A feeding and discharging mechanism and wire winding equipment

Abstract

The application provides a feeding and discharging mechanism. It relates to the technical field of 3D printing. The feeding and discharging mechanism comprises a taking and placing device, a moving device, an identifying device and a turnover device. The taking and placing device is configured to pick up or place the wire coil. The moving device is connected with the taking and placing device and is configured to drive the taking and placing device to move between multiple preset workstations. The identifying device is arranged on the taking and placing device and is configured to identify the front and back of the wire coil. The turnover device is configured to turn over the wire coil to the front side up according to the identification information of the identifying device. The feeding and discharging mechanism can realize the comprehensive automation of the wire coil transfer in the wire production process, thereby improving the production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing, and particularly relates to a feeding and discharging mechanism and a wire winding device. BACKGROUND

[0002] 3D printing is a kind of rapid prototyping technology, which uses high polymer and metal as consumables. Common 3D printing consumables are mainly divided into liquid photosensitive resin material, wire and powder material in terms of physical form. The wire needs to be wound on a special wire reel to avoid the wire from being scattered during transportation and use.

[0003] In the prior art, the wire reel needs to be manually transported between various workstations, which is time-consuming and laborious and may cause product quality problems due to manual misoperation. SUMMARY

[0004] The present application provides a feeding and discharging mechanism and a wire winding device, which can realize the automation of wire reel transfer in the wire production process, thereby improving the production efficiency.

[0005] To achieve the above-mentioned purpose, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a feeding and discharging mechanism for transporting a wire reel, comprising:

[0007] A picking and placing device configured to pick up or place the wire reel;

[0008] A moving device connected with the picking and placing device and configured to drive the picking and placing device to move between a plurality of preset workstations;

[0009] An identification device arranged on the picking and placing device and configured to identify whether the surface of the wire reel facing the identification device is a front surface or a back surface; and

[0010] A turning device configured to turn the wire reel to a preset surface facing the identification device according to the identification information of the identification device.

[0011] The loading and unloading mechanism provided in this embodiment ensures that all operational steps of the wire reel during transfer are completed by the loading and unloading mechanism itself, thereby achieving full automation of wire reel transfer in wire production. Driven by the moving device, the loading and unloading device moves to the empty wire reel storage position. The identification device identifies the front and back of the wire reel. Based on the front and back information identified by the identification device, the loading and unloading device determines whether the wire reel needs to be flipped. When the wire reel needs to be flipped, the moving device drives the loading and unloading device to transport the wire reel to the flipping device. The flipping device flips the wire reel so that the front is facing up. The loading and unloading device then picks up the front-facing wire reel and installs it onto the winding mechanism. Because each step of transporting the wire reel is performed autonomously by the loading and unloading mechanism, the operation time can be shortened, thereby improving work efficiency.

[0012] According to some embodiments of this application, the pick-and-place device includes a first gripping component configured to grip the spool; and a Z-axis moving component configured to move the first gripping component in a vertical direction to lift or lower the spool.

[0013] According to some embodiments of this application, the Z-axis moving assembly includes a Z-axis guide extending in a vertical direction and fixed relative to the moving device; a Z-axis motion axis extending in a vertical direction and slidingly engaged with the Z-axis guide in a vertical direction; a first gripping assembly fixedly disposed on the Z-axis motion axis; and a Z-axis drive configured to drive the Z-axis motion axis to move vertically along the Z-axis guide.

[0014] According to some embodiments of this application, the Z-axis drive includes a Z-axis rack disposed on the Z-axis and extending in a vertical direction; a Z-axis gear meshing with the Z-axis rack; and a Z-axis motor fixed relative to the moving device, wherein the output shaft of the Z-axis motor is connected to the Z-axis gear to drive the Z-axis gear to rotate.

[0015] According to some embodiments of this application, the first gripping component includes a first gripper disposed on the Z-axis and configured to grip the spool within the central axis of the spool; and a first gripper drive member connected to the first gripper and configured to drive the first gripper to expand outward to grip the spool.

[0016] According to some embodiments of this application, the pick-and-place device further includes a rotating component configured to drive the first gripping component to rotate the spool from a horizontal state to a vertical state.

[0017] According to some embodiments of this application, the rotating assembly includes a rotating member located above the first clamping assembly, the first clamping assembly being fixedly disposed on the rotating member; and a rotating drive member configured to drive the rotating member to rotate.

[0018] According to some embodiments of this application, the rotating component drive includes a rotary motor, the output shaft of which is connected to the rotating component in a transmission manner and is perpendicular to the Z-axis.

[0019] According to some embodiments of this application, the loading and unloading mechanism further includes a displacement detection device configured to detect the distance between the loading / unloading device and the lower coil, so as to control the vertical movement distance of the Z-axis moving assembly.

[0020] According to some embodiments of this application, the displacement detection device is a laser displacement sensor.

[0021] According to some embodiments of this application, the front and / or back of the spool are provided with identification marks, and the identification device identifies the front and back of the spool by photographing or scanning the identification marks.

[0022] According to some embodiments of this application, the identification device is a CCD camera.

[0023] According to some embodiments of this application, the recognition device is a CCD camera, and the recognition device is slidably connected to the Z-axis via an adjustment component. The adjustment component is configured to drive the recognition device to move vertically relative to the Z-axis to adjust the focal length of the CCD camera.

[0024] According to some embodiments of this application, the adjustment assembly includes a recognizer guide disposed on the Z-axis and extending in the vertical direction; a recognizer moving bracket slidably engaged with the recognizer guide, the recognizer device being disposed on the recognizer moving bracket; and a recognizer drive connected to the recognizer moving bracket to drive the recognizer moving bracket to slide along the recognizer guide.

[0025] According to some embodiments of this application, the identifier drive includes a timing pulley disposed on the Z-axis; a timing belt extending vertically and cooperating with the timing pulley; the identification device being fixedly disposed on the timing belt; and an identifier motor connected to the timing pulley to drive the timing pulley to rotate the timing belt.

[0026] According to some embodiments of this application, a supplementary light element is provided below the identification device, and the supplementary light element is configured to provide auxiliary light for the CCD camera.

[0027] According to some embodiments of this application, the moving device includes: an X-axis moving component configured to drive the Z-axis moving component to move along the X direction; and a Y-axis moving component configured to drive the X-axis moving component to move along the Y direction, wherein the X direction and the Y direction are two mutually perpendicular horizontal directions.

[0028] According to some embodiments of this application, the Y-axis moving assembly includes a Y-axis guide extending along the Y direction; a Y-axis moving bracket slidably engaged with the Y-axis guide, the X-axis moving assembly being disposed on the Y-axis moving bracket; and a Y-axis driving member connected to the Y-axis moving bracket to drive the Y-axis moving bracket to slide along the Y-axis guide.

[0029] According to some embodiments of this application, the Y-axis drive includes a Y-axis rack disposed on the Y-axis guide and extending along the Y direction; a Y-axis gear fixed to the Y-axis movable bracket and meshing with the Y-axis rack; and a Y-axis motor including a Y-axis output shaft, the Y-axis gear being disposed on the Y-axis output shaft, the Y-axis output shaft being perpendicular to the Y-axis guide, and the Y-axis motor being configured to drive the Y-axis gear to rotate.

[0030] According to some embodiments of this application, the X-axis moving assembly includes an X-axis guide member disposed on the Y-axis moving bracket and extending along the X direction; an X-axis moving bracket slidably engaged with the X-axis guide member; the Z-axis moving assembly disposed on the X-axis moving bracket; and an X-axis driving member connected to the X-axis moving bracket to drive the X-axis moving bracket to slide along the X-axis guide member.

[0031] According to some embodiments of this application, the X-axis drive includes an X-axis rack disposed on the X-axis guide and extending along the X direction; an X-axis gear fixed to the X-axis moving bracket and meshing with the X-axis rack; and an X-axis motor including an X-axis output shaft, the X-axis gear disposed on the X-axis output shaft, the X-axis output shaft being perpendicular to the X-axis guide, and the X-axis motor being configured to drive the X-axis gear to rotate.

[0032] According to some embodiments of this application, the flipping device includes a flipping fixed bracket; a flipping lifting bracket, slidably coupled to the flipping fixed bracket and configured to move vertically relative to the flipping fixed bracket; a lifting drive member connected to the flipping lifting bracket to drive the flipping lifting bracket to move vertically; a rotating bracket disposed on the flipping lifting bracket and configured to rotate relative to the flipping lifting bracket; a flipping drive member connected to the rotating bracket to drive the rotating bracket to rotate; and a second clamping assembly disposed on the rotating bracket and configured to clamp the reel.

[0033] According to some embodiments of this application, the flipping drive includes a flipping motor, the output shaft of the flipping motor is connected to the rotating bracket in a transmission manner, and the output shaft of the rotating motor extends in a horizontal direction.

[0034] According to some embodiments of this application, the flip-fixed bracket is provided with a lifting guide rail, the lifting guide rail extends in a vertical direction, the flip-lift bracket is slidably engaged with the lifting guide rail, and the lifting drive component includes a lifting cylinder, the piston rod of the lifting cylinder is connected to the flip-lift bracket.

[0035] According to some embodiments of this application, the second gripping assembly includes a second gripper disposed on the rotating bracket, the second gripper being configured to grip the outer circumference of the spool radially; and a second gripper drive member connected to the second gripper and configured to drive the second gripper to move radially to grip the spool.

[0036] Secondly, embodiments of this application provide a wire winding device, wherein the 3D printer includes a device body; and the loading and unloading mechanism described in any of the embodiments of the first aspect above.

[0037] The wire winding equipment provided in this application adopts the loading and unloading mechanism described in any of the embodiments of the first aspect. Therefore, it can reduce the time used in each step of the wire winding process while ensuring the wire reel transfer requirements, thereby shortening the entire wire winding equipment winding time and improving work efficiency.

[0038] According to some embodiments of this application, the equipment body includes a turnover cart configured to load empty wire reels and full wire reels; a winding mechanism configured to wind wire onto the empty wire reels to form a full wire reel after winding is completed; a weighing device configured to weigh the full wire reel to determine whether the full wire reel is qualified; and a defective product storage bin configured to load defective full wire reels. The loading and unloading mechanism is configured to transport and install empty wire reels from the turnover cart to the winding mechanism, transport weighed and qualified full wire reels to the turnover cart, and transport weighed and unqualified full wire reels to the defective product storage bin. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1This is a schematic diagram of the structure of a coil;

[0041] Figure 2 This is a top view of the wire winding equipment provided in the embodiments of this application;

[0042] Figure 3 This is one of the structural schematic diagrams of the loading and unloading mechanism provided in the embodiments of this application;

[0043] Figure 4 for Figure 3 Enlarged view of part A;

[0044] Figure 5 for Figure 3 Enlarged view of part B;

[0045] Figure 6 for Figure 3 Enlarged view of part C;

[0046] Figure 7 This is the second schematic diagram of the loading and unloading mechanism provided in the embodiments of this application;

[0047] Figure 8 for Figure 7 Enlarged view of part D;

[0048] Figure 9 A perspective view of the wire winding equipment provided in the embodiments of this application;

[0049] Figure 10 for Figure 9 Enlarged view of part E;

[0050] Figure 11 for Figure 9 Enlarged view of part F;

[0051] Figure 12 This is a schematic diagram of the structure of the flipping device in the loading and unloading mechanism provided in the embodiments of this application;

[0052] Figure 13 This is a process flow diagram for winding wire using the wire winding equipment provided in the embodiments of this application. Detailed Implementation

[0053] The following description provides specific application scenarios and requirements for this specification, intended to enable those skilled in the art to make and use the contents of this specification. Various partial modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but rather to the widest scope consistent with the claims.

[0054] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not restrictive. For example, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” used herein may also include the plural forms. When used in this specification, the terms “comprising,” “including,” and / or “containing” mean that the associated integers, steps, operations, elements, and / or components are present, but do not exclude the presence of one or more other features, integers, steps, operations, elements, components, and / or groups, or that other features, integers, steps, operations, elements, components, and / or groups may be added to the system / method.

[0055] Considering the following description, these and other features of this specification, as well as the operation and function of related structural elements, and the economy of assembly and manufacture of components, can be significantly improved. This description also includes all figures and text in the accompanying drawings, all of which form part of this specification. However, it should be clearly understood that the drawings are for illustrative and descriptive purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0056] 3D printing, a type of rapid prototyping technology, is a technique that uses digital model files as a basis and employs powdered metals or plastics and other bondable materials to construct objects layer by layer. 3D printing is typically achieved using digital material printers and has applications in jewelry, footwear, industrial design, architecture, engineering and construction, automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms, and other fields.

[0057] Filament fusion printing is one of the most commonly used 3D printing technologies. Its principle is as follows: the nozzle performs multi-axis composite motion under computer control, heating the filament to a temperature slightly above its melting point within the nozzle, and then extruding it through a nozzle with a micro-nozzle. Currently, the hardware structure of 3D printers using filament fusion printing generally includes a filament feeder, a print head, a heating device, a print head drive, and a worktable. Commonly used 3D printing consumables, based on their physical form, mainly include liquid photosensitive resin materials, linear printing materials, and powder materials.

[0058] Linear printing materials, as a type of 3D printing consumable, are diverse and complex, especially with the development of technology, the types of 3D printing filaments are becoming increasingly diversified. Filaments used for 3D printing are usually produced using extrusion production lines. For example, PLA (polylactic acid), ABS (acrylonitrile butadiene styrene copolymer), PP (polypropylene), PC (polycarbonate), TPU (thermoplastic urethane), and PVC (polyvinyl chloride) 3D printing filaments can be produced through extrusion production lines.

[0059] After the wire is extruded into shape on the extrusion production line, it needs to be wound onto a spool for transportation and use. For example... Figure 13 As shown, the winding process of 3D printing filaments generally involves the following steps:

[0060] S1, Install the unwound wire spool (hereinafter referred to as the empty wire spool) onto the automatic winding mechanism;

[0061] S2, fix the front end of the wire produced by the production line to the bottom hole of the empty wire reel on the automatic winding mechanism;

[0062] S3, start the automatic winding mechanism to drive the empty wire reel to rotate, so as to wind the wire onto the empty wire reel;

[0063] S4. After a spool is wound up, the wire is cut and the cut end of the wire is fixed to the spool.

[0064] S5, remove the coil with the wire (hereinafter referred to as the full coil) for weighing and sorting, and load a new empty coil into the automatic winding mechanism for the next round of winding.

[0065] Each step of the above process involves a specific workstation, and the movement and installation of the cable reel between these workstations are typically done manually. However, manual handling and installation of the cable reel is time-consuming, labor-intensive, and prone to errors.

[0066] In view of this, some embodiments of this application provide a loading and unloading mechanism and a wire winding device, which can realize the automated transportation of wire spools during the wire production process, thereby improving production efficiency.

[0067] The present application will now be described in detail with reference to the accompanying drawings:

[0068] Figure 2 and Figure 9A wire winding device is shown, comprising an automatic loading and unloading mechanism 2 and a device body 3. The device body 3 includes an automatic wire arrangement mechanism, an automatic winding mechanism 32, an automatic wire ending mechanism, an automatic weighing device 33, and a defective product storage bin 34. The automatic loading and unloading mechanism 2 is used to transport empty and full wire reels, specifically for performing step S1, i.e., loading empty wire reels into the automatic winding mechanism 32. The automatic wire arrangement mechanism and the automatic winding mechanism 32 cooperate to perform steps S2 and S3. First, the front end of the wire is automatically inserted into the bottom hole 14 of the wire reel 1 and fixed. Then, while the automatic winding mechanism 32 rotates the wire reel 1, the automatic wire arrangement mechanism adjusts the winding position of the wire on the wire reel 1, so that the wire is wound onto the wire reel 1 according to a preset arrangement method. The aforementioned preset wire routing method can be selected according to actual conditions. For example, the wire can be routed from the left end of the coil to the right end, and then from the right end to the left end; or the wire can be routed from the right end of the coil to the left end, and then from the left end to the right end; or the wire can be routed from the middle of the coil, first to the left end and then to the right end, etc. The automatic wire-ending mechanism is used to perform step S4, that is, to cut off the tail end of the wound wire and fix the tail end of the wire to the coil 1. The automatic weighing device 33 is used to perform step S5, that is, to remove the full coil and weigh it. The automatic loading and unloading mechanism 2 can also be used to perform the latter half of step S5, that is, to classify and stack the weighed full coils. All of the above steps can be completed automatically, thereby improving the production efficiency of wire, reducing manual intervention, and avoiding product quality problems caused by human error.

[0069] It should be noted that, in addition to the institutions mentioned above, such as Figure 2 As shown, the wire winding equipment may also include a turnover cart 31 for placing the wire reels 1. The turnover cart 31 can be used to stack empty and full wire reels. Multiple storage methods are available; for example, the turnover cart 31 can be equipped with eight storage bins, each capable of holding 16 wire reels 1, stacked vertically within the bins. Of course, other storage methods can be selected according to production needs; for example, it can be equipped with 3, 4, 5, 6, 7, 9, or 10 storage bins. Each storage bin can also hold 5, 8, 9, 10, 15, 18, or 20 wire reels 1.

[0070] One possible structure of coil 1 is as follows: Figure 1 As shown, the wire reel 1 may include a winding roller 11 and limiting baffles 12 disposed at both ends of the winding roller 11. The winding roller 11 is used to wind wire, and the limiting baffles 12 are used to limit the wire wound on the winding roller 11 to prevent the wire from falling off from both ends of the winding roller 11. A central hole 13 is formed axially in the middle of the winding roller 11, and the central hole 13 penetrates the limiting baffles 12 at both ends of the winding roller 11. The central hole 13 can be used by the automatic loading and unloading mechanism 2 to clamp the wire reel 1, such as...Figure 2 As shown, it can also be used by the automatic winding mechanism 32 to position the spool 1 during winding. The bottom hole 14 of the spool 1 is opened on the side wall of the winding roller 11 and communicates with the center hole 13. The bottom hole 14 is used to fix the end of the wire to initially position the wire and the spool 1 before winding.

[0071] Before performing step S1, empty wire reels can be stacked vertically in the storage bin of the turnover cart 31. Then, the turnover cart 31 filled with empty wire reels is moved to the material handling station of the wire winding equipment, and the turnover cart 31 is limited to prevent it from moving during the material handling process.

[0072] After starting the wire winding equipment, the automatic loading and unloading mechanism 2 executes step S1. The automatic loading and unloading mechanism 2 moves above the transfer cart 31, picks up the wire reel 1 vertically, and then moves to the automatic winding mechanism 32. Combined with... Figure 2 and Figure 3 As shown, the automatic loading and unloading mechanism 2 includes a picking and placing device 20, a moving device, an identification device 24, and a flipping device 28. The picking and placing device 20 is used to pick up or place the reel 1, and its direction for picking up or placing the reel 1 can be vertical. The moving device is connected to the picking and placing device 20, thereby driving the picking and placing device 20 to move in a horizontal plane to transport the reel 1. The identification device 24 is used to identify whether the reel in the transfer cart is facing up or down. The flipping device 28 can flip the reel to the preset surface facing up according to the identification information from the identification device. The preset surface refers to one of the front and back surfaces of the reel.

[0073] The picking and placing device 20 can be adopted as follows: Figure 3 The structure shown, namely the pick-and-place device 20, includes a first gripping assembly 201 and a Z-axis moving assembly 204. The first gripping assembly 201 is used to grip the spool 1. The Z-axis moving assembly 204 can drive the first gripping assembly 201 to move vertically to lift or lower the spool 1, or adjust the vertical position of the spool 1 when mounting it onto the automatic winding mechanism 32.

[0074] Please combine Figure 3 and Figure 7As shown, the Z-axis moving assembly 204 includes a Z-axis guide 205, a Z-axis motion axis 206, and a Z-axis drive 207. The Z-axis guide 205 slides with the Z-axis motion axis 206 to guide the Z-axis motion axis 206 to move vertically. The Z-axis guide 205 is fixed relative to the moving device 26; that is, the Z-axis guide 205 can be directly or indirectly fixedly connected to the moving device 26. A first gripping assembly 201 is fixedly disposed on the Z-axis motion axis 206. When the Z-axis drive 207 drives the Z-axis motion axis 206 to move vertically along the Z-axis guide 205, the first gripping assembly 201 also moves vertically along the Z-axis guide 205 along with the Z-axis motion axis 206.

[0075] Furthermore, combined Figure 7 and Figure 8 As shown, the Z-axis guide 205 can be a Z-axis slide rail extending vertically. The Z-axis motion shaft 206 extends vertically and cooperates with the Z-axis slide rail or Z-axis guide tube. When the Z-axis motion shaft 206 cooperates with the Z-axis slide rail, a Z-axis slider 2061 that cooperates with the Z-axis slide rail can be provided on the Z-axis motion shaft 206, thereby realizing the sliding cooperation between the Z-axis motion shaft 206 and the Z-axis slide rail. The Z-axis slider 2061 can be a structure separately provided on the Z-axis motion shaft 206, or it can be a structure of the Z-axis motion shaft 206 itself. Alternatively, the Z-axis guide 205 can also be a Z-axis guide tube extending vertically. When the Z-axis motion shaft 206 cooperates with the Z-axis guide tube, the tube hole of the Z-axis guide tube extends vertically, and the Z-axis motion shaft 206 can directly slide with the tube hole of the Z-axis guide tube, thereby guiding the Z-axis motion shaft 206 to move vertically.

[0076] It should be noted that the aforementioned sliding fit can employ either a sliding friction structure or a rolling friction structure. When a sliding friction structure is used, the Z-axis guide 205 is in direct contact with the Z-motion axis 206. When a rolling friction structure is used, a rolling element can be provided between the Z-axis guide 205 and the Z-motion axis 206. Specifically, the rolling element can be a ball, roller, wheel, etc. Furthermore, the cross-sectional shape of the Z-axis slide rail can be triangular, rectangular, dovetail-shaped, circular, etc.

[0077] In some embodiments, the transmission method of the Z-axis drive 207 can be belt drive, rack and pinion drive, chain drive, worm gear drive, or screw drive, etc. For example, please refer to... Figure 7 and Figure 8As shown, the Z-axis drive 207 is driven by a rack and pinion mechanism. When the Z-axis drive 207 is driven by a rack and pinion mechanism, it may include a Z-axis rack 208, a Z-axis gear (not shown), and a Z-axis motor 209. The Z-axis rack 208 is fixedly mounted on the Z-axis motion shaft 206 and extends vertically. The Z-axis gear meshes with the Z-axis rack 208. The output shaft of the Z-axis motor 209 is connected to the Z-axis gear to drive its rotation. The Z-axis gear is rotatably fixed to the output shaft of the Z-axis motor 209, and the Z-axis motor 209 is relatively fixed to the moving device 26. Therefore, when the Z-axis gear rotates, the Z-axis rack 208 moves vertically up and down relative to the Z-axis gear, and the Z-axis motion shaft 206, fixedly connected to the Z-axis rack 208, also moves vertically up and down.

[0078] Please combine Figure 1 , Figure 2 , Figure 3 , Figure 7 and Figure 8 As shown, when the Z-axis 206 moves vertically up and down relative to the moving device 26, the first clamping component 201 also moves vertically up and down relative to the moving device 26. The first clamping component 201 can be implemented in several ways. For example, it can clamp the spool 1 through its outer circumference, through its central hole 13, or along its thickness. The clamping method can be selected based on the state of the spool 1 in the spool storage position 31. For example, if the spool 1 is placed horizontally in the spool storage position 31, and multiple spools 1 are stacked vertically, clamping the spool 1 through its outer circumference or along its thickness is difficult. Therefore, clamping the spool 1 through its central hole 13 is a viable option.

[0079] When the coil 1 is clamped through the central hole 13, the first clamping component 201 can extend into the central hole 13 of the coil 1 and is fixed relative to the inner wall of the central hole 13 of the coil 1 by means of outward expansion support, so as to achieve clamping of the coil 1. Among them, combined with Figure 1 , Figure 3 and Figure 6As shown, the first gripping assembly 201 includes a first gripper 202 and a first gripper drive 203, with the first gripper drive 203 connected to the first gripper 202. Further, the first gripper 202 can hold the spool 1 within the central hole 13 of the spool 1, and the first gripper drive 203 can drive the first gripper 202 to expand outward to grip the spool 1. The outward expansion gripping method can be that the first gripper drive 203 directly pushes the first gripper 202 outward, or it can be that the first gripper drive 203 indirectly pushes the first gripper 202 outward through a wedge block. The number of gripping fingers of the first gripper 202 can be 2, 5, 6, etc., wherein the multiple gripping fingers are evenly distributed along the circumferential direction of the central hole 13 of the spool.

[0080] In one application scenario, combined with Figure 1 and Figure 2 As shown, the spool 1 is placed horizontally in the spool storage position, while it is installed vertically on the automatic winding mechanism 32. Therefore, after the automatic loading and unloading mechanism 2 removes the spool 1 from the spool storage position, it needs to rotate the spool 1 90° to make it vertical before installing it onto the automatic winding mechanism 32. To achieve this process, as shown in Figure 3, the loading and unloading device 20 also includes a rotating component 211, which can drive the first clamping component 201 to rotate. Furthermore, the rotating component 211 can rotate the spool from a horizontal state to a vertical state, or from a vertical state to a horizontal state, or rotate the spool to any state between the horizontal and vertical states.

[0081] Such as combination Figure 3 , Figure 6 and Figure 7 As shown, the rotating assembly 211 includes a rotating component 212 and a rotating drive component 213. The rotating component 212 is located above and fixedly connected to the first clamping assembly 201, meaning that the rotating component 212 can be directly or indirectly fixedly connected to the first clamping assembly 201. The rotating drive component 213 can drive the rotating component 212 to rotate. Since the first clamping assembly 201 and the rotating component 212 are fixedly connected, when the rotating drive component 213 drives the rotating component 212 to rotate, the first clamping assembly 201 also performs the same rotational movement as the rotating component 212. It should be understood that the rotational movement of the first clamping assembly 201 and the movement of the first clamping assembly 201 following the Z-axis 206 can occur simultaneously.

[0082] Furthermore, the rotary drive component 213 can be a rotary motor, which includes an output shaft. The output shaft of the rotary motor is connected to the rotary component 212 and serves as the rotation center, perpendicular to the Z-axis 206. When the rotary assembly 211 operates, the rotary motor drives the rotary component 212 to rotate along with the motor's output shaft. The rotary component 212 drives the first clamping assembly 201 to rotate the coil 1 from a horizontal to a vertical position, i.e., the rotary component 212 rotates 90° around the rotation center to rotate the coil 1 from a horizontal to a vertical position. The rotary component 212 can be a rectangular plate, a circular rod, etc. To reduce the weight of the rotary component 212, it can be a hollow structure. To position the first clamping assembly 201 directly below the Z-axis 206, i.e., with its centerline coinciding with the centerline of the Z-axis 206, the rotary component 212 can be a combination of multiple plates or multiple rods, such as... Figure 6 As shown, the rotating part 212 is an L-shaped plate composed of two plates vertically combined together. It can also be set as a U-shaped plate composed of multiple plates combined together, which is not limited here.

[0083] Please combine Figure 3 and Figure 9 As shown, the mobile device 26 can adopt the following... Figure 9 The structure shown, namely the moving device 26, includes an X-axis moving component 261 and a Y-axis moving component 268. The X-axis moving component 261 can drive the Z-axis moving component 204 to move along the X direction, thereby adjusting the position of the first gripping component along the X direction. The Y-axis moving component 268 can drive the X-axis moving component 261 to move along the Y direction, thereby adjusting the position of the first gripping component along the Y direction. Wherein, the X direction is... Figure 3 The x-axis is located in the direction of the x-axis, and the y-axis is in the direction of the x-axis. Figure 3 The y-axis is located in the middle, while the X and Y directions are two mutually perpendicular horizontal directions. Since it has an X-axis moving component 261, a Y-axis moving component 268, and a Z-axis moving component 204, the first gripping component can move in the X, Y, and Z directions, thereby ensuring that the first gripper can grip or place the coil at any position of the preset workstation.

[0084] Furthermore, such as combining Figure 8 , Figure 9 and Figure 11 As shown, the Y-axis moving assembly 268 includes a Y-axis guide, a Y-axis moving bracket 270, and a Y-axis driving component 271, wherein the Y-axis moving bracket 270 is slidably engaged with the Y-axis guide. The Y-axis guide extends along the Y direction, and the X-axis moving assembly 261 is disposed on the Y-axis moving bracket 270. When the Y-axis moving bracket 270 slides on the Y-axis guide, the X-axis moving assembly 261 also slides on the Y-axis guide.

[0085] The X-axis moving component 261 slides along the Y-axis guide, driven by the Y-axis drive component 271. The Y-axis drive component 271 is connected to the Y-axis moving bracket 270, causing the Y-axis moving bracket 270 to slide automatically along the Y-axis guide. Further, the Y-axis guide can be a Y-axis slide rail extending along the Y direction, and the Y-axis moving bracket 270 can be provided with a Y-axis slider 2701 that cooperates with the Y-axis slide rail, thereby achieving a sliding engagement between the Y-axis moving bracket 270 and the Y-axis guide. The Y-axis slider 2701 can be a separate structure on the Y-axis moving bracket 270, or it can be a component of the Y-axis moving bracket 270 itself.

[0086] It should be noted that the aforementioned sliding fit can employ either a sliding friction structure or a rolling friction structure. When a sliding friction structure is used, the Y-axis moving bracket 270 and the Y-axis guide are in direct contact. When a rolling friction structure is used, a rolling element can be provided between the Y-axis moving bracket 270 and the Y-axis guide. Specifically, the rolling element can be a ball, roller, wheel, etc. Furthermore, the cross-sectional shape of the Y-axis guide can be triangular, rectangular, dovetail-shaped, circular, etc.

[0087] In some embodiments, the transmission method of the Y-axis drive 271 can be one of belt drive, rack and pinion drive, chain drive, worm gear drive, or screw drive. For example, combined with Figure 8 and Figure 11 The Y-axis drive unit 271 shown is driven by a rack and pinion. When the Y-axis drive unit 271 is driven by a rack and pinion, it may include a Y-axis rack 274, a Y-axis gear 273, and a Y-axis motor 272, wherein the Y-axis gear 273 meshes with the Y-axis rack 274. The Y-axis rack 274 is disposed on the Y-axis guide and extends along the Y direction. The Y-axis motor 272 includes a Y-axis output shaft, which is connected to the Y-axis gear 273 to drive the Y-axis gear 273 to rotate. Further, the Y-axis gear 273 is fixedly mounted on the Y-axis moving bracket 270, so when the Y-axis gear 273 rotates, the Y-axis gear 273 moves relative to the Y-axis rack 274 along the Y direction, and the Y-axis moving bracket 270 fixedly connected to the Y-axis gear 273 also moves along the Y direction.

[0088] In addition, such as combining Figure 3 , Figure 7 , Figure 8 and Figure 10As shown, the X-axis moving assembly 261 includes an X-axis guide 262, an X-axis moving bracket 263, and an X-axis drive 264, wherein the X-axis moving bracket 263 is slidably engaged with the X-axis guide 262. The X-axis guide 262 is disposed on the Y-axis moving bracket 270 and extends along the X direction. The Z-axis moving assembly 204 is disposed on the X-axis moving bracket 263, and when the X-axis moving bracket 263 slides along the X direction, the Z-axis moving assembly 204 also slides along the X direction.

[0089] The X-axis drive unit 264 is connected to the X-axis moving bracket 263 to drive the X-axis moving bracket 263 to slide along the X-axis guide member 262. Further, the X-axis guide member 262 can be an X-axis slide rail extending in the X direction, and the X-axis moving bracket 263 can be provided with an X-axis slider that cooperates with the X-axis slide rail, thereby realizing the sliding of the X-axis moving bracket 263 on the X-axis guide member 262. The X-axis slider can be a separate structure set on the X-axis moving bracket 263, or it can be a structure of the X-axis moving bracket 263 itself.

[0090] It should be noted that the aforementioned sliding fit can employ either a sliding friction structure or a rolling friction structure. When a sliding friction structure is used, the X-axis moving bracket 263 and the X-axis guide 262 are in direct contact. When a rolling friction structure is used, a rolling element can be provided between the X-axis moving bracket 263 and the X-axis guide 262. Specifically, the rolling element can be a ball, roller, wheel, etc. Furthermore, the cross-sectional shape of the Y-axis guide can be triangular, rectangular, dovetail-shaped, circular, etc.

[0091] Furthermore, the transmission method of the X-axis drive component 264 can be one of belt drive, rack and pinion drive, chain drive, worm gear drive, or screw drive. For example, combined with... Figure 8 and Figure 10 As shown, the X-axis drive unit 264 is driven by a rack and pinion. When the X-axis drive unit 264 is driven by a rack and pinion, it may include an X-axis rack 267, an X-axis gear 266, and an X-axis motor 265, wherein the X-axis gear 266 meshes with the X-axis rack 267. The X-axis rack 267 is disposed on the X-axis guide member 262 and extends along the X direction. The X-axis motor 265 includes an X-axis output shaft, which is connected to the X-axis gear 266 to drive the X-axis gear 266 to rotate. Furthermore, the X-axis gear 266 is fixedly disposed on the X-axis moving bracket 263. Therefore, when the X-axis gear 266 rotates, it moves relative to the X-axis rack 267 along the X direction, and the X-axis moving bracket 263 also moves along the X direction.

[0092] In certain specific application scenarios, the wire reel needs to be distinguished by its front and back sides and installed on the winding mechanism in a preset posture. Installing the wire reel in a preset posture means that when installing the wire reel onto the winding mechanism, it is installed with its end face facing a pre-defined orientation. Assuming the wire reel is pre-set to face the automatic winding mechanism, the front and back sides of the wire reel need to be adjusted before installation. Then, the wire reel is picked up by the loading and unloading mechanism, and the front side of the wire reel is facing the winding mechanism for installation. For example, when laying wire on a reel, in order to start laying wire from one end of the reel, the bottom hole of the reel is usually located near the first or second end face of the reel. Therefore, before each installation of an empty wire reel, in order to ensure that the bottom hole of each empty wire reel is in the same axial position after installation, the front and back sides of the empty wire reel need to be identified and adjusted.

[0093] To achieve the above process, such as by combining Figure 1 , Figure 3 , Figure 6 and Figure 12 As shown, the pick-and-place device 20 includes an identification device 24 and a flipping device 28. The identification device 24 is configured to identify or distinguish the front and back sides of the coil 1. The identification device 24 can be mounted on the pick-and-place device 20 and moves with it. When the pick-and-place device 20 moves above a preset workstation, the identification device 24 first aligns with the coil 1 to identify the front and back sides. After the identification device 24 obtains the front and back side information of the coil 1, it then places the first gripper 202 directly above the coil 1 to grip it, thus saving operation steps. After the identification device 24 completes the identification, the control system determines whether the coil 1 needs to be flipped based on the identification result. If it needs to be flipped, the coil 1 is transported to the flipping device 28 for flipping; if it does not need to be flipped, the coil 1 is directly transported to the automatic winding mechanism 32. The flipping device 28 can flip the coil 1 to a preset surface facing up, such as flipping it to face up or back face up, based on the identification information of the identification device 24. It should be noted that the above-mentioned front and back sides are only two definitions given to distinguish the two end faces of the coil 1. The structures of the front and back sides can be the same or different, and no limitation is made here.

[0094] In addition to identifying the front and back of the reel 1, the identification device 24 can also detect the horizontal distance between the pick-up and place device 20 and the preset workstation below and identify whether the pick-up and place device 20 has reached the top of the reel 1 in the preset workstation below, so as to ensure accurate picking up or placing of the reel.

[0095] The identification device 24 can be a camera, scanner, etc. (For example, combined with...) Figure 3 and Figure 5As shown, the identification device is a CCD (charge-coupled device) camera. To facilitate identification by the identification device 24, the front and / or back of the coil 1 are provided with identification marks for recognition by the identification device 24. These marks can be adhesive marks, engraved marks, or perforated marks. Adhesive marks can be attached with letter shapes, arithmetic symbols, images, emoticons, etc., while engraved marks can depict letter shapes, arithmetic symbols, images, etc. The number of identification marks can be any number, such as one, two, or four. When the identification device 24 identifies the identification marks, it captures or scans the upward-facing side of the coil, extracts and analyzes the information from the upward-facing side, and compares it with the front identification mark information stored in the identification device 24, thereby automatically identifying or detecting the front and back of the coil.

[0096] Combination Figure 3 , Figure 5 and Figure 7 As shown, when the identification device 24 identifies the identification mark, the identification device 24 is slidably connected to the Z-axis 206 via the adjustment component 25. The adjustment component 25 can drive the identification device 24 to move vertically relative to the Z-axis 206 to adjust the focal length of the CCD camera 248.

[0097] Among them, such as combination Figure 3 , Figure 4 and Figure 5 As shown, the adjustment assembly 25 includes a recognizer guide 251, a recognizer moving bracket 252, and a recognizer drive 253. The recognizer guide 251 can be a recognizer slide rail located on the Z-axis 206 and extending vertically. The recognizer moving bracket 252 can be a recognizer slider that cooperates with the recognizer slide rail; therefore, the recognizer moving bracket 252 and the recognizer guide 251 can slide together. Furthermore, the recognizer device 24 is disposed on the recognizer moving bracket 252. When the recognizer moving bracket 252 slides along the recognizer guide 251, the recognizer device 24 also slides along the recognizer guide 251 to adjust the distance between the recognizer device 24 and the target reel, facilitating better recognition by the recognizer device 24. Simultaneously, combined with… Figure 7As shown, since the identifier guide 251 is mounted on the Z-axis 206, when the identifier 24 slides along the identifier guide 251, the identifier 24 also slides along the Z-axis 206. It should be understood that the combined motion of the identifier 24 sliding along the identifier guide 251 and the Z-axis 206 can occur simultaneously. This combined motion includes vertical lifting, X-axis movement, and Y-axis movement. Furthermore, the aforementioned sliding engagement can employ either sliding friction or rolling friction. When using sliding friction, the identifier moving bracket 252 and the identifier guide 251 are in direct contact. When using rolling friction, a rolling element can be provided between the identifier moving bracket 252 and the identifier guide 251; specifically, the rolling element can be a ball, roller, wheel, etc. Additionally, the cross-sectional shape of the identifier guide 251 can be triangular, rectangular, dovetail-shaped, circular, etc.

[0098] In some embodiments, the transmission method of the identifier drive 253 can be one of belt drive, belt rotation, gear and rack drive, chain drive, worm gear drive, or screw drive. For example, combined with Figure 3 and Figure 4 As shown, the identifier drive 253 is a belt drive. When the identifier drive 253 is driven by a belt drive, it may include a synchronous belt 254, a synchronous pulley 255, and an identifier motor 256, wherein the synchronous pulley 255 cooperates with the synchronous belt 254. Further, the synchronous pulley 255 is disposed on the Z-axis 206 and cooperates with the synchronous belt 254. The synchronous belt 254 is disposed on the synchronous pulley 255 and extends vertically. The identifier device 24 is fixedly disposed on the synchronous belt 254. The identifier motor 256 is connected to the synchronous pulley 255 to drive the synchronous pulley 255 to rotate. When the synchronous pulley 255 rotates, the synchronous belt 254 moves vertically, thereby driving the identifier device 24 to move vertically.

[0099] Such as combination Figure 3 and Figure 5 As shown, a supplementary lighting element 249 is provided below the identification device 24, which can provide auxiliary light for the CCD camera 248. The supplementary lighting element 249 can be a flash, continuous light, soft light, or reflector, etc.

[0100] Such as combination Figure 2 , Figure 3 and Figure 6As shown, the automatic loading and unloading mechanism 2 also includes a displacement detection device 22. The displacement detection device 22 can detect the distance between the loading / unloading device 20 and the lower reel, facilitating the control mechanism to control the vertical movement distance of the Z-axis moving assembly 204. The displacement detection device 22 can be a laser displacement sensor 221, an ultrasonic displacement sensor, or an infrared displacement sensor, etc. For example, Figure 2 The automatic loading and unloading mechanism 2 shown is used to identify distances via a laser displacement sensor 221.

[0101] The laser displacement sensor 221 can non-contactly measure changes in the position and displacement of a coil. Based on its measurement principle, the laser displacement sensor 221 can be divided into a laser triangulation displacement sensor and a laser echo analysis displacement sensor. When using a laser triangulation displacement sensor, the laser emitter projects a visible red laser beam onto the surface of the coil through a lens. The laser beam scattered by the coil surface passes through the receiver lens and is received by an internal CCD camera. Depending on the distance, the CCD camera can "see" this light spot at different angles. Based on this angle and the known distance between the laser and the camera, the digital signal processor can calculate the distance between the sensor and the coil. When using a laser echo analysis displacement sensor, the sensor internally consists of a processor unit, an echo processing unit, a laser emitter, and a laser receiver. The laser displacement sensor 221 emits one million laser pulses per second to the coil and back to the receiver. The processor calculates the time required for the laser pulse to encounter the coil and return to the receiver, thus calculating the distance value. This output value is the average of thousands of measurement results. The CCD camera can be a linear CCD camera or an area array CCD camera.

[0102] When the identification device 24 detects that the empty reel is facing up and needs to be flipped, the flipping device 28 can flip the reel so that it faces up. Figure 2 Combination Figure 12 As shown, the flipping device 28 includes a flipping fixed bracket 281, a flipping lifting bracket 282, a lifting drive (not shown), a rotating bracket 285, a flipping drive 286, and a second clamping assembly 288. The flipping lifting bracket 282 is slidably engaged with the flipping fixed bracket 281 and can move vertically relative to the flipping fixed bracket 281; the lifting drive is connected to the flipping lifting bracket 282 to drive the flipping lifting bracket 282 to move vertically; the rotating bracket 285 is disposed on the flipping lifting bracket 282 and can rotate relative to the flipping lifting bracket 282; the flipping drive 286 is connected to the rotating bracket 285 to drive the rotating bracket 285 to rotate; and the second clamping assembly 288 is disposed on the rotating bracket 285 and can clamp the coil.

[0103] The tilting fixed bracket 281 is provided with a vertically extending lifting guide rail 283, and the tilting lifting bracket 282 is provided with a tilting slider that slides in cooperation with the lifting guide rail 283. The tilting lifting bracket 282 slides vertically on the tilting fixed bracket 281. Additionally, a lifting drive component is connected to the tilting lifting bracket 282 to drive the tilting lifting bracket 282 to move vertically. It should be noted that the aforementioned sliding cooperation can be either a sliding friction structure or a rolling friction structure. When a sliding friction structure is used, the tilting lifting bracket 282 and the tilting fixed bracket 281 are in direct contact; when a rolling friction structure is used, the tilting lifting bracket 282 and the tilting fixed bracket 281 can be equipped with rolling elements, specifically, the rolling elements can be balls, rollers, wheels, etc.

[0104] The lifting drive can be driven by one of the following methods: direct drive, belt drive, rack and pinion drive, chain drive, worm gear drive, or screw drive. When the lifting drive is driven directly by a lifting cylinder, the output shaft of the lifting cylinder drives the lifting block located on the tilting lifting bracket 282 to move. The lifting block is fixedly connected to the tilting lifting bracket 282, so the tilting lifting bracket 282 moves up and down in the vertical direction along with the lifting block.

[0105] Furthermore, when the tilting and lifting bracket 282 slides on the tilting and fixing bracket 281, the rotating bracket 285 mounted on the tilting and lifting bracket 282 also slides on the tilting and fixing bracket 281 along with the tilting and lifting bracket 282. That is, the rotating bracket 285 can simultaneously perform vertical lifting and lowering motion and horizontal rotational motion under the drive of the tilting and lifting bracket 282 and the tilting drive member 286. Here, the horizontal direction refers to the direction of the horizontal plane formed by the X and Y directions.

[0106] Furthermore, such as Figure 12 As shown, the flipping drive 286 may include a flipping motor 287, and a rotating bracket 285 is mounted on the output shaft of the flipping motor 287. When the flipping drive 286 drives the output shaft of the flipping motor 287 to rotate, the rotating bracket 285 rotates along with the output shaft. Furthermore, the rotating bracket 285 drives the coil to rotate around the output shaft of the flipping motor. At this time, the coil can rotate to one of the following states: face up, face down, or vertical, or any state between these states.

[0107] Among them, such as Figure 12As shown, the second gripping assembly 288 includes a second gripper 289 and a second gripper drive 290. The second gripper 289 is disposed on the rotating bracket 285 and is capable of radially gripping the outer circumference of the coil. The second gripper drive 290 is connected to the second gripper 289 and is capable of driving the second gripper 289 to move radially to grip the coil. The gripping method can be parallel gripping, curved gripping, clamping gripping, or vacuum suction cup gripping, etc. Figure 12 The parallel gripper gripping method is shown, wherein the second gripper 289 has two gripping fingers. It should be understood that the second gripper 289 can also have any number of gripping fingers, such as two, three, or five, and the gripping fingers of the second gripper 289 are evenly distributed along the circumference of the coil.

[0108] It should be noted that, as Figure 3 , Figure 6 , Figure 7 and Figure 12 As shown, the Z-axis drive 207, the first gripper drive 203, the identifier drive 253, the X-axis drive 264, the Y-axis drive 271, and the lifting drive can be any device capable of linear drive. For example, the Z-axis drive 207, the first gripper drive 203, the identifier drive 244, the X-axis drive 264, the Y-axis drive 271, and the lifting drive can be implemented using a cylinder, a linear motor, or a rotary motor in conjunction with a linear transmission mechanism. Furthermore, the rotary drive and the tilting drive 286 can be implemented using a rotary motor, a rotary cylinder, or a linear motor in conjunction with a rotary transmission mechanism.

[0109] In addition, such as Figure 12 As shown, a spool support 291 for placing the spool can be provided next to the flipping device. After the first clamping component places the spool in the spool support 291, the second clamping component, driven by the flipping lifting bracket 282, clamps the spool and flips it 180° under the drive of the rotating bracket 285, then puts it back into the spool support 291, so that the preset surface of the spool faces upward. At this time, the first clamping component clamps the spool again and rotates it 90° before installing the spool onto the winding mechanism.

[0110] Please combine Figure 1 , Figure 2 and Figure 13 As shown, after the empty spool is installed into the automatic winding mechanism 32, the automatic wire laying mechanism and the automatic winding mechanism 32 cooperate to execute step S2. The automatic wire laying mechanism detects the bottom hole 14 of the spool 1 and automatically inserts the front end of the wire into the bottom hole 14. The automatic winding mechanism 32 then presses the wire inserted into the bottom hole 14 to prevent the end of the wire from coming out of the bottom hole 14 during winding. After pressing the end of the wire, step S3 can begin, where the automatic winding mechanism 32 drives the spool 1 to rotate and wind up the wire.

[0111] During the winding process where the automatic winding mechanism 32 drives the spool 1 to rotate and wind, an automatic wire laying mechanism can be used to lay the wire. The main function of the automatic wire laying mechanism is to guide the wire to change the winding position of the wire on the winding roller 11, thereby making the wire more evenly distributed on the winding roller 11 of the entire spool 1.

[0112] After the wire is wound on the reel 1, step S4 can be performed, which involves cutting the wire and fixing it to the reel 1 to complete the final wire process. After the wire on a reel 1 is wound, the reel 1 can be removed from the automatic winding mechanism 32 and weighed and sorted. The purpose of this is to screen and distinguish between unqualified full reels that do not meet the weight requirements and qualified full reels that meet the weight requirements.

[0113] After the coil 1 is weighed, the automatic loading and unloading mechanism 2 loads the coil 1 that has been wound up and has the correct weight into the turnover cart 31, and loads the coil 1 that has been wound up and has the incorrect weight into the defective product storage bin 34.

[0114] It should be noted that since the turnover cart itself contains empty wire reels, full wire reels cannot be placed into a storage bin until the reels in that bin are emptied. Therefore, a transfer bin can be installed on the frame of the wire winding equipment to temporarily store full wire reels when the turnover cart cannot accommodate them. Alternatively, if space permits, two turnover carts can be installed, one for empty wire reels and the other for full wire reels.

[0115] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0116] In summary, after reading this detailed disclosure, those skilled in the art will understand that the foregoing detailed disclosure may be presented by way of example only and may not be restrictive. Although not explicitly stated herein, those skilled in the art will understand that this specification requires various reasonable changes, improvements, and modifications to the embodiments. These changes, improvements, and modifications are intended to be made by this specification and are within the spirit and scope of the exemplary embodiments described herein.

[0117] Furthermore, certain terms in this specification have been used to describe embodiments of this specification. For example, "an embodiment," "an embodiment," and / or "some embodiments" mean that a particular feature, structure, or characteristic described in connection with that embodiment may be included in at least one embodiment of this specification. Therefore, it is to be emphasized and understood that two or more references to "an embodiment" or "an embodiment" or "alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. Moreover, specific features, structures, or characteristics may be suitably combined in one or more embodiments of this specification.

[0118] It should be understood that in the foregoing description of the embodiments in this specification, various features are combined in a single embodiment, drawing, or description for the purpose of simplifying the description and to aid in understanding a feature. However, this does not mean that the combination of these features is necessary, and those skilled in the art may extract some features as individual embodiments when reading this specification. That is, the embodiments in this specification can also be understood as an integration of multiple sub-embodiments. It is also valid when each sub-embodiment contains fewer than all the features of a single foregoing disclosed embodiment.

[0119] Each patent, patent application, publication of the patent application, and other materials such as articles, books, specifications, publications, documents, articles, etc., cited herein may be incorporated by reference. The entire contents used for all purposes, except for any history of prosecution documents associated with it, that may be inconsistent with or conflict with this document, or that may have a limiting effect on the widest extent of the claims, are now or hereafter associated with this document. For example, in the event of any inconsistency or conflict between the description, definition, and / or use of terms associated with any of the included materials and the terms, description, definition, and / or used in connection with this document, the terms used herein shall prevail.

[0120] Finally, it should be understood that the embodiments disclosed herein are illustrative of the principles of the embodiments described in this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are merely examples and not limitations. Those skilled in the art can implement the applications described in this specification using alternative configurations based on the embodiments in this specification. Therefore, the embodiments in this specification are not limited to the embodiments precisely described in the applications.

Claims

1. A loading and unloading mechanism, characterized in that, The loading and unloading mechanism is used to transport a spool from its storage location to an automatic winding mechanism. The spool has a central hole formed axially in its center. The spool is placed horizontally in the storage location and vertically on the automatic winding mechanism. A pick-and-place device is configured to pick up or place the spool, wherein the pick-and-place device includes a first clamping assembly, a rotating assembly, and a Z-axis moving assembly; the first clamping assembly is configured to extend into the central hole of the spool and is fixed relative to the inner wall of the central hole of the spool by means of outward expansion support to clamp the spool; the rotating assembly is configured to drive the first clamping assembly to rotate to switch the spool between a horizontal state and a vertical state; the Z-axis moving assembly is configured to drive the first clamping assembly to move in the vertical direction to lift or lower the spool; A mobile device, connected to the pick-and-place device, is configured to move the pick-and-place device between multiple preset workstations; An identification device, disposed in the pick-and-place device, is configured to identify whether the surface of the coil facing the identification device is the front or the back; and A flipping device is configured to flip the spool so that a preset surface faces the identification device, based on the identification information from the identification device. A displacement detection device is configured to detect the distance between the pick-and-place device and the lower reel, so as to control the vertical movement distance of the Z-axis moving assembly; wherein, The first gripping assembly includes: a first gripper, disposed on the Z-axis and configured to extend into the center hole of the spool to grip the spool; and a first gripper drive, connected to the first gripper and configured to drive the first gripper to expand outward to grip the spool. The Z-axis moving assembly includes: a Z-axis guide extending vertically and fixed relative to the moving device; a Z-axis motion axis extending vertically and slidingly engaged with the Z-axis guide in the vertical direction; the first clamping assembly being fixedly disposed on the Z-axis motion axis; and a Z-axis drive configured to drive the Z-axis motion axis to move vertically along the Z-axis guide.

2. The loading and unloading mechanism according to claim 1, characterized in that, The Z-axis drive component includes: A Z-axis rack is disposed on the Z-axis and extends in the vertical direction; The Z-axis gear meshes with the Z-axis rack; and A Z-axis motor is fixed relative to the moving device, and the output shaft of the Z-axis motor is connected to the Z-axis gear to drive the Z-axis gear to rotate.

3. The loading and unloading mechanism according to claim 1, characterized in that, The rotating component includes: A rotating component is located above the first gripping assembly, and the first gripping assembly is fixedly disposed on the rotating component; and A rotary drive is configured to drive the rotary element to rotate.

4. The loading and unloading mechanism according to claim 3, characterized in that, The rotary drive includes a rotary motor, the output shaft of which is connected to the rotary drive and is perpendicular to the Z-axis.

5. The loading and unloading mechanism according to claim 1, characterized in that, The displacement detection device is a laser displacement sensor.

6. The loading and unloading mechanism according to claim 1, characterized in that, The front and / or back of the spool are provided with identification marks, and the identification device identifies the front and back of the spool by taking a picture or scanning the identification marks.

7. The loading and unloading mechanism according to claim 1, characterized in that, The identification device is a CCD camera.

8. The loading and unloading mechanism according to claim 1, characterized in that, The recognition device is a CCD camera. The recognition device is slidably connected to the Z-axis via an adjustment component. The adjustment component is configured to drive the recognition device to move vertically relative to the Z-axis to adjust the focal length of the CCD camera.

9. The loading and unloading mechanism according to claim 8, characterized in that, The adjustment component includes: The identifier guide is disposed on the Z-axis and extends in the vertical direction; A movable bracket for recognizing the device slides in conjunction with a guide member for recognizing the device; and the recognizing device is disposed on the movable bracket for recognizing the device. A recognition driver is connected to a recognition moving bracket to drive the recognition moving bracket to slide along the recognition guide.

10. The loading and unloading mechanism according to claim 9, characterized in that, The identifier driver includes: A synchronous pulley is mounted on the Z-axis. A synchronous belt, extending vertically, engages with the synchronous pulley; the identification device is fixedly mounted on the synchronous belt; and The identifier motor is connected to the synchronous pulley to drive the synchronous pulley and rotate the synchronous belt.

11. The loading and unloading mechanism according to claim 7, characterized in that, The identification device is provided with a supplementary light component below it, which is configured to provide auxiliary light for the CCD camera.

12. The loading and unloading mechanism according to claim 1, characterized in that, The mobile device includes: The X-axis moving component is configured to drive the Z-axis moving component to move along the X direction; and The Y-axis moving component is configured to drive the X-axis moving component to move along the Y direction, wherein the X direction and the Y direction are two mutually perpendicular horizontal directions.

13. The loading and unloading mechanism according to claim 12, characterized in that, The Y-axis movement component includes: Y-axis guide member, extending along the Y direction; The Y-axis moving bracket is slidably engaged with the Y-axis guide member, and the X-axis moving assembly is disposed on the Y-axis moving bracket; and The Y-axis drive component is connected to the Y-axis movable bracket to drive the Y-axis movable bracket to slide along the Y-axis guide component.

14. The loading and unloading mechanism according to claim 13, characterized in that, The Y-axis drive component includes: A Y-axis rack is disposed on the Y-axis guide and extends along the Y direction; A Y-axis gear, fixed to the Y-axis movable bracket and meshing with a Y-axis rack; and A Y-axis motor includes a Y-axis output shaft, a Y-axis gear is mounted on the Y-axis output shaft, the Y-axis output shaft is perpendicular to the Y-axis guide, and the Y-axis motor is configured to drive the Y-axis gear to rotate.

15. The loading and unloading mechanism according to claim 13, characterized in that, The X-axis movement component includes: The X-axis guide is disposed on the Y-axis movable bracket and extends along the X direction; The X-axis moving bracket is slidably engaged with the X-axis guide member, and the Z-axis moving assembly is disposed on the X-axis moving bracket; and The X-axis drive component is connected to the X-axis movable bracket to drive the X-axis movable bracket to slide along the X-axis guide component.

16. The loading and unloading mechanism according to claim 15, characterized in that, The X-axis drive component includes: An X-axis rack is disposed on the X-axis guide and extends along the X direction; An X-axis gear, fixed to the X-axis movable bracket and meshing with the X-axis rack; and An X-axis motor includes an X-axis output shaft, an X-axis gear is mounted on the X-axis output shaft, the X-axis output shaft is perpendicular to the X-axis guide, and the X-axis motor is configured to drive the X-axis gear to rotate.

17. The loading and unloading mechanism according to claim 1, characterized in that, The flipping device includes: Flip-fixed bracket; The tilting and lifting bracket, which slides in conjunction with the tilting and fixing bracket, is configured to move vertically relative to the tilting and fixing bracket; A lifting drive component is connected to the tilting lifting bracket to drive the tilting lifting bracket to move vertically; A rotating bracket, disposed on the tilting and lifting bracket, is configured to rotate relative to the tilting and lifting bracket; A flip drive component, connected to the rotating bracket, drives the rotating bracket to rotate; and A second clamping assembly, disposed on the rotating bracket, is configured to clamp the spool.

18. The loading and unloading mechanism according to claim 17, characterized in that, The flipping drive includes a flipping motor, the output shaft of which is connected to the rotating bracket in a transmission manner, and the output shaft of the flipping motor extends in a horizontal direction.

19. The loading and unloading mechanism according to claim 17, characterized in that, The tilting and lifting bracket is provided with a lifting guide rail, which extends vertically. The tilting and lifting bracket is slidably engaged with the lifting guide rail. The lifting drive component includes a lifting cylinder, and the piston rod of the lifting cylinder is connected to the tilting and lifting bracket.

20. The loading and unloading mechanism according to claim 17, characterized in that, The second gripping component includes: A second gripper, disposed on the rotating support, is configured to radially grip the outer circumference of the spool; and A second gripper drive member, connected to the second gripper, is configured to drive the second gripper to move radially to grip the spool.

21. A wire winding device, characterized in that, include: Equipment body; as well as The loading and unloading mechanism is the loading and unloading mechanism according to any one of claims 1 to 20.

22. The wire winding equipment according to claim 21, characterized in that, The device body includes: The turnover cart is configured to load empty and full wire reels; The winding mechanism is configured to wind the wire onto the empty spool, forming a full spool after winding is completed; A weighing device is configured to weigh the full reel to determine whether the full reel is qualified; and The defective products storage area is configured to load the full reel of defective products. The loading and unloading mechanism is configured to transport and install empty yarn reels from the turnover cart to the winding mechanism, transport weighed and qualified full yarn reels to the turnover cart, and transport weighed and unqualified full yarn reels to the defective product storage bin.

Images