A circular hanger wire winding machine

Abstract

The application discloses a wire winding machine for a circular ring-shaped sling, comprising a Y-axis ground rail, a mechanical arm in sliding connection with the Y-axis ground rail, a wiring end of the mechanical arm corresponding to a wire box group, a horizontal and vertical movement group comprising an X-axis sliding rail, a Z-axis sliding rail and a connecting plate, the Z-axis sliding rail in sliding connection with the X-axis sliding rail, the connecting plate in sliding connection with the Z-axis sliding rail, the mechanical arm in fixed connection with the rear side surface of the X-axis sliding rail, a damping module fixedly installed on the connecting plate, a wire outlet end of the damping module corresponding to a wire ejecting piece, two ends of a connecting group fixedly arranged on the mechanical arm and the damping module, the mechanical arm in combination with the Y-axis ground rail and the horizontal and vertical movement group with the X-axis sliding rail and the Z-axis sliding rail capable of realizing three-way power output, the wire winding machine capable of realizing mechanicalization and intelligentization of the circular ring-shaped sling, precisely controlling wire winding speed, wire winding distance, wire winding number and tension, having high wire winding quality, being applicable to a large range of the circular ring-shaped slings and having good intelligentization and digitalization expandability in the later period.

Description

Technical Field

[0001] This invention relates to the field of equipment for producing and processing flexible lifting devices, and in particular to a winding machine for a circular lifting strap. Background Technology

[0002] In the field of lifting and hoisting, circular slings have a wide range of applications due to their high flexibility, low cost, strong load-bearing capacity, and ease of storage. The production of circular slings requires wire winding. Currently, the equipment for winding circular slings has a low level of mechanization and automation, so existing technology still relies on manual winding, resulting in inconsistent winding quality, short product lifespan, and high costs.

[0003] Therefore, how to provide a mechanized and automated device for winding wire in circular slings is a technical problem that urgently needs to be solved by those in the field. Summary of the Invention

[0004] The purpose of this invention is to provide a winding machine for circular ring slings to solve the problems existing in the prior art, and to realize the mechanization and automation of winding circular ring slings.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a winding machine for a circular sling, comprising:

[0006] Y-axis ground rail;

[0007] A robotic arm, which is slidably connected to the Y-axis ground rail;

[0008] A wire box assembly is provided, which is arranged adjacent to the Y-axis ground rail, and the wiring terminals of the robotic arm correspond to the wire box assembly.

[0009] The horizontal and vertical motion assembly includes an X-axis slide rail, a Z-axis slide rail, and a connecting plate. The Z-axis slide rail is slidably connected to the X-axis slide rail, the connecting plate is slidably connected to the Z-axis slide rail, and the robotic arm is fixedly connected to the rear side of the X-axis slide rail.

[0010] A damping module is fixedly mounted on the connecting plate, and the output end of the damping module corresponds to the wire feeding component;

[0011] A connecting group is provided, with both ends of the connecting group fixedly mounted on the robotic arm and the damping module. The wiring terminals of the connecting group correspond to the wire output terminals of the robotic arm and the wiring terminals of the damping module. The wire passes sequentially from the wire box group through the robotic arm, the connecting group, and the damping module, and is output from the wire feeding component.

[0012] Furthermore, the thread box assembly includes:

[0013] A junction box, wherein multiple wire slots are evenly spaced inside the junction box;

[0014] A first perforated plate is disposed at one end of the wire box. The first perforated plate has a plurality of first ceramic holes, and the plurality of first ceramic holes correspond one-to-one with the plurality of wire grooves.

[0015] A support frame is fixedly installed at the bottom end of the junction box.

[0016] Furthermore, the robotic arm includes:

[0017] The main arm is slidably connected to the Y-axis ground rail;

[0018] The second perforated plate is fixedly connected to the upper arm. The second perforated plate has multiple second ceramic eyes. The second perforated plate is tilted and inserted into multiple wire grooves, and the multiple second ceramic eyes correspond one-to-one with the multiple wire grooves.

[0019] The third perforated plate is fixedly connected to the upper arm. It is horizontally set and located above the second perforated plate. The third perforated plate has multiple third ceramic eyes, and the multiple third ceramic eyes correspond one-to-one with the multiple second ceramic eyes.

[0020] The forearm is fixedly connected to the rear side of the X-axis slide rail.

[0021] Furthermore, the Y-axis ground rail includes: a ground rail body and a motion platform, the motion platform being slidably connected to the ground rail body, and the bottom end of the robotic arm being fixedly connected to the motion platform.

[0022] Furthermore, the connection group includes:

[0023] A small triangular plate is fixedly mounted on the upper end of the robotic arm;

[0024] The fourth hole plate is fixedly mounted on the small triangular plate. The fourth hole plate has multiple fourth ceramic holes, and the multiple fourth ceramic holes correspond one-to-one with the multiple third ceramic holes.

[0025] A trapezoidal plate is located above the small triangular plate. A fifth hole plate is provided on each of the two sides of the trapezoidal plate. The fifth hole plate has multiple fifth ceramic eyes. The fifth ceramic eyes of the two fifth hole plates can change the feeding direction of the filament.

[0026] A large triangular plate is fixedly mounted on the damping module, and the trapezoidal plate is hinged to the small triangular plate and the large triangular plate respectively via connecting rods;

[0027] The sixth hole plate is fixedly mounted on the large triangular plate, and the sixth hole plate has multiple sixth ceramic eyes; the multiple fifth ceramic eyes of the two fifth hole plates correspond one-to-one with the multiple fourth ceramic eyes and the multiple sixth ceramic eyes.

[0028] Furthermore, the damping module includes:

[0029] A frame, which is fixedly connected to the connecting plate;

[0030] Damping units, of which there are multiple units and are installed within the frame;

[0031] The seventh hole plate is fixedly connected to the frame and disposed at the bottom of the damping unit. Multiple seventh ceramic eyes are opened on the seventh hole plate, and the output ends of the multiple damping units correspond one-to-one with the multiple seventh ceramic eyes.

[0032] Furthermore, the damping unit includes:

[0033] The main frame has a bottom surface and a side surface. The side surface of the main frame is fixedly connected to the frame. The side surface of the main frame is provided with an upper porcelain eye and a lower porcelain eye respectively.

[0034] A pressure roller is disposed near the bottom surface of the main frame and is elastically hinged to the main frame;

[0035] The grooved wheel is located above the pressure wheel and fixed to the side of the main frame. The pressure wheel has an elastic tendency to move closer to the grooved wheel. The thread enters the main frame from the upper ceramic eye, winds clockwise around the grooved wheel once, and then exits the main frame from the lower ceramic eye.

[0036] Furthermore, it also includes a swing arm. The bottom surface of the main frame is provided with a connecting lug, and the connecting lug is provided with a first pin hole. The swing arm is hinged to the first pin hole through a first pin shaft and to the pressure roller through a second pin shaft. A double torsion spring is provided on the first pin shaft. The torsion arm of the double torsion spring is fixedly connected to the bottom surface of the main frame and the swing arm respectively. The double torsion spring has an elastic tendency to bring the pressure roller closer to the grooved wheel.

[0037] Furthermore, it also includes a brake band, with a connecting wheel coaxially arranged outside the grooved wheel, the brake band being wound around the connecting wheel, the lower end of the brake band being fixedly connected to a hook on the side of the main frame, and the upper end being fixedly connected to the side of the main frame through a compression spring and a compression spring bolt.

[0038] Furthermore, the wire-spinning component has multiple eighth ceramic eyes, and the multiple eighth ceramic eyes correspond to the output end positions of the damping module.

[0039] The present invention discloses the following technical effects:

[0040] 1. The robotic arm, combined with the Y-axis ground rail and the transverse and longitudinal motion group with X-axis and Z-axis slide rails, can achieve three-way power output, enabling mechanized and intelligent winding of circular slings. It can precisely control the winding speed, winding distance, number of winding strands and tension, resulting in high winding quality. It can be adapted to a wide range of circular slings and has good intelligent and digital expansion capabilities in the future.

[0041] 2. Each wire is independently transmitted and damped to ensure that each wire has sufficient and controllable tension during the winding process, ensuring uniform winding of the circular sling and thus guaranteeing the quality of the circular sling.

[0042] 3. The damping module is located close to the spinning part, which provides timely damping response to the entire yarn and is not affected by friction or tension during yarn transmission.

[0043] 4. The damping unit uses an elastic pressure roller and a grooved roller for damping control. The elastic pressure roller makes the damping force of the damping unit adjustable, enabling damping control for wires of different diameters and allowing wire splices to pass through, providing high anti-derailment performance. During the winding process, wires can be changed, continued, or the number of wires used can be reduced or increased without re-threading.

[0044] 5. During the transmission of the silk thread, it passes through multiple ceramic eyelets. Compared with the silk thread, the inner diameter of the ceramic eyelet is larger, which provides good passage and adaptability for silk threads of different diameters. Moreover, the damping force control of each silk thread does not interfere with each other. In addition, the ceramic eyelet has a high overload capacity and stability. This design makes it easy to thread, maintain and replace the silk thread.

[0045] 6. One end of the connecting group is fixed to the robotic arm, and the other end is fixed to the horizontal and vertical motion group. The connecting group is internally connected by a linkage. Therefore, when the horizontal and vertical motion group moves along the X and Z axes, the connecting group can ensure that the wire between the robotic arm's output end and the damping module's wiring end remains taut and will not become loose due to the movement of the horizontal and vertical motion group.

[0046] 7. The pressure roller presses against the grooved wheel at an angle opposite to the direction in which the wire passes through, so that the pressing force of the pressure roller is not affected by the change of the grooved wheel speed. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a front view of the overall structure of the present invention;

[0049] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0050] Figure 3 This is a schematic diagram of a thread box assembly;

[0051] Figure 4 This is a front view of the robotic arm structure;

[0052] Figure 5 This is a structural diagram of a robotic arm;

[0053] Figure 6 This is the front view of the connection group;

[0054] Figure 7 This is a diagram of the connection group structure;

[0055] Figure 8 This is a front view of the damping module structure;

[0056] Figure 9 This is a top view of the damping module structure;

[0057] Figure 10 This is a front view of the damping unit;

[0058] Figure 11 This is a side view of the damping unit;

[0059] Figure 12 This is a structural diagram of the damping unit;

[0060] Figure 13 This is a front view of the damping unit section.

[0061] Figure 14 for Figure 13 Side view;

[0062] Figure 15 for Figure 13 A schematic diagram of the structure;

[0063] Figure 16 This is a structural diagram of the horizontal and vertical motion group;

[0064] Figure 17 This is a schematic diagram of the wire insertion slot for the second hole plate;

[0065] Figure 18 This is a schematic diagram of the winding of the damping unit;

[0066] Figure 19 This is a diagram showing the distribution of damping elements;

[0067] Figure 20 This is a schematic diagram of the Y-axis ground rail structure;

[0068] The components include: 1. Wire box assembly; 1-1. Support frame; 1-2. Wire box; 1-3. First perforated plate; 2. Robotic arm; 2-1. Upper arm; 2-2. Second perforated plate; 2-3. Third perforated plate; 2-4. Support arm; 2-5. Forearm; 3. Connecting assembly; 3-1. Support rod; 3-2. Small triangular plate; 3-3. Fourth perforated plate; 3-4. Connecting rod; 3-5. Trapezoidal plate; 3-6. Fifth perforated plate; 3-7. Large triangular plate; 3-8. Sixth perforated plate; 4. Damping module; 4-1. Frame; 4-2. Damping unit; 4-2-1. Main frame; 4-2-2. First pin; 4-2-3. Swing arm; 4-2-4. Pressure roller; 4-2-5. Second pin; 4-2-6. Grooved wheel; 4-2- 7. Third pin; 4-2-8. Brake band; 4-2-9. Compression spring; 4-2-10. Compression spring bolt; 4-2-11. Lower ceramic eye; 4-2-12. Double torsion spring; 4-2-13. Upper ceramic eye; 4-2-1-1. First pin hole; 4-2-1-2. Hook; 4-2-1-3. Third pin hole; 4-2-1-4. Lower oblong hole; 4-2-1-5. Upper oblong hole; 4-2-1-6. Mounting hole; 4-3. Seventh hole plate; 5. Horizontal and vertical motion group; 5-1. X-axis slide rail; 5-2. Connecting plate; 5-3. Z-axis slide rail; 6. Wire feeding component; 7. Winding post; 8. Y-axis ground rail; 8-1. Ground rail body; 8-2. Motion platform; 9. Wire; 10. Wire knot. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] Reference Figures 1-20This invention provides a winding machine for a circular sling, comprising: a Y-axis ground rail 8; a robotic arm 2 slidably connected to the Y-axis ground rail 8; a wire box assembly 1, adjacent to the Y-axis ground rail 8, with the wiring terminals of the robotic arm 2 corresponding to the wire box assembly 1; and a horizontal and vertical motion assembly 5, comprising an X-axis slide rail 5-1, a Z-axis slide rail 5-3, and a connecting plate 5-2, wherein the Z-axis slide rail 5-3 is slidably connected to the X-axis slide rail 5-1, and the connecting plate 5-2 is slidably connected to the Z-axis slide rail 5-3. The robotic arm 2... The rear side of the X-axis slide rail 5-1 is fixedly connected; the damping module 4 is fixedly installed on the connecting plate 5-2, and the output end of the damping module 4 corresponds to the wire feeding part 6; the two ends of the connecting rod group 3 are fixedly set on the robotic arm 2 and the damping module 4, the wiring end of the connecting rod group 3 corresponds to the output end of the robotic arm 2, and the output end of the connecting rod group 3 corresponds to the wiring end of the damping module 4. The wire 9 passes through the robotic arm 2, the connecting rod group 3 and the damping module 4 in sequence from the wire box group 1 and is output from the wire feeding part 6.

[0072] like Figure 3 As shown, the wire box assembly 1 includes: a wire box 1-2, in which multiple wire grooves are evenly spaced; a first perforated plate 1-3, which is disposed at one end of the wire box 1-2, and the first perforated plate 1-3 has multiple first ceramic eyes, which correspond one-to-one with the multiple wire grooves; and a support frame 1-1, which is fixedly disposed at the bottom end of the wire box 1-2.

[0073] like Figure 4 and Figure 5 As shown, the robotic arm 2 includes: a large arm 2-1, which is slidably connected to the Y-axis ground rail 8; a second perforated plate 2-2, which is fixedly connected to the large arm 2-1, and has multiple second ceramic eyes, which are tilted and inserted into multiple wire grooves, with each second ceramic eye corresponding to one of the multiple wire grooves; a third perforated plate 2-3, which is fixedly connected to the large arm 2-1, is horizontally positioned above the second perforated plate 2-2, and has multiple third ceramic eyes, each third ceramic eye corresponding to one of the multiple second ceramic eyes; and a small arm 2-5, which is fixedly connected to the rear side of the X-axis slide rail 5-1.

[0074] In this embodiment, the Y-axis ground rail 8 includes: a ground rail body 8-1 and a motion platform 8-2. The motion platform 8-2 is slidably connected to the ground rail body 8-1, and the bottom end of the robotic arm 2 is fixedly connected to the motion platform 8-2. Figures 1-5 As shown, the support frame 1-1 is fixed to the bottom surface, and the top lifts the junction box 1-2 to a certain height so that it matches the height of the second perforated plate 2-2. The second perforated plate 2-2 is then inserted into the wire groove. After insertion, it is as follows: Figure 17As shown, the wire 9 in the groove can pass through the second ceramic eye on the second perforated plate 2-2. A support arm 2-4 is provided near the top of the robotic arm 2 for connection to the connecting assembly.

[0075] like Figures 6-7 As shown, in this embodiment, the linkage assembly 3 includes: a small triangular plate 3-2, which is fixedly mounted on the upper end of the robotic arm 2; a fourth hole plate 3-3, which is fixedly mounted on the small triangular plate 3-2, and has multiple fourth ceramic eyes, each corresponding to a multiple third ceramic eye; and a trapezoidal plate 3-5, which is located above the small triangular plate 3-2, and has a fifth hole plate 3-6 on each of its two sides, each fifth hole plate 3-6 having multiple fourth ceramic eyes. The device consists of five ceramic eyes: two fifth ceramic eyes on the fifth perforated plates 3-6, which can change the conveying direction of the thread 9; a large triangular plate 3-7, which is fixedly mounted on the damping module 4; and a trapezoidal plate 3-5, which is hinged to the small triangular plate 3-2 and the large triangular plate 3-7 respectively via a connecting rod 3-4; a sixth perforated plate 3-8, which is fixedly mounted on the large triangular plate 3-7, and has multiple sixth ceramic eyes; the multiple fifth ceramic eyes on the two fifth perforated plates 3-6 correspond one-to-one with multiple fourth ceramic eyes and multiple sixth ceramic eyes. A support rod 3-1 is located below the small triangular plate 3-2, and the support rod 3-1 is fixedly connected to the support arm 2-4 of the robotic arm 2 to fix the connecting assembly to the robotic arm 2. Small triangle 3-2, trapezoidal plate 3-5, and large triangle 3-7 are all in the same vertical plane. Fourth hole plate 3-3, fifth hole plate 3-6, and sixth hole plate 3-8 are all perpendicular to this plane. The sixth hole plate 3-8 is located above the damping module 4. The lead wire passes through the sixth ceramic eye of the sixth hole plate 3-8 and can quickly enter the damping module 4. Multiple connection groups can be used; the specific number can be determined based on the distance between the main arm 2-1 and the damping module 4.

[0076] like Figure 1 , Figure 2 , Figures 8-9 as well as Figure 19 As shown, the damping module 4 includes: a frame 4-1, which is fixedly connected to the connecting plate 5-2, and the upper part of the frame 4-1 is fixedly connected to the large triangular plate 3-7 to fix the connecting group and the damping module 4; a damping unit 4-2, of which there are multiple damping units 4-2 and they are installed inside the frame 4-1; and a seventh hole plate 4-3, which is fixedly connected to the frame 4-1 and set at the bottom of the damping unit 4-2, with multiple seventh ceramic eyes opened on the seventh hole plate 4-3, and the outgoing ends of the multiple damping units 4-2 corresponding one-to-one with the multiple seventh ceramic eyes.

[0077] like Figures 10-15As shown, in this embodiment, the damping unit 4-2 includes: a main frame 4-2-1, which has a bottom surface and a side surface. The side surface of the main frame 4-2-1 is fixedly connected to the frame 4-1 through mounting holes 4-2-1-6 (fastening bolts, etc., can be inserted into the mounting holes 4-2-1-6). The side surface of the main frame 4-2-1 is provided with a lower elongated oval hole 4-2-1-4 and an upper elongated oval hole 4-2-1-5. A lower ceramic eye 4-2-11 is provided in the lower elongated oval hole 4-2-1-4, and an upper ceramic eye 4-2-13 is provided in the upper elongated oval hole 4-2-1-5. The upper ceramic eye 4-2-13 and the lower ceramic eye 4-2-11 are fixed to the upper elongated oval hole 4-2-1-5 and the lower elongated oval hole 4-2-1-4 respectively by snap rings (in fact, in this embodiment, all ceramic eyes are fixed by snap rings). The pressure roller 4-2-4 is located near the bottom surface of the main frame 4-2-1 and is elastically hinged to the main frame 4-2-1. The grooved roller 4-2-6 is located above the pressure roller 4-2-4 and fixed to the side of the main frame 4-2-1. The pressure roller 4-2-4 has an elastic tendency to move closer to the grooved roller 4-2-6. The silk thread 9 enters the main frame 4-2-1 from the upper porcelain eye 4-2-13, winds clockwise around the grooved roller 4-2-6 once, and then exits the main frame 4-2-1 from the lower porcelain eye 4-2-11.

[0078] like Figure 10-15 As shown, this embodiment also includes a swing arm 4-2-3. The bottom surface of the main frame 4-2-1 is provided with a connecting ear, and the connecting ear is provided with a first pin hole 4-2-1-1. The swing arm 4-2-3 is hinged to the first pin hole 4-2-1-1 through a first pin shaft 4-2-2, and hinged to the pressure roller 4-2-4 through a second pin shaft 4-2-5. A double torsion spring 4-2-12 is provided on the first pin shaft 4-2-2. The torsion arm of the double torsion spring 4-2-12 is fixedly connected to the bottom surface of the main frame 4-2-1 and the swing arm 4-2-3 respectively. The double torsion spring 4-2-12 has an elastic tendency to make the pressure roller 4-2-4 approach the grooved wheel 4-2-6. In this embodiment, the swing arm 4-2-3 is provided with multiple hinge holes near the double torsion spring 4-2-12. The double torsion spring 4-2-12 can change its hinge position with the swing arm 4-2-3 by connecting different hinge holes. Different hinge positions result in different pressures from the pressure roller 4-2-4 to the grooved wheel 4-2-6, allowing for adjustable pressure and providing a wider range of damping force, thus expanding its applicability. Both the grooved wheel 4-2-6 and the pressure roller 4-2-4 are made of anti-slip material, preventing relative slippage of the wire 9 relative to the grooved wheel 4-2-6. In this embodiment, the grooved wheel 4-2-6 is connected to the side of the main frame 4-2-1 via a connector. The connector has a third pin hole 4-2-1-3, and the grooved wheel 4-2-6 is fixedly connected to the third pin hole 4-2-1-3 via a third pin shaft 4-2-7.

[0079] In this embodiment, a brake band 4-2-8 is also included. A connecting wheel is coaxially arranged outside the grooved wheel 4-2-6. The brake band 4-2-8 is wound around the connecting wheel. The lower end of the brake band 4-2-8 is fixedly connected to the hook 4-2-1-2 on the side of the main frame 4-2-1, and the upper end is fixedly connected to the side of the main frame 4-2-1 through the compression spring 4-2-9 and the compression bolt 4-2-10. Because the brake band 4-2-8 is subjected to the pressure of the compression spring 4-2-9, it generates friction on the grooved area of ​​the grooved wheel 4-2-6, thereby hindering the rotation of the grooved wheel 4-2-6. Meanwhile, the wire 9 is well constrained by the structure composed of the pressure wheel 4-2-4 and the grooved wheel 4-2-6, preventing the wire 9 from sliding relative to the grooved wheel 4-2-6. Therefore, the friction of the brake band 4-2-8 on the grooved wheel 4-2-6 is converted into a damping force on the wire 9. The pressure on the brake band 4-2-8 can be adjusted by adjusting the tightness of the compression spring bolt 4-2-10, thereby controlling the damping force on the wire 9 and controlling the tension of the wire 9 during the winding process.

[0080] In this embodiment, the wire-spinning component 6 has multiple eighth ceramic eyes, which correspond one-to-one with multiple seventh ceramic eyes.

[0081] The specific work process is as follows:

[0082] 1. Wire 9 Output Process

[0083] The wire 9 enters through the first ceramic eye of the first perforated plate 1-3 and enters the wire groove of the wire box 1-2. The wire 9 is then introduced into the robotic arm 2 through the second ceramic eye on the second perforated plate 2-2 and the third ceramic eye on the third perforated plate 2-3. The wire 9 then passes through the connecting assembly sequentially through the fourth ceramic eye (fourth perforated plate 3-3), the fifth ceramic eye (fifth perforated plate 3-6), and the sixth ceramic eye (sixth perforated plate 3-8). After passing through the sixth ceramic eye, the wire 9 is introduced into the damping module 4. For example... Figure 18 As shown, the wire 9 is introduced from the upper ceramic eye 4-2-13, wound clockwise around the groove wheel 4-2-6 once, and then exited from the lower ceramic eye 4-2-11. After exiting from the lower ceramic eye 4-2-11, the wire 9 enters the seventh ceramic eye of the seventh hole plate 4-3, and finally exits from the eighth ceramic eye of the wire feeder 6.

[0084] 2. Winding process

[0085] Before winding, the operator first fixes one end of the thread 9 output by the thread feeder 6 to the winding post 7, and then starts the ground rail motion platform 8-2 and the horizontal and vertical motion group 5, enabling the thread feeder 6 to have three-axis movement functions (X-axis, Y-axis, and Z-axis). This allows the thread feeder 6 to wind the thread around the winding post 7. During the winding process, the connecting plate 5-2 moves on the Z-axis slide rail 5-3, and the precise control in the height direction makes the wound thread bundle more uniform. The winding speed is adjustable by controlling the movement speed of the robotic arm 2 and the horizontal and vertical motion group 5 through the control system, thereby improving the winding efficiency. By controlling the movement distance of the ground rail motion platform 8-2 through the control system, and in conjunction with winding posts 7 at different distances, it is possible to wind circular slings of different lengths and control the tension. By controlling the number of winding turns, it is possible to wind circular slings of different tonnages. Each thread 9 is independently threaded and controlled by damping, and has no active power to pull out threads. The thread pulling relies on the robotic arm 2 and the horizontal and vertical motion group 5 to drive the thread-pulling component 6, pulling the other end of the thread 9 out from the component 6 (one end of which is manually fixed). Therefore, once the number of threads 9 to be wound is determined, only the desired number of threads 9 need to be pulled out from the thread-pulling component 6; no further adjustments are required.

[0086] 3. The process of thread continuation, thread replacement, and the process of thread knot 10 passing through damping unit 4-2

[0087] When it is necessary to continue or replace thread 9, the new thread can be secured to the end of the old thread by tying a knot, such as... Figure 18 As shown, when the thread knot 10 passes the contact point between the pressure roller 4-2-4 and the grooved roller 4-2-6, the thread knot 10 exerts downward pressure on the pressure roller 4-2-4 and overcomes the elastic force of the double torsion spring 4-2-12, pushing the pressure roller 4-2-4 downward a certain distance to create space for the thread knot 10 to pass through, thus allowing the thread knot 10 to pass through the damping unit 4-2. Because the pressure roller 4-2-4 has the above-mentioned functions, the damping unit 4-2 can be adapted to various thicknesses of thread 9, expanding its applicability.

[0088] This invention provides a winding machine for circular slings. A robotic arm, combined with a Y-axis ground rail and a transverse and longitudinal motion group with X-axis and Z-axis slide rails, enables three-way power output. This allows for mechanized and intelligent winding of circular slings, precisely controlling winding speed, winding distance, number of filaments, and tension. The winding quality is high, and it is compatible with a wide range of circular slings, offering excellent future expansion capabilities in terms of intelligence and digitalization. Each filament employs independent transmission and damping control, ensuring sufficient and controllable tension during winding, guaranteeing uniform winding of the circular sling and thus ensuring its quality. The damping module is positioned close to the feeding component, providing timely damping response to the overall filament and is unaffected by friction or tension during filament transmission. The damping unit uses an elastic pressure roller and a grooved roller for damping control. The elastic pressure roller allows for adjustable damping force, enabling damping control for filaments of different diameters and allowing filament joints to pass through, providing high anti-derailment properties. During the winding process, wires can be changed, continued, and the number of wires used can be reduced or increased without re-threading. The wire passes through multiple ceramic eyelets during transmission. These eyelets have a larger inner diameter than the wires, providing excellent passage and adaptability for wires of different diameters, and the damping force control of each wire does not interfere with each other. Furthermore, the ceramic eyelets have high overload capacity and stability, making the design easy to thread, maintain, and replace. One end of the connecting assembly is fixed to the robotic arm, and the other end is fixed to the horizontal and vertical motion assembly. The connecting assembly uses a connecting rod hinge internally, ensuring that the wire between the robotic arm's output end and the damping module's wiring end remains taut when the horizontal and vertical motion assembly moves along the X and Z axes, preventing wire slack due to movement of the horizontal and vertical motion assembly. The pressure roller presses against the grooved wheel at an angle opposite to the wire insertion direction, ensuring that the pressure roller's clamping force is not affected by changes in the grooved wheel's rotation speed.

[0089] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0090] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A winding machine for a circular sling, characterized in that, include: Y-axis ground rail (8); The robotic arm (2) is slidably connected to the Y-axis ground rail (8); The wire box assembly (1) is arranged adjacent to the Y-axis ground rail (8), and the wiring terminal of the robotic arm (2) corresponds to the wire box assembly (1). The horizontal and vertical motion group (5) includes an X-axis slide rail (5-1), a Z-axis slide rail (5-3), and a connecting plate (5-2). The Z-axis slide rail (5-3) is slidably connected to the X-axis slide rail (5-1), and the connecting plate (5-2) is slidably connected to the Z-axis slide rail (5-3). The robotic arm (2) is fixedly connected to the rear side of the X-axis slide rail (5-1). Damping module (4), the damping module (4) is fixedly installed on the connecting plate (5-2), and the output end of the damping module (4) corresponds to the wire feeding part (6); The connecting group (3) has its two ends fixedly mounted on the robotic arm (2) and the damping module (4). The wiring end of the connecting group (3) corresponds to the wire output end of the robotic arm (2), and the wire output end of the connecting group (3) corresponds to the wiring end of the damping module (4). The wire (9) passes through the robotic arm (2), the connecting group (3) and the damping module (4) sequentially from the wire box group (1) and is output from the wire feeder (6). The thread box assembly (1) includes: A junction box (1-2) has multiple wire slots evenly spaced inside it; The first perforated plate (1-3) is disposed at one end of the wire box (1-2). The first perforated plate (1-3) has a plurality of first ceramic holes, and the plurality of first ceramic holes correspond one-to-one with the plurality of wire grooves. A support frame (1-1) is fixedly installed at the bottom end of the junction box (1-2); The robotic arm (2) includes: The upper arm (2-1) is slidably connected to the Y-axis ground rail (8); The second perforated plate (2-2) is fixedly connected to the upper arm (2-1). The second perforated plate (2-2) has multiple second ceramic eyes. The second perforated plate (2-2) is tilted and inserted into multiple wire grooves, and the multiple second ceramic eyes correspond one-to-one with the multiple wire grooves. The third perforated plate (2-3) is fixedly connected to the upper arm (2-1), and is horizontally set above the second perforated plate (2-2). The third perforated plate (2-3) has multiple third ceramic eyes, and the multiple third ceramic eyes correspond one-to-one with the multiple second ceramic eyes. Forearm (2-5), the forearm (2-5) is fixedly connected to the rear side of the X-axis slide rail (5-1); The connection group (3) includes: Small triangle plate (3-2), the small triangle plate (3-2) is fixedly installed at the upper end of the robotic arm (2); The fourth hole plate (3-3) is fixedly mounted on the small triangular plate (3-2). The fourth hole plate (3-3) has multiple fourth ceramic eyes, which correspond to the wire outlet of the robotic arm (2). A trapezoidal plate (3-5) is located above the small triangular plate (3-2). A fifth hole plate (3-6) is provided on each of the two sides of the trapezoidal plate (3-5). Multiple fifth ceramic eyes are opened on the fifth hole plate (3-6). The fifth ceramic eyes of the two fifth hole plates (3-6) can change the conveying direction of the wire (9). The large triangle plate (3-7) is fixedly mounted on the damping module (4), and the trapezoidal plate (3-5) is hinged to the small triangle plate (3-2) and the large triangle plate (3-7) respectively through the connecting rod (3-4); The sixth hole plate (3-8) is fixedly mounted on the large triangular plate (3-7), and the sixth hole plate (3-8) has a plurality of sixth ceramic eyes; the plurality of fifth ceramic eyes of the two fifth hole plates (3-6) correspond one-to-one with the plurality of fourth ceramic eyes and the plurality of sixth ceramic eyes; The damping module (4) includes: The frame (4-1) is fixedly connected to the connecting plate (5-2); Damping unit (4-2), there are multiple damping units (4-2) and they are installed in the frame (4-1); The seventh hole plate (4-3) is fixedly connected to the frame (4-1) and set at the bottom of the damping unit (4-2). Multiple seventh ceramic eyes are opened on the seventh hole plate (4-3), and the outgoing ends of the multiple damping units (4-2) correspond one-to-one with the multiple seventh ceramic eyes. The damping unit (4-2) includes: The main frame (4-2-1) has a bottom surface and a side surface. The side surface of the main frame (4-2-1) is fixedly connected to the frame (4-1). The side surface of the main frame (4-2-1) is provided with an upper ceramic eye (4-2-13) and a lower ceramic eye (4-2-11). A pressure roller (4-2-4) is provided near the bottom surface of the main frame (4-2-1), and the pressure roller (4-2-4) is elastically hinged to the main frame (4-2-1); Grooved wheel (4-2-6), the grooved wheel (4-2-6) is located above the pressure wheel (4-2-4) and fixed to the side of the main frame (4-2-1). The pressure wheel (4-2-4) has an elastic tendency to move closer to the grooved wheel (4-2-6). The wire (9) enters the main frame (4-2-1) from the upper ceramic eye (4-2-13), winds clockwise around the grooved wheel (4-2-6) once, and then exits the main frame (4-2-1) from the lower ceramic eye (4-2-11). It also includes a brake band (4-2-8), and a connecting wheel is coaxially provided on the outside of the grooved wheel (4-2-6). The brake band (4-2-8) is wound around the connecting wheel. The lower end of the brake band (4-2-8) is fixedly connected to the hook (4-2-1-2) on the side of the main frame (4-2-1), and the upper end is fixedly connected to the side of the main frame (4-2-1) through a compression spring (4-2-9) and a compression bolt (4-2-10).

2. The winding machine for a circular sling according to claim 1, characterized in that, The Y-axis ground rail (8) includes: a ground rail body (8-1) and a motion platform (8-2). The motion platform (8-2) is slidably connected to the ground rail body (8-1), and the bottom end of the robotic arm (2) is fixedly connected to the motion platform (8-2).

3. The winding machine for a circular sling according to claim 1, characterized in that, It also includes a swing arm (4-2-3). The bottom surface of the main frame (4-2-1) is provided with a connecting ear. The connecting ear is provided with a first pin hole (4-2-1-1). The swing arm (4-2-3) is hinged to the first pin hole (4-2-1-1) through a first pin (4-2-2) and to the pressure roller (4-2-4) through a second pin (4-2-5). A double torsion spring (4-2-12) is provided on the first pin (4-2-2). The torsion arm of the double torsion spring (4-2-12) is fixedly connected to the bottom surface of the main frame (4-2-1) and the swing arm (4-2-3) respectively. The double torsion spring (4-2-12) has an elastic tendency to make the pressure roller (4-2-4) approach the grooved wheel (4-2-6).

4. The winding machine for a circular sling according to claim 1, characterized in that, The wire-spinning component (6) has multiple eighth ceramic eyes, and the multiple eighth ceramic eyes correspond to the output end positions of the damping module (4).

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