Rotary multi-station multi-tool winding machine

Abstract

The present application belongs to the field of bale equipment, and particularly relates to a rotary multi-station multi-tool winding machine; the rotary multi-station multi-tool winding machine comprises a rotating disc, a winding tool, a feeding and buffering station device, a transplanting manipulator, a tensioning guide mechanism, a cable tie binding device and a discharging manipulator; the winding tool is switched between stations by rotating with the rotating disc; the transplanting manipulator is used to take away the connecting line from the feeding and buffering station device and then clamp one end of the connecting line to the connecting line end clamping jaw; the tensioning guide mechanism is used to guide and tighten the connecting line; the winding tool is used to wind the connecting line on n clamping jaws; the cable tie binding device is used to bind the connecting line coil; and the discharging manipulator is used to take away the connecting line coil; the rotary multi-station multi-tool winding machine can complete automatic winding, automatic binding and automatic discharging of the connecting line; the rotating disc drives multiple winding tools to synchronously switch between stations, so that each process is simultaneously performed and uninterrupted cyclic operation is realized.

Description

Technical Field

[0001] This invention belongs to the field of bundling equipment, specifically relating to a rotary multi-station multi-tool winding machine. Background Technology

[0002] Currently, with the continuous development of the electronics industry, connecting cables (wires with connectors at both ends, similar to mobile phone data cables) have become indispensable electronic products in daily life and production. After production and testing, connecting cables need to be packaged before entering the market. The packaging methods for connecting cables are usually winding and binding. For example, the mobile phone data cables we buy are wound into a coil and bound inside the packaging bag, with both connectors in the same direction. Currently, the winding of connecting cables is done manually on an assembly line. Manual operation suffers from problems such as inconsistent coil diameters and unequal wire lengths at both ends, and it is inefficient. After winding, binding is also required, which is inconvenient for a single person. Summary of the Invention

[0003] This invention aims to solve the problems of inconsistent coil diameters and unequal wire lengths at both ends in manually wound connecting wire products.

[0004] This invention provides the following technical solution: a rotary multi-station multi-tool winding machine, including a turntable, winding tooling, feeding buffer device, transfer robot, cable tensioning and guiding mechanism, cable tie binding device and unloading robot; Several winding fixtures are evenly distributed around the center of the turntable, while the loading buffer device, the transfer robot, the cable tensioning and guiding mechanism, the cable tie binding device, and the unloading robot are arranged outside the turntable according to the process. The winding fixture includes a self-centering chuck, a chuck rotating base, and a rotary drive mechanism. The self-centering chuck has n jaws, including two connecting wire end clamping jaws and n-2 coil support jaws, where n is an integer greater than or equal to 3. The self-centering chuck is controlled by an external adjustment mechanism to move the n jaws at equal distances relative to the chuck center to support and release the coil. The rotary drive mechanism is used to drive the chuck rotating base to rotate. The chuck rotating base includes a fixed part and a rotating part. The fixed part is fixed to the turntable, and the rotating part rotates within the fixed part. The self-centering chuck is connected to the rotating part and rotates coaxially with the rotating part. The winding fixture rotates with the turntable to change workstations. The loading buffer device is used by manual clamping of the connecting wire. The transfer robot is used to remove the connecting wire from the loading buffer device and clamp one end of the connecting wire onto the connecting wire end clamping claw of the winding fixture. The cable tensioning guide mechanism is used to guide and tighten the connecting wire. The two guide wheels of the cable tensioning guide mechanism clamp the connecting wire. The rotation drive mechanism of the winding fixture drives the self-centering chuck to rotate and wind the connecting wire onto n claws. The cable tie binding device is used to bind the connecting wire coil. The unloading robot is used to remove the connecting wire coil.

[0005] Furthermore, a locking mechanism is provided between the fixed part and the rotating part of the chuck rotating base. The rotating drive mechanism is connected to the rotating part through a clutch mechanism. When the rotating drive mechanism is engaged with the rotating part, the locking mechanism is unlocked. When the rotating drive mechanism is disengaged from the rotating part, the locking mechanism is locked. The rotating part is provided with an axial insertion hole at the center of one end that is connected to the rotating drive mechanism. A limit rod is arranged on the outer ring of the insertion hole on the rotating part. The limit rod is hinged to the rotating part, with one end extending into the insertion hole and the other end able to be inserted into the bayonet of the fixed part. A spring is connected between the limit rod and the rotating part. In the first state, the rotary drive mechanism is disconnected from the rotating part, and the spring applies force to the limit rod to keep the limit rod in the position where one end is embedded in the bayonet of the fixed part and the other end extends into the insertion hole, and the locking mechanism locks. In the second state, the rotary drive mechanism engages with the rotating part, and the rotary drive mechanism extends into the insertion hole to push one end of the limiting rod out of the insertion hole. At the same time, the other end of the limiting rod also disengages from the bayonet, and the locking mechanism unlocks.

[0006] Furthermore, the rotary drive mechanism includes a rotary component, a lifting component, and a lifting guide frame. The rotary component is mounted on the movable frame of the lifting guide frame, and the lifting component is mounted on the fixed frame of the lifting guide frame. The rotary component is connected to the drive end of the lifting component. A male docking block is mounted on the drive end of the rotary component, and a female docking block is mounted on the rotating part of the chuck rotary base. The male and female docking blocks engage with each other to achieve torque transmission. The lifting component controls the rotary component to move up and down as a whole to complete the engagement or separation of the male and female docking blocks.

[0007] Furthermore, the chuck rotating base includes a turntable bearing housing, an inner adjusting bearing housing, an angular contact ball bearing, a chuck drive plate, a turntable fixing plate, and a turntable locking plate; Two angular contact ball bearings in opposite directions are installed between the slewing bearing housing and the inner adjusting bearing housing. The upper end of the slewing bearing housing is fixedly connected to the slewing fixing plate, and the lower end is fixedly connected to the slewing locking plate. The upper end of the inner adjusting bearing housing is fixedly connected to the chuck drive plate, and the lower end is fixedly connected to the female mating block. A shim is provided between the chuck drive plate and the inner ring of the upper angular contact ball bearing. The retaining ring on the female mating block stops the inner ring of the lower angular contact ball bearing. The self-centering chuck is connected to the chuck drive plate through the chuck mounting plate.

[0008] Furthermore, the two clamping claws at the ends of the connecting wires of the self-centering chuck are the junction box clamping claw and the connecting wire tail clamping claw, respectively. The junction box clamping claw includes a first winding bar, a first slider, and a junction box holder. The first winding bar and the junction box holder are mounted on the first slider. The junction box holder can restrict the movement of the junction box of the connecting wire in the up-down, left-right, and rearward directions. The insertion and removal direction of the junction box holder is inclined downward and forward. The junction box holder has a notch that allows the connecting wire to enter and exit vertically. The junction box of the connecting wire is clamped onto the junction box holder by an external robotic arm. When the junction box clamping claw moves towards the center of the chuck, the junction box holder disengages from the junction box. The connecting wire tail clamping claw includes a second winding bar, a second slider, and a pressure rod. The second winding bar is mounted on the second slider, and the pressure rod is hinged to the second slider. A spring connects the pressure rod and the second slider. Before reaching the dead center position, the spring pulls the pressure rod close to the second winding bar to clamp the connecting wire. After reaching the dead center position, the spring pulls the pressure rod close to the second slider to release the binding of the connecting wire. An actuating mechanism for triggering the pressure rod is installed outside the turntable. The coil support claw includes a third winding bar and a third slider, with the third winding bar mounted on the third slider; The first, second, and third winding rods all have indentations that match the connecting wires.

[0009] Furthermore, the feeding buffer device includes a feeding end clamping assembly, a discharging end clamping assembly, a sliding feeding assembly, a junction box support assembly, a cable support rod, and a device frame; the feeding end clamping assembly, the discharging end clamping assembly, and the sliding feeding assembly are distributed on the device frame; The feeding end clamping assembly includes m connecting line feeding fixing positions, which are arranged along a straight line x. Each connecting line feeding fixing position includes a feeding end junction box clamping module and a feeding end cable limiting module. The unloading end clamping assembly includes m connecting line unloading fixing positions, which are arranged along a straight line x. Each connecting line unloading fixing position includes an unloading end junction box clamping module and an unloading end cable limiting module. The unloading end junction box clamping module is aligned with the loading end junction box clamping module, and the unloading end cable limiting module is aligned with the loading end cable limiting module. The sliding feeding assembly includes a guide rail, m connecting wire translation positions, and a sliding drive mechanism. The guide rail passes between the loading end junction box clamping module and the loading end cable limiting module, and is parallel to the straight line x. In the first state, the m connecting wire translation positions are aligned with the m connecting wire loading fixing positions. In the second state, the m connecting wire translation positions are aligned with the m connecting wire unloading fixing positions. Each connecting wire translation position includes a front cable clamping module and a rear cable clamping module. The front cable clamping module and the rear cable clamping module are slidably mounted on the guide rail and driven by the sliding drive mechanism to move between the loading end clamping assembly and the unloading end clamping assembly. The connecting wire clamped on the loading end clamping assembly is removed by the sliding feeding assembly and transferred to the unloading end clamping assembly. The junction box support assembly includes a junction box support slide and a junction box support platform. The junction box support slide and the cable support rod are parallel to the straight line x. The junction box support slide extends from the loading end clamping assembly to the front of the unloading end clamping assembly, and is used to support the junction box in the loading and unloading position and the translation position of the connecting line. The junction box support platform is independently installed on the unloading end junction box clamping module and is flush with the junction box support slide. The cable support rod extends from the loading end clamping assembly to the unloading end clamping assembly and is used to support the free section of the connecting line.

[0010] Furthermore, the junction box clamping module at the feeding end includes a lifting platform and a transverse gripper mounted on the lifting platform; the two fingers of the transverse gripper move laterally to clamp the junction box laterally and limit its vertical movement, and the lifting platform drives the transverse gripper to move downward to remove the obstruction to the junction box when the sliding feeding component moves. The cable limiting module at the feeding end includes an open gripper and a bracket. The two fingers of the open gripper open and close to clamp the connecting wire. After the clamping blocks on the two fingers are engaged, they form an upward-opening U-shaped groove. The bracket is installed on the side of the open gripper facing the sliding feeding component, and the support surface of the bracket is flush with the bottom of the U-shaped groove.

[0011] Furthermore, the front-end cable clamping module includes a third slider and a closed gripper; the two fingers of the closed gripper open and close and swing to clamp the connecting wire, and the clamping blocks on the two fingers close together to form a through hole. The rear cable clamping module has the same structure as the front cable clamping module.

[0012] Furthermore, the cable limiting module at the unloading end includes a limiting plate and a closed gripper; the limiting plate is installed on the side of the closed gripper facing the sliding feeding component, and the limiting groove on the top surface of the limiting plate is aligned with the through hole after the fingers of the closed gripper are engaged. The junction box clamping module at the unloading end includes a swinging jaw. The two fingers of the swinging jaw perform an opening and closing swinging motion to clamp and vertically limit the junction box.

[0013] Furthermore, it also includes a frame platform, a turntable, a transplanting robot, a tensioning and guiding mechanism, a cable tie binding device, and a material unloading robot mounted on the frame platform.

[0014] Compared with the prior art, the advantages of the present invention are: This invention provides a rotary multi-station multi-tool winding machine. After the manual feeding of the material into the buffer position, the transfer robot, cable tensioning guide mechanism, winding tool, cable tie binding equipment, and unloading robot operate in sequence to complete the automatic winding, automatic binding, and automatic unloading of the connecting wire. The turntable drives multiple winding tooling to switch positions synchronously, realizing the simultaneous and uninterrupted operation of each process.

[0015] The winding fixture can automatically wind the connecting wire into a coil with a specified number of turns and diameter. Considering the collaborative work of multiple stations, a locking mechanism is provided between the fixed part and the rotating part of the chuck rotating base. The locking mechanism locks during the switching of the winding fixture to prevent the self-centering chuck from rotating uncontrollably.

[0016] The feeding buffer unit includes a feeding end clamping assembly, a discharging end clamping assembly, and a sliding feeding assembly. After the operator places the connecting wire onto the feeding end clamping assembly, the sliding feeding assembly delivers the connecting wire to the discharging end clamping assembly. A robotic arm then removes the connecting wire from the discharging end clamping assembly. Manual feeding and robotic arm retrieval do not interfere with each other, allowing for seamless transition to the next process. Each of the feeding end clamping assembly, discharging end clamping assembly, and sliding feeding assembly has two fixed positions for the connecting wire, supplying two connecting wires at a time, thus saving energy consumption of the sliding feeding assembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a rotary multi-station multi-tool winding machine; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the turntable; Figure 4 This is a schematic diagram of a winding fixture; Figure 5 This is a schematic diagram of the male and female docking blocks; Figure 6 A cross-sectional view of the chuck rotating base; Figure 7 This is a schematic diagram of the locking mechanism; Figure 8 A schematic diagram of a self-centering chuck; Figure 9 The connecting wire after winding; Figure 10 Isometric drawing of the feeding buffer device for an automatic winding machine; Figure 11 A top view of the automatic winding machine's feeding buffer device; Figure 12 This is a schematic diagram of the clamping module of the junction box at the feeding end; Figure 13 This is a schematic diagram of the cable limiting module at the feeding end; Figure 14 This is a schematic diagram of the junction box clamping module at the unloading end; Figure 15 This is a schematic diagram of the cable limiting module at the feeding end; Figure 16 This is a schematic diagram of the front-end cable clamping module.

[0018] In the diagram: 1-Self-centering chuck; 1.1-Junction box clamping claw; 1.1.1-First winding bar; 1.1.2-First slider; 1.1.3-Junction box holder; 1.2-Connecting wire tail clamping claw; 1.2.1-Second winding bar; 1.2.2-Second slider; 1.2.3-Pressure rod; 1.3-Coil support claw; 1.3.1-Third winding bar; 1.3.2-Third slider; 1.4-Coil diagram; 2-Chuck rotating base; 3-Rotating assembly; 4-Lifting assembly; 5-Lifting guide frame; 6-Male docking block; 7-Female docking block; 8-Turntable bearing seat; 9-Internal adjusting bearing seat; 10-Angular contact ball bearing; 11-Chuck drive plate; 12-Turntable fixing plate; 13-Turntable locking plate; 14-Photoelectric contact; 15-Photoelectric sensor; 16-Adjusting plate; 17-Limit rod; 18-Socket; 19-Shim; 20-Chuck mounting plate; 21-Bayonet; 22-Turntable; 23-Winding fixture; 24-Feeding buffer device; 25-Transfer robot; 26-Cable tensioning and guiding mechanism; 27-Cable tie binding device; 28-Feeding end clamping assembly; 28.1-Feeding end junction box clamping module; 28.1.1-Lifting platform; 28.1.2-Horizontal movement gripper; 28.2-Feeding end cable limiting module; 28.2.1-Bracket; 29-Unloading end clamping assembly; 29.1-Unloading end junction box clamping module; 29.1.1-Swing gripper; 29.2-Unloading end cable limiting module; 29.2.1-Limiting plate; 30-Sliding feeding assembly; 30.1-Guide rail; 30.2-Front-end cable clamping module; 30.2.1-Third slider; 30.3-Rear-end cable clamping module; 30.4-Bracket; 31-Equipment frame; 32-Open gripper; 33-Closed gripper; 34-Cable support rod; 35-Junction box support slide plate; 36-Junction box support platform; 37-Stop bar; 38-Unloading robot. Detailed Implementation

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0020] like Figure 1 , Figure 2 , Figure 3 As shown: A rotary multi-station multi-tool winding machine includes a turntable 22, winding tooling 23, a feeding buffer device 24, a transfer robot 25, a cable tensioning guide mechanism 26, a cable tie binding device 27, a discharge robot 38, and a frame platform; several winding tooling 23 are evenly distributed around the center of the turntable 22, and the feeding buffer device 24, transfer robot 25, cable tensioning guide mechanism 26, cable tie binding device 27, and discharge robot 38 are arranged on the frame platform outside the turntable 22 according to the process.

[0021] The winding fixture 23 includes a self-centering chuck 1, a chuck rotating base 2, and a rotary drive mechanism. The self-centering chuck 1 has n jaws, including two connecting wire end clamping jaws and n-2 coil support jaws 1.3, where n is an integer greater than or equal to 3. The self-centering chuck 1 is controlled by an external adjustment mechanism to move the n jaws at equal distances relative to the chuck center to support and release the coil. The rotary drive mechanism is used to drive the chuck rotating base 2 to rotate. The chuck rotating base 2 includes a fixed part and a rotating part. The fixed part is fixed to the turntable 22, and the rotating part rotates within the fixed part. The self-centering chuck 1 is connected to the rotating part and rotates coaxially with the rotating part.

[0022] The winding fixture 23 rotates with the turntable 22 to change positions. The loading buffer device 24 is manually clamped for connecting wires. The transfer robot 25 is used to remove the connecting wires from the loading buffer device 24 and clamp one end of the connecting wires onto the connecting wire end clamping claws of the winding fixture 23. The cable tensioning guide mechanism 26 is used to guide and tighten the connecting wires. The two guide wheels of the cable tensioning guide mechanism 26 clamp the connecting wires. The rotation drive mechanism of the winding fixture 23 drives the self-centering chuck 1 to rotate and wind the connecting wires onto n claws. The cable tie binding device 27 is used to bind the connecting wire coils. The unloading robot 38 is used to remove the connecting wire coils.

[0023] The turntable 22, transplanting robot 25, cable tie binding device 27, and unloading robot 38 all use existing equipment, and no structural modifications are required in this embodiment. This embodiment combines the loading buffer device 24, winding fixture 23, turntable 22, transplanting robot 25, cable tie binding device 27, electric wrench, and unloading robot to complete the automatic winding, automatic binding, and automatic unloading of the connecting wire. The structure of the loading buffer device 24 and winding fixture 23 will be described in detail below.

[0024] like Figure 4 As shown: The self-centering chuck 1 has n jaws, including two connecting wire end clamping jaws and n-2 coil support jaws 1.3, where n is an integer greater than or equal to 3. In this embodiment, n equals 4. The self-centering chuck 1 is controlled by the adjustment mechanism on the turntable 22 to move the n jaws at equal distances relative to the center of the chuck to support and release the coil. That is, the adjustment mechanism on the turntable 22 is connected to the square hole on the self-centering chuck 1, thereby driving the jaw driving mechanism of the self-centering chuck 1. The jaw driving mechanism drives the four jaws to move closer to or out of the center of the chuck.

[0025] The chuck rotating base 2 includes a fixed part and a rotating part. The fixed part is fixed to the turntable 22, and the rotating part rotates within the fixed part. The self-centering chuck 1 is connected to the rotating part and rotates coaxially with the rotating part. When the self-centering chuck 1 rotates, the connecting wire is wound around the four jaws.

[0026] like Figure 8 As shown: The two connecting wire end clamping claws of the self-centering chuck are junction box clamping claw 1.1 and connecting wire tail clamping claw 1.2; junction box clamping claw 1.1 is used to clamp one end of the connecting wire at the beginning of winding, and connecting wire tail clamping claw 1.2 is used to clamp the other end of the connecting wire at the end of winding.

[0027] The junction box clamping claw 1.1 includes a first winding bar 1.1.1, a first slider 1.1.2, and a junction box holder 1.1.3. The first winding bar 1.1.1 and the junction box holder 1.1.3 are mounted on the first slider 1.1.2. The junction box holder 1.1.3 can restrict the movement of the junction box of the connecting wire in the up-down, left-right, and rearward directions. The insertion and removal direction of the junction box holder 1.1.3 is inclined downward and forward. The junction box holder 1.1.3 has a notch that allows the connecting wire to enter and exit vertically. The connecting wire's junction box is clamped onto the junction box holder 1.1.3 by the transfer robot 25. When the junction box clamping claw 1.1 moves towards the center of the chuck, the junction box holder 1.1.3 is dislodged from the junction box.

[0028] The connecting wire tail clamping claw 1.2 includes a second winding rod 1.2.1, a second slider 1.2.2, and a pressure rod 1.2.3. The second winding rod 1.2.1 is mounted on the second slider 1.2.2. The pressure rod 1.2.3 is hinged to the second slider 1.2.2, and a spring connects the pressure rod 1.2.3 and the second slider 1.2.2. Before reaching the dead point position, the spring pulls the pressure rod 1.2.3 close to the second winding rod 1.2.1 to clamp the connecting wire. After reaching the dead point position, the spring pulls the pressure rod 1.2.3 close to the second slider 1.2.2 to release the binding of the connecting wire.

[0029] The coil support claw 1.3 includes a third winding bar 1.3.1 and a third slider 1.3.2, with the third winding bar 1.3.1 mounted on the third slider 1.3.2.

[0030] The junction box of the connecting wire from the transplanting robot 25 is first clamped onto the junction box holder 1.1.3. The cable of the connecting wire is clamped by the two guide wheels of the cable tensioning guide mechanism 26, so that the connecting wire maintains a certain tension. The junction box clamping claw 1.1 drags the connecting wire and rotates the self-centering chuck 1 until the tail of the connecting wire passes the connecting wire tail clamping claw 1.2. Then, the external equipment pushes the pressure rod 1.2.3 to rotate past the dead point position. The pressure rod 1.2.3 clamps the tail of the connecting wire, and the connecting wire is wound. The turntable 22 rotates until the wound connecting wire reaches the position of the cable tie binding device 27, and then the cable tie binding device 27 binds it.

[0031] When the bundled connecting wire is removed from the self-centering chuck, the external equipment pushes the pressure rod 1.2.3 to rotate past the dead point position. The pressure rod 1.2.3 moves away from the second winding bar 1.2.1, losing its clamping effect on the connecting wire. The four jaws move closer to the center of the chuck, releasing the support for the coil. When the junction box clamping jaw 1.1 moves towards the center of the chuck, the junction box falls off the junction box holder 1.1.3. The connecting wire is then removed by the unloading robot 38.

[0032] The first winding bar 1.1.1, the second winding bar 1.2.1, and the third winding bar 1.3.1 are all provided with indentations that match the connecting wires, for positioning the coil.

[0033] like Figure 5 , Figure 6 , Figure 7 As shown: A locking mechanism is provided between the fixed part and the rotating part of the chuck rotating base 2. The rotating drive mechanism is connected to the rotating part through a clutch mechanism. When the rotating drive mechanism is engaged with the rotating part, the locking mechanism is unlocked. When the rotating drive mechanism is disengaged from the rotating part, the locking mechanism is locked.

[0034] Specifically, the rotating part has an axial insertion hole 18 at the center of one end that engages with the rotating drive mechanism. There are two limit rods 17 arranged on the outer ring of the insertion hole 18 on the rotating part, with an included angle of 180°. The limit rods 17 are hinged to the rotating part, with one end extending into the insertion hole 18 and the other end able to be embedded in the bayonet 21 of the fixed part. A spring connects the limit rods 17 and the rotating part.

[0035] In the first state, the rotary drive mechanism is disconnected from the rotating part, and the spring applies force to the limiting rod 17 to keep the limiting rod 17 in the position where one end is embedded in the bayonet 21 of the fixed part and the other end extends into the insertion hole 18. The locking mechanism locks, and the rotating part of the chuck rotating base 2 cannot rotate.

[0036] In the second state, the rotary drive mechanism engages with the rotating part, and the rotary drive mechanism extends into the insertion hole 18 to push one end of the limiting rod 17 out of the insertion hole 18. At the same time, the other end of the limiting rod 17 also disengages from the bayonet 21, the locking mechanism is unlocked, and the rotary drive mechanism can drive the rotating part of the chuck rotating base 2 to rotate.

[0037] like Figure 4 As shown: The rotary drive mechanism includes a rotary component 3, a lifting component 4, and a lifting guide frame 5. The lifting guide frame 5 includes a fixed frame, a movable frame, and a guide rod. The movable frame and the fixed frame are connected by the guide rod. The rotary component 3 is installed on the movable frame of the lifting guide frame 5, and the lifting component 4 is installed on the fixed frame of the lifting guide frame 5. The rotary component 3 is connected to the drive end of the lifting component 4. A male docking block 6 is installed on the drive end of the rotary component 3, and a female docking block 7 is installed on the rotating part of the chuck rotary base 2. The male docking block 6 and the female docking block 7 engage to achieve torque transmission. The lifting component 4 controls the rotary component 3 to move up and down as a whole to complete the engagement or separation of the male docking block 6 and the female docking block 7.

[0038] The insertion hole 18 and the limiting rod 17 are located on the female docking block 7. The male docking block 6 has a push rod in the middle, and the head of the push rod is chamfered to facilitate pushing open the limiting rod 17.

[0039] like Figure 6As shown: The chuck rotating base 2 includes a turntable bearing seat 8, an inner adjusting bearing seat 9, an angular contact ball bearing 10, a chuck drive plate 11, a turntable fixing plate 12, and a turntable locking plate 13.

[0040] Two angular contact ball bearings 10 in opposite directions are installed between a turntable bearing housing 8 and an inner adjusting bearing housing 9. The upper end of the turntable bearing housing 8 is fixedly connected to the turntable fixing plate 12, and the lower end is fixedly connected to the turntable locking plate 13. The upper end of the inner adjusting bearing housing 9 is fixedly connected to the chuck drive plate 11, and the lower end is fixedly connected to the female docking block 7. A shim 19 is provided between the chuck drive plate 11 and the inner ring of the upper angular contact ball bearing 10. The retaining ring on the female docking block 7 stops the inner ring of the lower angular contact ball bearing 10. The shim 19 and the retaining ring of the female docking block 7 restrict the axial movement of the two angular contact ball bearings 10. The self-centering chuck 1 is connected to the chuck drive plate 11 through the chuck mounting plate 20.

[0041] A photoelectric contact 14 is installed on the male connector block 6, and a photoelectric sensor 15 is installed on the movable frame of the lifting guide frame 5. The photoelectric sensor 15 is a groove-type photoelectric sensor (model EE-SX674). When the photoelectric contact 14 rotates with the male connector block 6, it sweeps across the photoelectric sensor 15. The photoelectric sensor 15 provides feedback on the number of rotations of the male connector block 6 to monitor the number of turns of the connecting wire.

[0042] The photoelectric contact 14 is mounted on the adjustment plate 16 on the male connector block 6. The adjustment plate 16 is provided with an arc groove 16.1 centered on the rotation axis of the drive end of the rotating component 3. The photoelectric contact 14 is clamped in the arc groove 16.1 to achieve position adjustment.

[0043] like Figure 10 , Figure 11 As shown: The feeding buffer device 24 includes a feeding end clamping assembly 28, a discharging end clamping assembly 29, a sliding feeding assembly 30, a junction box support assembly, a cable support rod 34, and a device frame 31; the feeding end clamping assembly 28, the discharging end clamping assembly 29, and the sliding feeding assembly 30 are distributed on the device frame 31.

[0044] The feeding end clamping assembly 28 includes m connecting line feeding fixing positions. In this embodiment, m equals 2. The m connecting line feeding fixing positions are arranged along a straight line x. Each connecting line feeding fixing position includes a feeding end junction box clamping module 28.1 and a feeding end cable limiting module 28.2. The m feeding end junction box clamping modules 28.1 are located on the same straight line, and the m feeding end cable limiting modules 28.2 are located on the same straight line.

[0045] The unloading end clamping assembly 29 includes m connecting line unloading fixing positions, which are arranged along a straight line x. Each connecting line unloading fixing position includes an unloading end junction box clamping module 29.1 and an unloading end cable limiting module 29.2. The unloading end junction box clamping module 29.1 is aligned with the loading end junction box clamping module 28.1, and the unloading end cable limiting module 29.2 is aligned with the loading end cable limiting module 28.2.

[0046] The sliding feeding assembly 30 includes a guide rail 30.1, m connecting wire translation positions, and a sliding drive mechanism. The guide rail 30.1 passes between the loading end junction box clamping module 28.1 and the loading end cable limiting module 28.2. The guide rail 30.1 is parallel to the straight line x and connects the loading end clamping assembly 28 and the unloading end clamping assembly 29. In the first state, the m connecting wire translation positions are aligned with the m connecting wire loading fixing positions, and the sliding feeding assembly 30 removes the connecting wires from the loading end clamping assembly 28. In the second state, the m connecting wire translation positions are aligned with the m connecting wire loading fixing positions. The m connecting wires are aligned one by one at their feeding and fixing positions. The feeding end clamping assembly 29 removes the connecting wires from the sliding feeding assembly 30. Each connecting wire translation position includes a front cable clamping module 30.2 and a rear cable clamping module 30.3. The front cable clamping module 30.2 and the rear cable clamping module 30.3 are slidably mounted on the guide rail 30.1 and driven by the sliding drive mechanism to move between the feeding end clamping assembly 28 and the feeding end clamping assembly 29. The connecting wires clamped on the feeding end clamping assembly are transferred to the feeding end clamping assembly after being removed by the sliding feeding assembly.

[0047] The junction box support assembly includes a junction box support slide plate 35 and a junction box support platform 36. The junction box support slide plate 35 and the cable support rod 34 are parallel to the straight line x. The junction box support slide plate 35 extends from the loading end clamping assembly 28 to the front of the unloading end clamping assembly 29 and is used to support the junction box in the loading and unloading position and the translation position of the connecting line. The junction box support platform 36 is independently installed on the unloading end junction box clamping module 29.1 and is flush with the junction box support slide plate 35. The cable support rod 34 extends from the loading end clamping assembly 28 to the unloading end clamping assembly 29 and is used to support the free section of the connecting line.

[0048] When the connecting wire is clamped on the feeding end clamping component 28, the junction box is placed flat on the junction box support slide plate 35. When the sliding feeding component 30 moves the connecting wire, the junction box slides on the junction box support slide plate 35. When the sliding feeding component 30 reaches the unloading end clamping component 29, the junction box leaves the junction box support slide plate 35 and slides onto the junction box support platform 36. During this process, the free section of the connecting wire is always supported by the cable support rod 34.

[0049] like Figure 12As shown: The junction box clamping module 28.1 at the feeding end includes a lifting platform 28.1.1 and a transverse gripper 28.1.2 mounted on the lifting platform 28.1.1; the lifting platform 28.1.1 is a cylinder, and the transverse gripper 28.1.2 is an HFK20 type finger cylinder. The two fingers of the transverse gripper 28.1.2 move laterally to clamp the junction box laterally and limit its vertical movement. The lifting platform 28.1.1 drives the transverse gripper 28.1.2 to move downward, releasing the obstruction to the junction box when the sliding feeding assembly 30 moves; the lifting platform 28.1.1 drives the transverse gripper 28.1.2 to move upward, returning to the height of clamping the junction box.

[0050] like Figure 13 As shown: The cable limiting module 28.2 at the feeding end includes an open gripper 32 and a bracket 28.2.1. The open gripper 32 is an HFR20 type finger cylinder. The two fingers of the open gripper 32 open and close and swing to clamp the cable. After the clamping blocks on the two fingers are engaged, they form an upward-opening U-shaped groove. The connecting wire is manually placed into the U-shaped groove from top to bottom. When the sliding feeding component 30 moves, the two fingers of the open gripper 32 are fully opened to remove the obstruction to the connecting wire. The bracket 28.2.1 is installed on the side of the open gripper 32 facing the sliding feeding component 3. The supporting surface of the bracket 28.2.1 is flush with the bottom of the U-shaped groove. The bracket 28.2.1 prevents the connecting wire from sagging.

[0051] like Figure 16 As shown: The front-end cable clamping module 30.2 includes a slider 30.2.1 and a closed gripper 33; the slider 30.2.1 slides in cooperation with the guide rail 30.1, and the closed gripper 33 is an HFR20 type finger cylinder. The two fingers of the closed gripper 33 perform an opening and closing swinging action to clamp the cable. After the clamping blocks on the two fingers are engaged, they form a through hole, and the connecting wire is clamped in the through hole.

[0052] The rear cable clamping module 30.3 has the same structure as the front cable clamping module 30.2.

[0053] like Figure 14 As shown: The cable limiting module 29.2 at the unloading end includes a limiting plate 29.2.1 and a closed gripper 33; the limiting plate 29.2.1 is installed on the side of the closed gripper 33 facing the sliding feeding assembly 30, and the limiting groove on the top surface of the limiting plate 29.2.1 is aligned with the through hole after the fingers of the closed gripper 33 are engaged. The limiting plate 29.2.1 is an auxiliary positioning connection line.

[0054] like Figure 15 As shown: The junction box clamping module 29.1 at the unloading end includes a swing gripper 29.1.1. The swing gripper 29.1.1 is an HFR20 type finger cylinder. The two fingers of the swing gripper 29.1.1 perform an opening and closing swinging action to clamp the junction box and limit its vertical movement.

[0055] The front cable clamping module 30.2 and the rear cable clamping module 30.3 of the m connecting line translation positions in the sliding feeding assembly 30 are connected together in series through the bracket 30.4 and driven synchronously by a set of sliding drive mechanism; the sliding drive mechanism is a KK86D10C type working slide, which is installed on the bottom surface of the equipment frame 31 and connected to the bracket 30.4 through a notch.

[0056] A stop bar 37 is installed on the junction box support slide plate 35. The stop bar 37 is parallel to the straight line x. The stop bar 37 is used to position the junction box in the front and back directions. When the worker manually loads the material, the junction box rests on the stop bar 37.

[0057] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary multi-station multi-tool winding machine, characterized in that: It includes a turntable (22), a winding fixture (23), a feeding buffer device (24), a transplanting robot (25), a cable tensioning and guiding mechanism (26), a cable tie binding device (27), and a unloading robot (38). Several winding fixtures (23) are evenly distributed around the center of the turntable (22). The loading buffer device (24), the transplanting robot (25), the cable tensioning guide mechanism (26), the cable tie binding device (27), and the unloading robot (38) are arranged outside the turntable (22) according to the process. The winding fixture (23) includes a self-centering chuck (1), a chuck rotating base (2), and a rotary drive mechanism; the n jaws of the self-centering chuck (1) include two connecting wire end clamping jaws and n-2 coil support jaws (1.3), where n is an integer greater than or equal to 3; the self-centering chuck (1) is controlled by an external adjustment mechanism to move the n jaws at equal distances relative to the center of the chuck to complete the support and release of the coil; the rotary drive mechanism is used to drive the chuck rotating base (2) to rotate; The chuck rotating base (2) includes a fixed part and a rotating part. The fixed part is fixed to the turntable (22), and the rotating part rotates in the fixed part. The self-centering chuck (1) is connected to the rotating part and rotates coaxially with the rotating part. The winding fixture (23) rotates with the turntable (22) to change positions. The loading buffer device (24) is manually clamped for connecting wires. The transfer robot (25) is used to take the connecting wires from the loading buffer device (24) and clamp one end of the connecting wires onto the connecting wire end clamping claws of the winding fixture (23). The cable tensioning guide mechanism (26) is used to guide and tighten the connecting wires. The two guide wheels of the cable tensioning guide mechanism (26) clamp the connecting wires. The rotation drive mechanism of the winding fixture (23) drives the self-centering chuck (1) to rotate and wind the connecting wires onto n claws. The cable tie binding device (27) is used to bind the connecting wire coils. The unloading robot (38) is used to remove the connecting wire coils. A locking mechanism is provided between the fixed part and the rotating part of the chuck rotating base (2). The rotating drive mechanism is connected to the rotating part through a clutch mechanism. When the rotating drive mechanism is engaged with the rotating part, the locking mechanism is unlocked. When the rotating drive mechanism is disengaged from the rotating part, the locking mechanism is locked. The rotating part is provided with an axial insertion hole (18) at the center of one end that is connected to the rotating drive mechanism. A limit rod (17) is arranged on the outer ring of the insertion hole (18) on the rotating part. The limit rod (17) is hinged to the rotating part, with one end extending into the insertion hole (18) and the other end able to be embedded in the bayonet (21) of the fixed part. A spring is connected between the limit rod (17) and the rotating part. In the first state, the rotary drive mechanism is disconnected from the rotating part, and the spring applies force to the limiting rod (17) to keep the limiting rod (17) in the position where one end is embedded in the slot (21) of the fixed part and the other end extends into the insertion hole (18), and the locking mechanism locks down. In the second state, the rotary drive mechanism engages with the rotating part, and the rotary drive mechanism extends into the insertion hole (18) to push one end of the limiting rod (17) out of the insertion hole (18). At the same time, the other end of the limiting rod (17) also disengages from the bayonet (21), and the locking mechanism is unlocked.

2. The rotary multi-station multi-tool winding machine according to claim 1, characterized in that: The rotary drive mechanism includes a rotary component (3), a lifting component (4), and a lifting guide frame (5). The rotary component (3) is installed on the movable frame of the lifting guide frame (5), and the lifting component (4) is installed on the fixed frame of the lifting guide frame (5). The rotary component (3) is connected to the driving end of the lifting component (4). A male docking block (6) is installed on the driving end of the rotary component (3), and a female docking block (7) is installed on the rotating part of the chuck rotary base (2). The male docking block (6) and the female docking block (7) engage to achieve torque transmission. The lifting component (4) controls the rotary component (3) to move up and down as a whole to complete the engagement or separation of the male docking block (6) and the female docking block (7).

3. A rotary multi-station multi-tool winding machine according to claim 2, characterized in that: The chuck rotating base (2) includes a turntable bearing seat (8), an inner adjusting bearing seat (9), an angular contact ball bearing (10), a chuck drive plate (11), a turntable fixing plate (12), and a turntable locking plate (13). Two angular contact ball bearings (10) in opposite directions are installed between the turntable bearing housing (8) and the inner adjusting bearing housing (9). The upper end of the turntable bearing housing (8) is fixedly connected to the turntable fixing plate (12), and the lower end is fixedly connected to the turntable locking plate (13). The upper end of the inner adjusting bearing housing (9) is fixedly connected to the chuck drive plate (11), and the lower end is fixedly connected to the female docking block (7). A gasket (19) is provided between the chuck drive plate (11) and the inner ring of the upper angular contact ball bearing (10). The retaining ring on the female docking block (7) stops at the inner ring of the lower angular contact ball bearing (10). The self-centering chuck (1) is connected to the chuck drive plate (11) through the chuck mounting plate (20).

4. A rotary multi-station multi-tool winding machine according to claim 3, characterized in that: The two clamping claws at the ends of the connecting wires of the self-centering chuck are the junction box clamping claw (1.1) and the connecting wire tail clamping claw (1.2). The junction box clamping claw (1.1) includes a first winding bar (1.1.1), a first slider (1.1.2), and a junction box holder (1.1.3). The first winding bar (1.1.1) and the junction box holder (1.1.3) are mounted on the first slider (1.1.2). The junction box holder (1.1.3) can restrict the movement of the junction box of the connecting wire in the up-down, left-right, and rearward directions. The insertion and removal direction of the junction box holder (1.1.3) is inclined downward and forward. The junction box holder (1.1.3) has a notch that allows the connecting wire to enter and exit vertically. The junction box of the connecting wire is clamped on the junction box holder (1.1.3) by an external robotic arm. When the junction box clamping claw (1.1) moves towards the center of the chuck, the junction box holder (1.1.3) disengages from the junction box. The connecting wire tail clamping claw (1.2) includes a second winding bar (1.2.1), a second slider (1.2.2), and a pressure rod (1.2.3). The second winding bar (1.2.1) is mounted on the second slider (1.2.2). The pressure rod (1.2.3) is hinged to the second slider (1.2.2), and a spring connects the pressure rod (1.2.3) and the second slider (1.2.2). Before reaching the dead center position, the spring pulls the pressure rod (1.2.3) close to the second winding bar (1.2.1) to clamp the connecting wire. After reaching the dead center position, the spring pulls the pressure rod (1.2.3) close to the second slider (1.2.2) to release the binding of the connecting wire. An actuating mechanism for triggering the pressure rod (1.2.3) is installed outside the turntable. The coil support claw (1.3) includes a third winding bar (1.3.1) and a third slider (1.3.2), with the third winding bar (1.3.1) mounted on the third slider (1.3.2); The first winding bar (1.1.1), the second winding bar (1.2.1), and the third winding bar (1.3.1) are all provided with indentations that match the connecting wires.

5. A rotary multi-station multi-tool winding machine according to claim 1, characterized in that: The loading buffer device includes a loading end clamping assembly (28), a discharging end clamping assembly (29), a sliding feeding assembly (30), a junction box support assembly, a cable support rod (34), and a machine frame (31); the loading end clamping assembly (28), the discharging end clamping assembly (29), and the sliding feeding assembly (30) are distributed on the machine frame (31); The feeding end clamping assembly (28) includes m connecting line feeding fixing positions, the m connecting line feeding fixing positions are arranged along a straight line x, and each connecting line feeding fixing position includes a feeding end junction box clamping module (28.1) and a feeding end cable limiting module (28.2). The unloading end clamping assembly (29) includes m connecting line unloading fixing positions, which are arranged along a straight line x. Each connecting line unloading fixing position includes an unloading end junction box clamping module (29.1) and an unloading end cable limiting module (29.2). The unloading end junction box clamping module (29.1) is aligned with the loading end junction box clamping module (28.1), and the unloading end cable limiting module (29.2) is aligned with the loading end cable limiting module (28.2). The sliding feeding assembly (30) includes a guide rail (30.1), m connecting wire translation positions, and a sliding drive mechanism; the guide rail (30.1) passes between the loading end junction box clamping module (28.1) and the loading end cable limiting module (28.2), and the guide rail (30.1) is parallel to the straight line x; in the first state, the m connecting wire translation positions are aligned with the m connecting wire loading fixed positions; in the second state, the m connecting wire translation positions are aligned with the m connecting wire unloading fixed positions. Each connecting wire translation position includes a front cable clamping module (30.2) and a rear cable clamping module (30.3). The front cable clamping module (30.2) and the rear cable clamping module (30.3) are slidably mounted on the guide rail (30.1) and driven by the sliding drive mechanism to move between the loading end clamping assembly (28) and the unloading end clamping assembly (29). The connecting wire clamped on the loading end clamping assembly is taken away by the sliding feeding assembly and then transferred to the unloading end clamping assembly. The junction box support assembly includes a junction box support slide (35) and a junction box support platform (36). The junction box support slide (35) and the cable support rod (34) are parallel to the straight line x. The junction box support slide (35) extends from the loading end clamping assembly (28) to the unloading end clamping assembly (29) to support the junction box in the loading and unloading position and the translation position of the connecting line. The junction box support platform (36) is independently installed on the unloading end junction box clamping module (29.1) and is flush with the junction box support slide (35). The cable support rod (34) extends from the loading end clamping assembly (28) to the unloading end clamping assembly (29) to support the free section of the connecting line.

6. A rotary multi-station multi-tool winding machine according to claim 5, characterized in that: The loading end junction box clamping module (28.1) includes a lifting platform (28.1.1) and a clamping mechanism installed on the lifting platform (28.1.1). 28.1.1) The transverse gripper (28.1.2) on the platform; the two fingers of the transverse gripper (28.1.2) move laterally to clamp the junction box laterally and limit it vertically. The lifting platform (28.1.1) drives the transverse gripper (28.1.2) to move downward, so as to release the obstruction of the junction box when the sliding feeding assembly (30) moves. The cable limiting module (28.2) at the feeding end includes an open gripper (32) and a bracket (28.2.1). The two fingers of the open gripper (32) make an opening and closing swinging motion to clamp the connecting wire. After the clamping blocks on the two fingers are engaged, they form an upward-opening U-shaped groove. The bracket (28.2.1) is installed on the side of the open gripper (32) facing the sliding feed assembly (30), and the support surface of the bracket (28.2.1) is flush with the bottom of the U-shaped channel.

7. A rotary multi-station multi-tool winding machine according to claim 6, characterized in that: The front-end cable clamping module (30.2) includes a third slider (30.2.1) and a closed clamping claw (33); the two fingers of the closed clamping claw (33) make an opening and closing swinging motion to clamp the connecting wire, and the clamping blocks on the two fingers form a through hole after they are fastened together. The rear cable clamping module (30.3) has the same structure as the front cable clamping module (30.2).

8. A rotary multi-station multi-tool winding machine according to claim 7, characterized in that: The cable limiting module (29.2) at the unloading end includes a limiting plate (29.2.1) and a closed gripper (33); the limiting plate (29.2.1) is installed on the side of the closed gripper (33) facing the sliding feeding assembly (30), and the limiting groove on the top surface of the limiting plate (29.2.1) is aligned with the through hole of the closed gripper (33) after the fingers are engaged; The junction box clamping module (29.1) at the unloading end includes a swing gripper (29.1.1). The two fingers of the swing gripper (29.1.1) perform an opening and closing swinging motion to clamp and vertically limit the junction box.

9. A rotary multi-station multi-tool winding machine according to claim 1, characterized in that: It also includes a frame platform, a turntable (22), a transplanting robot (25), a cable tensioning guide mechanism (26), a cable tie binding device (27), and a material unloading robot (38) mounted on the frame platform.

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