrument d800 can be various known wire diameter measuring instruments, such as a photoelectric wire diameter measuring instrument, a laser wire diameter measuring instrument, etc., so that the type of the wire wound by the wire wheel can be measured online, and the measured data is transmitted to the control system to facilitate the subsequent classification and stacking of the wire wheels wound with different types of wires.

[0118] The number of the automatic wire-breaking mechanisms d can be designed according to the number of winding machines to be matched. For example, when only one or a row of winding machines breaks the wire, only one is needed. Fig.11 As shown, when two rows of winding machines are broken, there are two automatic wire breaking mechanisms d, and their mounting frames d100 are moved to the opposite sides of the substrate c to perform the fusing operation.

[0119] Example 4

[0120] After knotting is completed, it is necessary to perform labeling operation at the set position on the outer end surface of the end disk of the full-line wheel. The label can be a barcode label, a QR code label or a radio frequency tag, etc. By identifying the label, various information corresponding to the full-line wheel can be obtained, such as the corresponding winding machine, the type of wound silk thread, etc.

[0121] As attached Figure 8 , Attachment Fig. 20 , Attachment Fig.21 As shown, automatic labeling is specifically performed through a label generating device g, a labeling device h and a visual positioning device i. Specifically, the label generating device g is a known device capable of generating a two-dimensional code or a barcode label online, which is located on the placement table 1000 and below its table panel 1100. The label generated by the label generating device g includes a back-adhesive label layer and a release layer covering the back-adhesive.

[0122] As attached Fig. 20 As shown, the label falls onto the adsorption block j100 of the label lifting device j, the adsorption surface of the adsorption block j100 faces upward, and when the label is located on the adsorption block j100, its release layer faces the adsorption block j100. The adsorption block j100 is connected to a cylinder j200, and the cylinder j200 moves the adsorption block j100 from a position far from the discharge port of the label generating device g to a position close to the discharge port.

[0123] As attached Fig. 20As shown, the cylinder j200 is connected to the lifting cylinder j300 that drives it to rise and fall. The lifting cylinder j300 lifts the adsorption block j100 from its top surface slightly lower than the discharge port of the label generating device g to a height close to the lower surface of the suction cup of the labeling device h. Correspondingly, a through hole 1110 is formed on the table panel 1100 for the adsorption block j100 to pass through.

[0124] As attached Fig. 20 , Attachment Fig.21 As shown, the labeling device h is arranged above the table panel 1100 and located on the outside of the driven shaft 200, and includes a suction cup h100. The suction surface of the suction cup h100 can be rotated downward and is in an arc shape, so that it can match the shape of the wheel disc of the wire wheel. The suction cup h100 is connected to a rotating cylinder h300 through a connecting piece h200. The rotating shaft of the rotating cylinder h300 is parallel to the table panel 1100 and its axis is parallel to the axis of the driving shaft 100. The rotating cylinder h300 is fixed on a lifting slide cylinder h400. The lifting slide cylinder h400 is arranged with On a translation slide cylinder h500, the translation slide cylinder h500 drives the lifting slide cylinder h400 to translate along the axial direction parallel to the active shaft, the translation slide cylinder h500 is arranged on the first linear module h600, the first linear module h600 drives the translation slide cylinder h500 to move along the axial direction perpendicular to the active shaft, the first linear module h600 can be slidably arranged on a track h700 and connected to the second linear module h800 that drives it to move along the track, and the track h700 extends along the axial direction parallel to the active shaft.

[0125] As attached Fig.21 As shown, the visual positioning device i includes an image acquisition device i100 located outside the outer end of the active shaft 100 or the driven shaft 200. The image acquisition device i100 can be a camera, CCD, etc. Preferably, the lens of the image acquisition device i100 faces the outer end of the driven shaft, and it is located outside the side of the gear box 560, so that it can capture the image of the outer edge area of ​​the wheel disk of the full-line wheel a10 fixed on the active shaft and the driven shaft. The labeling position is determined by the image acquired by the image acquisition device. This is because the outer end surface of the wheel disk of the line wheel is in the form of multiple grooves rather than a plane. Therefore, when the labeling position does not correspond to the suction cup, the labeling position can be adjusted by rotating the full-line wheel to a predetermined angle. After the adjustment is completed, the loading and unloading robot grabs and moves the line wheel that has found the labeling position to face the suction cup of the labeling device h, and the suction cup moves to attach the adsorbed label to the labeling position of the line wheel.

[0126] The image acquisition device i100 can be fixed to the outside of the gear box 560, or can be movable, such as attached Fig.21 As shown, the image acquisition device i100 is connected to the cylinder i200 that drives it to move horizontally along the axial direction perpendicular to the driving shaft. When the cylinder shaft of the cylinder i200 is retracted, the image acquisition device corresponds to the gear box 560. When the cylinder shaft of the cylinder i200 is extended, the lens of the image acquisition device i100 moves to the outer side of the edge of the gear box 560, so that the image of the end face edge area of ​​the wire wheel can be acquired. Of course, in other embodiments, the image acquisition device i100 is not necessary. For example, when the outer end face of the wheel disk of the wire wheel is a plane, the label can be attached to any position of the end face.

[0127] In addition, the structure required for labeling is not essential and can be omitted in other embodiments.

[0128] Example 5

[0129] In the above embodiments, after the full wire wheel on the winding machine is removed, the empty wire wheel needs to be replaced for winding again. The empty wire wheel can be manually moved and made coaxial with the winding shaft of the winding machine.

[0130] A better way is to achieve it through automated equipment. When placing the empty wire wheel on the winding shaft of the winding machine, the pin hole a3 on the wheel disc of the empty wire wheel needs to correspond to the positioning pin on the winding machine. Therefore, the wire wheel cannot be automatically placed directly by the above-mentioned loading and unloading robot b, so the empty wire wheel needs to be positioned before installation.

[0131] As attached Figure 8 , Figure 21, Attachment Fig. 22 As shown, a pin hole positioning mechanism m is also provided on the placement table 1000, and the pin hole positioning mechanism m includes a support seat m100 fixed on the placement table 1000, and a top plate m110 of the support seat m100 is higher than the active shaft 100, and a servo rotating table m200 is provided on the top plate m110. The specific structure of the servo rotating table m200 is a known technology and is not described here. The axis of its rotating shaft is perpendicular to the top plate m110, and a sensor m300 is also provided on the top plate m110, which is located on the outside of the servo rotating table m200 and is used to detect the pin hole a3 on the wheel disk of the wire wheel.

[0132] During operation, the loading and unloading robot b grabs an empty wire wheel b20 and places it coaxially on the servo rotating table m200. The servo rotating table M200 is started to drive the empty wire wheel to rotate. When the pin hole on the wheel disc of the empty wire wheel is directly opposite to the sensor m300, the servo rotating table stops rotating to locate the pin hole. After positioning, the positioned empty wire wheel can be moved by the loading and unloading robot b to be coaxial with the winding shaft of the winding machine e and the empty wire wheel can be fixed through the winding shaft.

[0133] Before the empty wire wheel grasped by the loading and unloading robot b is coaxially installed on the winding shaft of the winding machine e, the position of the positioning pin at the winding shaft can be determined by the image acquisition device b220 on the loading and unloading robot, and the positioning pin can be adjusted to a position corresponding to the pin hole on the empty wire wheel on the loading and unloading robot through the rotation of the winding shaft. The specific visual positioning and position adjustment here are known technologies and will not be elaborated here.

[0134] Of course, the pin hole positioning mechanism m is not necessary. If there is no positioning pin on the winding machine, the corresponding positioning step can be omitted. For example, the winding machine uses an inflatable shaft to fix the I-shaped wheel.

[0135] Example 6

[0136] After the empty wire wheel is installed on the winding machine, the wire end on one side of the pay-off frame needs to be wound onto the wire wheel shaft of the empty wire wheel to continue winding. Usually, a threading hole is provided on the wire wheel shaft, and the wire end needs to be manually inserted into the threading hole, and then the winding machine and the pay-off machine are started for winding.

[0137] A better way is to Fig. 22 As shown, an automatic threading mechanism n is used to achieve the thread end perforation and pre-winding action, as shown in the attached Fig.23 , Attachment Fig.24 As shown, the automatic threading mechanism includes a carrier n100, which is a plate or block with sufficient thickness. The carrier n100 is provided with a first threading clamp n200 and a second threading clamp n300.

[0138] As attached Fig.23As shown, the first threading clamp n200 includes a first cylinder n210 and two first clamps n220 driven to open and close thereby, the first threading clamp n200 is located on the outside of the carrier n100, the first cylinder n210 is fixed to the front end of the cylinder shaft of a pushing cylinder n400, the side of the cylinder body of the pushing cylinder n400 is connected to two guide shafts n500 perpendicular to its side through a connecting block, the extension direction of the guide shaft n500 is perpendicular to the pushing direction of the pushing cylinder n400 and the opening and closing direction of the first cylinder n210, the guide shaft n500 vertically passes through a movable plate n600 and can move relative to the sleeve on the movable plate n600, and the upper ends of the two guide shafts n500 are connected to a limit plate n700 located on the outside of the movable plate n600.

[0139] As attached Fig.23 , Attachment Fig.24 As shown, each guide shaft n500 is sleeved with a spring n800, one end of the spring n800 abuts against the push cylinder or the connection block, and the other end of the spring n800 abuts against the moving plate n600 or the sleeve. The moving plate n600 is connected to a displacement cylinder n900 that drives it to move along the extension direction parallel to the guide shaft n500, the displacement cylinder n900 is fixed on one side of the bearing member n100, and the push cylinder n400 is located on the other side of the bearing member n100.

[0140] As attached Fig.23 As shown, the second threading clamp n300 includes a second cylinder n310 fixed to the side of the carrier n100 and a second clamp n320 driven to open and close by the second cylinder n310, the moving direction of the second clamp n320 when opening and closing is parallel to the moving direction of the first clamp n320 when opening and closing, and the lengthwise extension line Ln3 of the second threading clamp n300 forms an acute angle with the lengthwise extension line Ln2 of the first threading clamp n200, preferably between 30°-60°. When the cylinder axis of the push cylinder n400 extends and the cylinder axis of the shift cylinder n700 contracts, the front ends of the first clamp n220 and the second clamp n320 are basically in the same plane, which is perpendicular to the cylinder axis of the push cylinder n400; and the gap between the two first clamps n220 when they are opened and the gap between the two second clamps n230 when they are opened are directly opposite. In addition, a certain distance is maintained between the first clamp n220 and the second clamp n320, and the specific distance length is designed according to needs, preferably, the distance is equivalent to the length of the first threading cylinder. Thus, the first clamp and the second clamp can simultaneously grasp different positions of the same straightened wire.

[0141] The carrier n100 is arranged on a device that drives it to move. In one embodiment, the carrier n100 can be moved by a dedicated 6-axis robot that matches it, and can be installed on the free end of the 6-axis robot by means of screw connection or the like.

[0142] In a more preferred embodiment, since the loading and unloading robot b already has a 6-axis robot, the automatic threading mechanism n and the loading and unloading robot b can share a 6-axis robot. Fig.23 , Attachment Fig.25 As shown, the carrier n100 is provided with a quick-change plate n110 that cooperates with the quick-change plate on the 6-axis robot, and the axis of the quick-change plate n110 is parallel to the cylinder axis of the push cylinder n400, so that different tooling can be quickly replaced, saving a set of moving mechanisms. At this time, the side of the placement table 1000 is also provided with a frame 1300 for placing the wire wheel grabbing device b2 in the loading and unloading robot b.

[0143] As attached Fig. 22 , 23 , Attachment Fig.25 As shown, in order to facilitate replacement, the quick-change plate n110 on the carrier n100 is arranged upward on the frame 1300 on the side of the placement table 1000, and the frame 1300 includes two parallel limit plates 1310 and a support 1320. A guide limit groove 1311 is formed on each of the limit plates 1310. The guide groove 1311 includes a wedge-shaped guide portion and a large semicircular limit portion at the end. The guide limit grooves 1311 on the two limit plates 1310 have one opening facing upward and the other opening facing downward. The carrier n100 is provided with a pin n120 embedded in the two guide grooves 1311. When the carrier is limited on the frame, the pin 120 is parallel to the table panel 1100. The supporter 1320 includes an L-shaped support member 1321 and a buffer block 1322, and the axis of the buffer block 1322 is perpendicular or nearly perpendicular to the lengthwise extension line Ln3 of the second threading clamp n300.

[0144] As attached Fig.23 As shown, when the carrier n100 is defined on the frame 1300, the cylinder axis of the push cylinder n400 is vertically extended (perpendicular to the table panel), the lengthwise extension line Ln2 of the first threading clamp n200 is also vertical, and the front end of its first clamp n220 is set downward. The second threading clamp n300 is tilted as a whole and is located on the left or right side of the first threading clamp n200, and the second clamp n320 is located below the second cylinder n310 and close to the first threading clamp n200.

[0145] When threading, the 6-axis robot is connected to the quick-change plate n110 on the carrier n100, as shown in the attached Fig.23 , Attachment Fig.24 As shown, the first threading clamp n200 and the second threading clamp n300 are first driven to be in a left-right position relationship, so that they can simultaneously clamp the horizontal or nearly horizontal wire between the pneumatic clamp d700 located on the outside of the automatic wire breaking mechanism d and the wire pay-off frame. After the first threading clamp n200 and the second threading clamp n300 grab the wire, the 6-axis robot moves the first threading clamp n200 and the second threading clamp n300 to an up-down position relationship, specifically, the first threading clamp n200 is at the bottom, and the second threading clamp n300 is at the top and tilted to the lower right, as shown in the attached figure. Fig.26 As shown. After finding the threading hole on the reel shaft, the 6-axis robot drives the carrier n100 to move downward so that the thread head at the front end of the first threading clamp n200 is inserted into the threading hole first. Then, the first threading clamp n200 opens, releases the clamping of the thread head, and the cylinder shaft of the push cylinder n400 retracts, and the cylinder shaft of the shift cylinder n900 extends. Then, the 6-axis robot drives the carrier n100 to rotate, so that the second threading clamp n300 rotates from an inclined state to a vertical or nearly vertical state, as shown in the attached figure. Fig. 27 As shown, the second threading clamp n300 inserts a section of silk thread at its front end into the threading hole again to complete the threading.

[0146] When threading, the threading hole and the thread end are positioned by the image collector b210 on the 6-axis robot.

[0147] After threading is completed, the winding machine e can be started to wind the wire. However, since the wire end is not fixed in the threading hole, the tension of the wire may cause the wire end to fall out of the threading hole during winding, resulting in the silk thread being unable to be wound onto the reel shaft of the empty reel. Fig.24As shown, the automatic threading mechanism n also includes a pressure roller n1 and a clamping cylinder n2. The clamping cylinder n2 is located outside the second threading clamp n300, and the extension direction of its cylinder axis n21 is parallel or approximately parallel to the lengthwise extension line Ln3 of the second threading cylinder n300, and the orientation of the cylinder axis n21 is the same as the orientation of the second clamp n320. A pivot block n3 is provided at the front end of the cylinder axis n21, and a rotating mounting block n4 is pivotally connected to the pivot block n3. The rotating shaft n5 of the pivot block n3 and the rotating mounting block n4 is perpendicular to the cylinder axis n21 of the clamping cylinder n2 and the upper and lower surfaces n23 and n24 of the cylinder body. The pressure roller n1 is rotatably arranged on the rotating mounting block n4. Furthermore, when the rotating mounting block n4 is in the straightened state, the axis of the pressure roller n1 is parallel to the moving direction of the two second chucks n320 when opening and closing, and the clamping cylinder n2 can drive the pressure roller n1 to move in front of the chuck of the second threading clamp n300, so that after the second threading clamp n300 completes threading, the cylinder shaft of the clamping cylinder 102 extends, so that the pressure roller n1 presses the silk thread between the second threading clamp n300 and the pay-off frame onto the reel shaft of the empty wire wheel. At this time, the winding machine is started again for winding, and the pressure roller n1 can rotate according to the silk thread and overcome the tension of the silk thread at the same time, thereby preventing the thread head that has been inserted into the threading hole from being pulled out of the threading hole.

[0148] Example 7

[0149] In the above embodiments 1-6, the position of the substrate c can be fixed, so that it can perform operations such as wire fusing, full wheel unloading, thread knotting of full wheel, labeling, empty wheel, threading, etc. for a winding machine arranged around it. Therefore, a better way is to enable the thread knotting device, automatic loading and unloading robot, automatic wire breaking mechanism and labeling mechanism to work with multiple winding machines, that is, it is best to enable them to move along a certain track, that is, the substrate c needs to be able to move along a preset line, so as to perform operations such as wire fusing, full wheel unloading, labeling and thread knotting for multiple winding machines.

[0150] As attached Fig.28 , Attachment Fig.29As shown, the substrate c is a component of a mobile trolley k for carrying other parts, and the mobile trolley g can move along a preset track. The mobile trolley k can be various known automatic moving devices, for example, it can be an AGV trolley with magnetic navigation or laser navigation, or an RGV trolley or tram that moves along a guide rail. In a preferred embodiment, in order to ensure the position accuracy, the mobile trolley k is preferably a trolley structure that can move along the track. Its specific structure is a known technology and is not described here. In addition, the mobile trolley k moves along a linearly extending track k100, and the extension direction of the track k100 is perpendicular to the linear movement direction generated by the linear module d500. At least one side of the track k100 is provided with a row of winding machines e and unwinding machines f, so that the structure on the mobile trolley k can be used for multiple winding machines to complete the operations of winding fusible wire, full wire wheel unloading, full wire wheel thread knotting and labeling, etc. At this time, the mobile trolley k and the structure thereon constitute a winding machine supporting trolley.

[0151] Example 8

[0152] In the above-mentioned embodiments, the idle wire wheel a20 can be transported to the vicinity of each winding machine e for feeding by manual feeding, or a certain number of idle wire wheels a20 can be pre-stored on the substrate c for easy supply.

[0153] As attached Fig.28 , Attachment Fig.29 As shown, in this embodiment, the supply of the empty wire wheel a20 is carried out through the empty wheel conveyor line o, and the empty wheel conveyor line o is preferably a plate chain conveyor o1 or a belt conveyor and extends in a straight line, and its extension direction is parallel to the moving direction of the moving trolley k. The specific structure of the plate chain conveyor or the belt conveyor is a known technology and is not described here. The winding machine is arranged on the side of the empty wheel conveyor line o.

[0154] During transportation, the axis of the idle wire wheel a20 is horizontal (i.e., the idle wire wheel is arranged flat on the idle wire conveying line), and there is a risk of rolling during transportation. Therefore, the idle wire conveying line o also includes two parallel limiting rods o2, and the two limiting rods o2 form an isosceles trapezoidal groove with a large opening at the upper end and a small opening at the lower end, so as to effectively prevent the idle wire wheel a20 from rolling during transportation. The specific limiting structure is a known technology and will not be described in detail here.

[0155] As attached Fig.29 , Attachment Fig.30As shown, in a more preferred embodiment, the empty wheel conveyor line o is formed by a plurality of sections of plate chain machines o10 connected in sequence, the limit rod o2 is provided on each plate chain machine o10, and a blocker o20 is also provided at the output end of each plate chain machine o10, the blocker comprises a blocking plate 021 and a blocking cylinder o22 for driving the blocking plate 021 to rise and fall, when the blocking plate 021 is in a high position, it extends above the conveying surface of the chain plate machine o1, thereby blocking the movement of the empty line wheel; when the blocking plate is in a low position, its top is located below the conveying surface, and does not block the movement of the empty line wheel.

[0156] As attached Fig.29 As shown, an empty wheel buffer slot o3 matching the position of each winding machine is also provided on the side of the empty wheel conveyor line o, for storing at least one empty wheel a20.

[0157] When placing the empty wire wheel on the empty wire wheel conveyor line, it can be achieved by manual operation or by a robot.

[0158] Example 9

[0159] After tying and labeling the thread ends of the full reel, the loading and unloading robot can move the processed reel to the area outside the placement table for manual or automated unloading. Fig.28 , Attachment Fig.29 As shown, when the winding machine e is multi-row, the full wheel conveyor a10 that has completed thread knotting and labeling can be sent to the destacking and stacking area q for stacking through the full wheel return line p.

[0160] As attached Fig.28 , Attachment Fig.29 As shown, the specific structure of the full-wheel return flow line p can be the same as the empty-wheel conveyor line o of the above-mentioned embodiment, which are arranged in parallel on both sides of the track k100, and the full-wheel return flow line p is located between the track k100 and a row of winding machines e, and the empty-wheel conveyor line o is located between the track and another row of winding machines, so that the full-wheel knotting, fusing, labeling, empty-wheel installation and full-wheel movement to the full-wheel return flow line p for reflow of the two rows of winding machines can be realized through the structure on a mobile trolley k.

[0161] Example 10

[0162] The empty wire wheels supplied in the destacking and stacking area and the full wire wheels for stacking are placed vertically, that is, their axes are perpendicular to the horizontal plane. However, when transported on the full wheel return line p and the empty wheel conveyor line o, the wire wheels need to be set flat, that is, the axes of the wire wheels are parallel to the horizontal plane. In some methods, the vertical empty wire wheels in the destacking and stacking area can be manually flipped over and placed on the empty wheel conveyor line, and the full wire wheels transported from the full wheel return line p to the destacking and stacking area q can be manually flipped into a vertical state for stacking.

[0163] In a more preferred manner, the switching of the wire wheel between the lying state and the vertical state is realized by automated equipment. Correspondingly, a turning machine (not shown in the figure) is provided at one end where the full wheel return flow line p and the empty wheel conveyor line o are connected to the destacking and stacking area q. The wire wheel turning machine may include a limit box for limiting the wire wheel and a rotary drive mechanism for driving the wire wheel limit box to rotate 90°. In the first state, the opening of the limit box faces upward, and in the other state, the opening of the limit box faces the side, that is, the opening faces the empty wheel conveyor line or the full wheel return flow line connected thereto, and the depth of the limit box is less than the width of the wire wheel (the spacing between the two ends), so that the manipulator can effectively grab the end plate of the wire wheel and the lying wire wheel can be effectively transported through the empty wheel conveyor line. Of course, the wire wheel turning machine may also be other known structures, which will not be described here. And it may also use a 6-axis robot or the like to realize the switching of the wire wheel state.

[0164] In the destacking and stacking area q, the stacked empty wire wheels a20 are placed on the turning machine at the end of the empty wire wheel conveying line o through automated equipment, and the full wire wheels on the turning machine of the full wire wheel return line p are moved to the destacking and stacking area for stacking.

[0165] Specifically, as attached Fig.31 As shown, the destacking and stacking area q includes a plurality of pallet parking positions q1 for placing pallets s, and the pallet parking positions q1 are separated by separators q2 to define the position and space size of each pallet parking position q1. When in use, the pallets stacked with empty wire wheels are moved manually or by automated equipment to each pallet parking position q1 for parking in order to carry out subsequent empty wire wheel supply and full wire wheel stacking.

[0166] As attached Fig.31 As shown, a truss robot r is arranged at the destacking and stacking area q, and the truss robot r includes a truss r1, on which a manipulator r2 is movably arranged, and the manipulator r2 is driven by a moving component r3 to translate and rise and fall relative to the truss r1.

[0167] The truss r1 includes columns r110, beams r120 connecting the columns r110, and main rails r130 with gaps between the columns. The extension direction of the main rails r130 is perpendicular to the moving direction of the mobile trolley k, and it covers all the pallet parking positions. In addition, the turning machine at the end of the full wheel return line and the empty wheel conveyor line is located between the two main rails r130.

[0168] The specific structure of the manipulator r2 can adopt the structure disclosed in application numbers 201811256855.5 and 201910850997.2. Of course, other feasible structures can also be adopted.

[0169] The mobile component r3 includes a structure that drives the manipulator r2 to move in three axes of X, Y, and Z, and it can also adopt a mobile mechanism as disclosed in the application number 201811256855.5. Of course, it can also be other structures that can realize the above-mentioned three-axis movement, such as a three-axis mobile mechanism composed of multiple linear modules. The mobile mechanism can drive the manipulator r2 to move to two flip machines to grab the wire wheel. The mobile component r3 controls the moving position of the manipulator r2 by visual positioning, and the image acquisition device (not shown in the figure) used for visual positioning can be set in the mobile component r3, and of course it can also be set in the manipulator r2 and its lens is facing.

[0170] As attached Fig.31 As shown, when supplying empty wire wheels and full wire wheels for stacking, wire wheels of different layers on the pallet s need to be separated by partitions t, so the partition t needs to be operated during unpacking and stacking. Specifically, in the pallet parking position q1, a pallet parking position is reserved for placing an empty pallet, and the empty pallet is used to stack the partitions removed from other pallets during unpacking, and the partitions are moved by the automatic adsorption device r4.

[0171] As attached Fig.31 As shown, the adsorption assembly r4 includes a group of adsorption heads r410, which are vacuum adsorption heads and are distributed in a matrix on a frame r420. A mechanism for driving its movement is connected to the top middle position of the frame r420. The frame r420 can have an independent moving mechanism. In a more preferred manner, the frame r420 and the manipulator r2 share the moving assembly r3. Therefore, the moving assembly r3 is also quickly connected to the frame r420 through a quick-change plate r430 and quickly connected to the manipulator r2 through a quick-change plate. At the same time, a manipulator placement table r5 and an adsorption assembly placement table r6 for placing the manipulator r2 and the adsorption assembly r4 are also provided below the truss r1.

[0172] Embodiment 11

[0173] This embodiment discloses an automatic winding system, as shown in the attached Fig.29As shown, it includes the structure of conventional winding systems such as winding machine e / unwinding machine f, and it also includes at least one structure in the above-mentioned embodiments. For example, when the unwinding machine and winding machine are only one set, only part of the structure of the thread knotting device may be needed, or the thread knotting device, loading and unloading robot, automatic wire breaking mechanism and other structures may need to be configured. If there are multiple sets of unwinding machines and winding machines, in addition to the thread knotting device, loading and unloading robot, and automatic wire breaking mechanism, the track and mobile trolley are also required. Of course, it is also possible to have only full wheel return flow lines, empty wheel conveyor lines, and loading and unloading robots to realize the automatic supply of empty wheel and full wheel return flow concentration; it is also possible to set only automatic wire breaking mechanism and mobile trolley and other structures to realize automatic loading and unloading. In the preferred embodiment, it has all the above structures, so that the automation of the whole process such as stacking, automatic loading and unloading, knotting, and labeling can be realized.

[0174] When the whole system is working, it is automatically controlled by the control system components, and the corresponding control technology is the existing technology and is not limited here.

[0175] Example 12

[0176] When the entire winding system is working, the process is as follows:

[0177] S01, manually or through automated equipment, multiple pallets equipped with empty wire wheels a20 are parked at the pallet parking positions, and at the same time, an empty pallet is placed at an outermost or inner pallet parking position q1 to store the partition.

[0178] S02, the mobile component r3 first connects with the manipulator r2 and drives the manipulator r2 to move to a pallet to grab the empty wire wheel a20 stacked on it and place it on the flipping machine at the end of the empty wheel conveyor line o, flip it 90°, and then transport it to each winding machine e by the empty wheel conveyor line o. When a layer of empty wire wheels a20 on the pallet is taken, the mobile component r3 moves the manipulator r2 to the manipulator placement table r5 and detaches from the manipulator, then connects with the adsorption component r4, moves to the pallet, adsorbs the partition t above it, and moves it to the empty pallet for placement. After removing the partition, the mobile component r3 replaces the adsorption component r4 with the manipulator r3, and once again places a layer of empty wire wheels a20 on the flipping machine connected to the empty wheel conveyor line o for empty wire wheel supply.

[0179] S03, in the initial state, an empty wire wheel can be installed on each winding machine manually and the wire end of the wire on one side of the pay-off frame can be wound around the empty wire wheel for winding. Of course, the empty wire wheel can also be installed on each winding machine by the structure on the above-mentioned mobile trolley k and the wire end can be inserted into the threading hole of the empty wire wheel.

[0180] When the empty wire reel on a winding machine is fully wound, and the full wire reel a10 needs to be unloaded and replaced with the empty wire reel a20, the following process is followed:

[0181] S10, the mobile car k moves to the corresponding winding machine.

[0182] S20, the moving mechanism b2 is connected to the wire wheel grabbing device b1 and drives it to hold the full wire wheel a10 on the winding machine. At the same time, the wire end clamp b3 clamps the wire between the full wire wheel a10 and the pay-off stand e1. The moving mechanism b2 drives the wire wheel grabbing device and the wire end clamp to translate the full wire wheel and the clamped wire to the outside of the winding machine e for a certain distance. Of course, if there is a sufficient distance between the full wire wheel and the pay-off stand, the wire wheel grabbing device b1 can grab the full wire wheel without moving the wire wheel, but directly extend the fuse and the pneumatic clamp according to the following steps to perform the wire breaking operation.

[0183] S30, the linear module d500 of the automatic wire breaking mechanism d drives the mounting frame d100 to extend to the outside of the mobile trolley k until the gap between the upper and lower fuse heads of the fuse d200 on it corresponds to the position of the wire between the wire end clamp b3 and the pay-off frame e1 and is located outside the wire segment. Then the slide cylinder d300 drives the mounting frame d100 to move in the direction of the wire until the wire between the wire end clamp b3 and the pay-off frame e1 is located at the gap between the upper and lower fuse heads, and then the upper and lower fuse heads are closed to complete the fusing. Before the fusing, at least the outer pneumatic clamp d700 clamps the fuse point and the wire of the pay-off frame bracket, and at the same time, the diameter of the wound wire is measured by the wire diameter detector and transmitted to the control system.

[0184] S40, after the wire ends are melted, the loading and unloading robot can move the full wire wheel to the knotting position to knot the wire ends. The process of knotting the wire ends is as follows:

[0185] S1, initial state, the cylinder shaft of the power source of the axial drive mechanism is retracted, the cylinder shaft of the translation cylinder is retracted, the thread gripper 710 is located in the second position, and the driving shaft 100 and the driven shaft 200 maintain the maximum distance.

[0186] S2, the moving mechanism b2 drives the wire wheel grabbing device b1 to coaxially place the full wire wheel it grabs between the driving shaft 100 and the driven shaft 200, and at the same time, the wire end clamp b3 places the wire end a12 of the wire a11 on the full wire wheel (the wire between the full wire wheel and the wire end clamp) between the two clamps 711 of the wire end gripper 710, as shown in the attached Fig.32 shown.

[0187] S3, the axial drive structure 300 drives the driving shaft 100 to move toward the driven shaft 200, and the two cooperate to fix the full wire wheel, and the clamping jaws of the wire end gripper 700 close to clamp the wire end between its two clamping jaws. Then, the wire wheel grabbing device b1 releases the full wire wheel and the wire end clamping jaw b3 releases the wire end, and then, the wire wheel grabbing device b1 can grab the empty wire wheel to locate the pin hole.

[0188] S4, as attached Fig.33 As shown, the translation drive mechanism 720 drives the thread gripper 710 to move toward the active shaft 100 to reset (first position), and causes the wire a13 between it and the wire wheel to tilt from the edge to the middle. At this time, the thread gripper 710 will not interfere with the revolution motion of the automatic clamp.

[0189] S5, as attached Fig.34 , Attachment Fig.35 As shown, the motor 410 drives the automatic clamping jaw 600 with the clamping jaws kept open to revolve around the driven shaft 200 and contact the wire between the wire wheel and the wire end clamp from above, and then continues to rotate until the gap between the two clamping jaws 610 of the automatic clamping jaw corresponds to the position of the wire a11 on the wire wheel and the wire a13 between the wire end clamp 710. At this time, the wires wound on the two clamping jaws 610 form a wire loop a14, as shown in the attached figure. Fig.36 As shown in the attached Fig.35 As shown, from the time when the automatic clamp rotates and contacts the silk thread to the time when its rotation stops, the driving shaft and the driven shaft drive the full-line wheel to rotate synchronously, and the rotation direction of the full-line wheel is the same as the revolution direction of the automatic clamp.

[0190] S6, then, the translation drive mechanism 720 drives the thread end gripper 710 to move toward the driven shaft 200 so that the thread between it and the thread wheel moves to between the two clamps 610 of the automatic clamp 600.

[0191] S7, the two clamps 610 are closed to clamp the wire a13 located between them, and then the two jaws of the wire end gripper 710 are opened to release the clamped wire end.

[0192] S8, the full-line wheel a10 rotates in the opposite direction and / or the automatic clamp 600 continues to revolve downward, so that the clamping head of the automatic clamp 600 is moved out of the wire loop a14 to complete the knotting.

[0193] S9, the clamping head of the automatic clamp 600 is released, and the moving mechanism b2 drives the wire wheel grasping device b1 to place the wire wheel at the full wheel return streamline p.

[0194] Of course, in a more preferred embodiment, after step S6 and before step S8, the blocking pin is extended, so that the blocking pin can prevent the wire loop from following the movement of the automatic clamp 600, thereby ensuring the reliability of knotting. Of course, this process is not necessary and can be omitted.

[0195] Furthermore, before placing the knotted full-line wheel on the full-line return line p, it needs to be labeled by the labeling device h. After the thread ends are knotted, the position of the groove on the end face of the wheel is determined by the image captured by the image acquisition device i100. When the position is not suitable for labeling, the driving wheel 100 rotates to drive the full-line wheel a10 to rotate to a suitable labeling position and then stops. Then, the moving mechanism b2 drives the wheel grabbing device b1 to grab the adjusted wheel and move it to the labeling position. The label generating device g generates the label corresponding to the full-line wheel online and outputs it to the adsorption block j100. The adsorption block j100 adsorbs the label. The lifting cylinder j300 drives the adsorption block j100 to be lifted above the table panel 1100. The lifting slide cylinder h400, the translation slide cylinder h500, the first linear module h600, and the second linear module h800 of the labeling device h cooperate to drive the suction cup h100 to move to face the label on the adsorption block j100 and adsorb from the top of the label. Attached, so that the label can be separated from the adhesive layer and the release layer under the action of the upper and lower adsorption forces, and the label with adhesive backing is adsorbed onto the suction cup h100. The rotating cylinder h300 drives the suction cup to rotate 90° so that the label adsorbed on it faces the end face of the full-line wheel. Then the lifting slide cylinder h400, the translation slide cylinder h500 and the first linear module h600 and the second linear module h800 cooperate to attach the label to the end face of the full-line wheel. After the labeling is completed, the full-line wheel is placed on the full-wheel return line p for reflow transportation.

[0196] S50, after completing the loading and unloading of the full wire wheel from the winding machine, another empty wire wheel needs to be installed on the winding machine, that is, the moving mechanism b2 drives the wire wheel grabbing device b1 to the empty wire wheel buffer slot o3 or the empty wire wheel conveying line o corresponding to the winding machine to grab an empty wire wheel, and place the empty wire wheel coaxially on the servo rotating table m200, the servo rotating table m200 drives the empty wire wheel to rotate, and determines the pin hole on the wheel disc of the wire wheel through the sensor m300, and when the pin hole is facing the sensor, the servo rotating table m200 stops rotating. During the pin hole finding action, the wire wheel grabbing device b1 can move the full wire wheel with knotted knot to the labeling position for labeling and unloading. After unloading, the moving mechanism b2 drives the wire wheel grabbing device b1 to grab the empty wire wheel with the pin hole found on the servo rotating table m200, and move it to the winding machine. The position of the locating pin on the winding machine is determined by the image acquisition device b202 on the moving mechanism b2, and then the moving mechanism b2 drives the wire wheel grabbing device b1 to move the grabbed empty wire wheel to a state where it is coaxial with the winding shaft of the winding machine and the pin hole on the wheel is coaxial with the locating pin on the winding wheel. Then the winding shaft on the winding machine fixes the wire wheel.

[0197] S60, after the installation of the idle wire wheel is completed, the wire head needs to be inserted into the threading hole on the wire wheel shaft of the idle wire wheel, as follows:

[0198] S601, the moving mechanism b2 drives the wire wheel grabbing device b1 to move to the placement rack 1200 on the side of the placement table, and then the moving mechanism b2 separates from the wire wheel grabbing device b1, and moves to the automatic threading mechanism n and connects with the quick-change disk n110 of the automatic threading mechanism n.

[0199] S602, the winding machine drives the idle wire wheel thereon to rotate, and searches for the threading hole on the idle wire wheel through the image collector b202 on the moving mechanism b2. When it is determined that the threading hole is facing upward, the winding machine stops.

[0200] S603, the moving mechanism b2 drives the automatic threading mechanism n to move to the automatic wire breaking mechanism d to grab the wire between the outer pneumatic clamp d700 and the wire pay-off frame e1. When grabbing the wire, the cylinder shaft of the pushing cylinder n400 extends, and the cylinder shaft of the shifting cylinder n900 retracts. After the thread end is grabbed, the automatic wire breaking mechanism d is reset and waits for the next fuse wire.

[0201] S604, as attached Fig.26As shown, the moving mechanism b2 drives the automatic threading mechanism n to move to a state where the first threading clamp n200 is at the bottom and the second threading clamp n300 is at the top, and then after determining the positional relationship between the thread end and the threading hole based on visual positioning, the supporting member n100 is moved downward so that a section of the thread end below the first threading clamp n200 is inserted into the threading hole of the idle thread wheel.

[0202] S605, when the first threading clamp n200 is close to the reel shaft of the idle reel a20, it stops moving downward, then the first threading clamp n200 opens, and then moves to the upper left to avoid (that is, the cylinder shaft of the push cylinder n400 retracts, and the cylinder shaft of the shift cylinder n900 extends);

[0203] S606, the moving mechanism b2 drives the bearing member n100 to rotate (clockwise), so that the second threading clamp n300 rotates from an inclined state to a vertical or nearly vertical state, as shown in the attached Fig. 27 As shown, the second threading clamp n300 inserts a section of silk thread at its front end into the threading hole again to complete the threading.

[0204] S607, the cylinder shaft of the clamping cylinder n2 extends out, so that the pressure roller n1 presses the silk thread between the second threading clamp n300 and the pay-off frame onto the reel shaft of the idle reel.

[0205] S608, the second threading clamp releases the silk thread it has grasped, and the winding shaft of the winding machine e drives the idle wire wheel to rotate for winding. After pre-winding for several turns, the clamping cylinder n2 retracts and the winding machine continues to wind.

[0206] S609, after threading is completed, the moving mechanism b2 drives the automatic threading mechanism n to move to the frame 1300 on the side of the placement table 1000, and then separates from the automatic threading mechanism n.

[0207] S70, the knotted full-line wheel a10 flows back along the full-line return streamline p to the turning machine at its end, and the turning machine turns the full-line wheel from a lying state to a vertical state.

[0208] S80, the moving component r3 drives the robot r2 to move to the turning machine to clamp the full-line wheel and move it to a stacking position on a pallet for palletizing.

[0209] S90, when a layer of full-line wheels has been placed on the pallet, the moving component r3 replaces the connected manipulator r2 with the adsorption device r4, and uses the adsorption device r4 to absorb a partition from the pallet stacked with partitions and place it on a layer of full-line wheels.

[0210] This process repeats until the number of full-line wheel layers on a pallet reaches the requirement. The system automatically issues a pallet removal instruction, reminding the staff to use a forklift to export the pallet or arrange for automated equipment to export the full pallet to outside the depalletizing and stacking area.

[0211] Furthermore, when a full wire wheel flows back to the destacking and stacking area, the label information on the full wire wheel is read by the image acquisition device on the robot r2 or the mobile component r3, so as to determine the placement position of the wire wheel, so as to realize the classification of wire wheels wound with different similar silk threads.

[0212] Of course, the order of the above-mentioned working process is not unique, or some operating steps are not necessary and can be omitted.

[0213] There are many implementation methods of the present invention, and the structures of the above embodiments can be used in various combinations. For example, a full-wheel circulation line, an empty-wheel conveyor line, a mobile trolley, and a loading and unloading robot can be combined into a set of structures to achieve convenient loading and unloading. Alternatively, an automatic threading mechanism and a six-axis robot with an image collector can be combined into a set of structures to achieve automatic threading; or, a wire diameter detector, an automatic labeling mechanism, a truss robot, and a full-wheel circulation line can be combined into a set of structures to achieve automatic unloading, classification, and stacking. All technical solutions formed by equivalent transformation or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. The winding machine supporting trolley includes a mobile trolley, on which a 6-axis robot and a placement table are arranged, characterized in that: The placement table is provided with a thread knotting device, a wire wheel grabbing device and an automatic threading mechanism, the 6-axis robot is connected with the wire wheel grabbing device and the automatic threading mechanism through a quick-change device, the front end of the 6-axis robot is also provided with an image collector located outside the quick-change device, the axis of the image collector is parallel to the axis of the quick-change device and the lens faces forward, and an automatic wire breaking mechanism for disconnecting the wire on the full wire wheel from the wire at the winding machine is provided between the 6-axis robot and the placement table; the automatic threading mechanism includes a bearing member, and the bearing member is provided with a first threading clamp located outside the bearing member; The carrier is also provided with a second threading jaw, the angle between the lengthwise extension lines of the first threading jaw and the second threading jaw is acute, the front ends of their clamps face outwards and the opening and closing directions of their clamps are parallel, the first threading jaw is connected to a mechanism for driving it to move between an extended position and a retracted position, in the extended position and the moving mechanism makes the first threading jaw and the second threading jaw in a left-right position relationship, the notch between the two first clamps of the first threading jaw and the notch between the two second clamps of the second threading jaw are opposite in position and have a comparable height; The carrier is also provided with a thread end clamping mechanism located outside the second threading clamp, which includes a pressure roller whose axis is parallel to the opening and closing direction of the clamp of the second threading clamp and a clamping cylinder that drives the pressure roller to move along a line extending along the length direction parallel to the second threading clamp.

2. The winding machine supporting trolley according to claim 1, characterized in that: The thread knotting device includes a driving shaft and a driven shaft which are coaxial and have a gap arranged on a workbench. The driving shaft and / or the driven shaft are driven by an axial driving mechanism to move axially. The driving shaft is connected to a first driving mechanism that drives its rotation. An automatic clamping jaw driven by a second driving mechanism to revolve around the driven shaft is arranged on the outer periphery of the driven shaft, and the clamping head of the automatic clamping jaw faces the driving shaft and extends to a certain distance in front of the driven shaft. A thread gripper is arranged outside the gap between the driving shaft and the driven shaft, and the thread gripper is connected to a translational driving mechanism that drives it to reciprocate along the axial direction parallel to the driving shaft.

3. The winding machine supporting trolley according to claim 1, characterized in that: The wire wheel grabbing device includes a carrier and two clamps which are driven to open and close by an opening and closing driving mechanism on the carrier, a U-shaped notch opening outward is formed on the clamp, and limiting protrusions are arranged at the opposite end faces of the two clamps, and the limiting protrusions are located at least at the two end top angles of each clamp; a wire end clamp is arranged on the side of the carrier, and the front end of the claw body of the wire end clamp faces the clamp which is consistent with the opening direction of the U-shaped notch and is close to one side of the clamp.

4. The winding machine supporting trolley according to claim 2, characterized in that: The automatic wire breaking mechanism includes a mounting frame, on which a fuse and a pneumatic clamp at least located outside the fuse are arranged, the mounting frame is connected to a slide cylinder that drives it to translate along a linear moving direction perpendicular to the moving trolley, and the slide cylinder is connected to a linear module that drives it to translate along a telescopic direction perpendicular to its cylinder axis.

5. The winding machine supporting trolley according to claim 4, characterized in that: The mounting frame is also provided with a wire diameter measuring instrument.

6. The winding machine supporting trolley according to claim 1, characterized in that: The placement table is provided with a label generating device, a label transferring device and a labeling device; the label transferring device is located at the side of the label generating device, and comprises a suction block with a suction hole facing upwards, the suction block is connected to a cylinder driving its translation, the cylinder is connected to a lifting cylinder, at the material receiving position, the cylinder and the lifting cylinder move the suction block to the discharge port of the label generating device; at the material feeding position, the cylinder and the lifting cylinder move the suction block to above the label generating device; The labeling device is located above the label transfer device, and includes a suction cup, which is connected to a rotating cylinder, and the rotating cylinder is connected to a moving structure that drives its translation and lifting. In a first state, the rotating cylinder and the moving structure make the suction hole of the suction cup face downward and correspond to the adsorption block at the feeding position; in a second state, the rotating cylinder makes the adsorption hole of the suction cup face sideways.

7. The winding machine supporting trolley according to any one of claims 1 to 6, characterized in that: A pin hole positioning mechanism is also arranged on the workbench.

8. Winding system, characterized by: It comprises the winding machine supporting trolley as described in any one of claims 1-7.

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