Automatic feeding and discharging equipment and method for wire twisting device

Abstract

The invention provides automatic feeding and discharging equipment and method for a wire stranding device. The automatic feeding and discharging equipment for the wire stranding device is used for achieving wire coil exchange between the wire stranding device and a material storage device. The automatic feeding and discharging equipment for the wire twisting device comprises a temporary storage device, a transferring device, a clamping device and a moving device. The temporary storage device is configured to temporarily store a to-be-fed wire coil or a discharged wire coil; the transferring device is configured to load and transport the wire coil, and the transferring device can move between the temporary storage device and the material storage device; the clamping device is configured to clamp a wire coil; the moving device comprises a first moving mechanism and a second moving mechanism, the first moving mechanism is arranged on one side of the stranding device in the first direction, the first moving mechanism is in transmission connection with the clamping device and used for driving the clamping device to be close to or away from the stranding device in the first direction, and the second moving mechanism is in transmission connection with the first moving mechanism and used for driving the clamping device to be away from the stranding device. The driving mechanism is used for driving the first moving mechanism to move between the stranding device and the temporary storage device.

Description

Technical Field

[0001] The present application relates to the technical field of wire stranding equipment, and in particular to an automated loading and unloading device and method for a wire stranding device. Background Art

[0002] Wire stranding equipment, such as cage stranding equipment and tube stranding equipment, is widely used in the production of wires and cables. At present, most wire stranding equipment requires manual use of trailers to move the wire reels to the wire stranding equipment accessories, and then use overhead cranes or forklifts to replace the wire reels in the cradle, and finally use carts to transport the unloaded wire reels to the specified location for unified storage. This loading and unloading method is not only inefficient, but also requires manual participation, resulting in high labor costs. Summary of the invention

[0003] The present application provides an automated loading and unloading device and method for a wire stranding device, so as to solve the problems of low loading and unloading efficiency and high cost of the wire stranding device in the prior art.

[0004] The present application provides an automated loading and unloading device for a wire stranding device, which is used to realize the exchange of wire reels between the wire stranding device and the material storage device; the automated loading and unloading device for the wire stranding device comprises a cache device, a transfer device, a clamping device and a moving device; the cache device is configured to temporarily store wire reels to be loaded or wire reels after unloading; the transfer device is configured to load and transport the wire reels, and the transfer device can move between the cache device and the material storage device; the clamping device is configured to clamp the wire reels; the moving device comprises a first moving mechanism and a second moving mechanism, along a first direction, the first moving mechanism is arranged on one side of the wire stranding device, the first moving mechanism is transmission-connected to the clamping device, and is used to drive the clamping device to approach or move away from the wire stranding device along the first direction, and the second moving mechanism is transmission-connected to the first moving mechanism, and is used to drive the first moving mechanism to move between the wire stranding device and the cache device.

[0005] In a possible embodiment, the automated loading and unloading equipment for the wire stranding device has a defined exchange station, and the transfer device can move between the exchange station and the storage device. When the transfer device is located at the exchange station, the transfer device can exchange the wire drum with the cache device.

[0006] In a possible embodiment, the second moving mechanism is further configured to drive the first moving mechanism to move between the buffer device and the exchange station, so as to realize the exchange of the wire drum between the buffer device and the transfer device moved to the exchange station through the clamping device.

[0007] In a possible implementation, the automated loading and unloading equipment for the stranding device further includes a track device, the track device includes a first track, and the transfer device can move on the first track; The number of the first tracks is set to be multiple, and the multiple first tracks are arranged at intervals along the second direction, the second direction intersects with the first direction, and along the second direction, both sides of each of the first tracks are provided with a twisting station, the twisting station is configured to place the twisting device, and the buffer device is arranged on the first track; Among them, the number of the mobile devices is the same as the number of the first rails, and the mobile devices and the first rails are arranged one-to-one, and the second mobile mechanism in the same mobile device is configured to drive its first mobile mechanism to move between the stranding stations on both sides of its corresponding first rail along the second direction.

[0008] In a possible implementation, along the second direction, the wire twisting stations on any side of the first track are provided in plurality, and the plurality of wire twisting stations are sequentially arranged along a third direction, and the third direction intersects the first direction and the second direction; Wherein, the second moving mechanism is further configured to drive the first moving mechanism to move along the third direction, so that the clamping device can be moved to any wire stranding station along the third direction.

[0009] In a possible implementation, the track device further includes a second track, the transfer device is movable on the second track, the second track is connected to at least one end of the plurality of first tracks, and the second track extends to the material storage device.

[0010] In a possible implementation, the clamping device includes: A base, transmission-connected to the first moving mechanism; a first clamping assembly, movably connected to the base, the first clamping assembly being movable relative to the base at least along a second direction, the second direction intersecting the first direction, the first clamping assembly being configured to clamp or release the wire drum; A second clamping assembly is movably connected to the base, the second clamping assembly can move relative to the base at least along the first direction and the second direction, and the second clamping assembly is configured to clamp or release the wire drum; along the first direction, the second clamping assembly can move to a side of the first clamping assembly close to the wire drum, for clamping the wire drum lifted by the first clamping assembly; The alignment component includes two swing mechanisms, which are arranged at intervals along a third direction, and the third direction intersects with the first direction and the second direction. The swing mechanisms are rotatably connected to the base, and the two swing mechanisms are configured to elastically support opposite sides of the wire drum along the third direction for adjusting the position of the wire drum.

[0011] In a possible implementation, the swing mechanism includes: A swinging member is rotatably connected to a side of the base close to the wire drum; An elastic member, one end of which is elastically connected to the swing member, and the other end of which is elastically connected to the base; The supporting member extends in a direction parallel to the second direction. The number of the swinging members is set to two. Along the second direction, the two swinging members are arranged at intervals. The supporting member is arranged between the two swinging members, and the two ends of the supporting member are respectively connected to the two swinging members.

[0012] In a possible implementation, when the alignment assembly and the wire drum are in a separated state, the distance between the two abutting members is smaller than the length of the wire drum in the third direction.

[0013] The present application also provides an automated loading and unloading method for a stranding device, which is applied to the automated loading and unloading equipment for the stranding device. The automated loading and unloading method for the stranding device comprises the following steps: A full-wire reel is pre-stored at a buffer device corresponding to each wire twisting device; After detecting that a wire reel on a wire twisting device is empty, the moving device and the clamping device cooperate to grab the empty reel on the wire twisting device to its corresponding buffer device; If the wire twisting device needs to be loaded after the empty reel is removed, the moving device and the clamping device cooperate to load the wire reel pre-stored in the buffer device onto the wire twisting device; The moving device and the clamping device cooperate to grab the empty disk at the buffer device to the transfer device, the transfer device transports the empty disk to the storage device and transports the full wire disk at the storage device to the buffer device, and then the moving device and the clamping device cooperate to grab the wire disk on the transfer device to the buffer device for standby; If the stranding device does not need to be loaded after the empty disk is removed, the moving device and the clamping device cooperate to grab the empty disk at the buffer device to the transfer device, and the transfer device transports the empty disk to the storage device.

[0014] The automatic loading and unloading equipment for the wire twisting device of the present application pre-stores full wire reels or empty reels unloaded from the wire twisting device by setting a buffer device, and grabs the empty reels on the wire twisting device to the buffer device or grabs the wire reels at the buffer device to the wire twisting device through the cooperation of the moving device and the clamping device, thereby realizing the automatic loading and unloading of the wire reels. In addition, after the number of empty reels stored at the buffer device reaches a predetermined number, the transfer device can also transport the empty reels stored at the buffer device to the storage device, and transport the full wire reels at the storage device to the buffer device for storage, thereby realizing the automatic transportation and preparation of the wire reels, improving the loading and unloading efficiency of the wire reels, and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of an automated loading and unloading device for a stranding device of the present application in one embodiment.

[0016] Figure 2 This is a schematic structural diagram of the first track of an automated loading and unloading device for a stranding device of the present application in one embodiment.

[0017] Figure 3 It is a schematic diagram of the planar distribution of the automated loading and unloading equipment for the stranding device of the present application in one embodiment.

[0018] Figure 4 This is a schematic diagram of the structure of a wire reel in one embodiment of the automated loading and unloading equipment for a wire stranding device of the present application.

[0019] Figure 5 It is a schematic structural diagram of a clamping device in one embodiment of the automated loading and unloading equipment for a stranding device of the present application.

[0020] Figure 6 It is an exploded schematic diagram of a clamping device in one embodiment of the automated loading and unloading equipment for a stranding device of the present application.

[0021] Figure 7 It is a bottom view schematic diagram of a clamping device in one embodiment of the automated loading and unloading equipment for a stranding device of the present application.

[0022] Figure 8 for Figure 5 A partial enlarged schematic diagram of the clamping device corresponding to area A.

[0023] Fig. 9 for Figure 5 A schematic diagram of the state of the clamping device in one embodiment when the alignment component contacts the wire drum.

[0024] Fig.10 for Figure 5A schematic structural diagram of the alignment assembly of the clamping device in one embodiment.

[0025] Description of main component symbols: Automated loading and unloading method for stranding device 200 Automated loading and unloading equipment for stranding devices 100 First direction Z Second direction Y The third direction X Track surface P Wire stranding station W1 Exchange station W2 Wire twisting device 1 Wire drum rack 101 Cache device 2 Cache cavity 201 Transfer device 3 Clamping device 4 Reel 5 Main body 501 Side 502 Hook slot 503 Center hole 504 Mobile device 6 The first moving mechanism 601 Second moving mechanism 602 The first linear reciprocating mechanism 6021 The second linear reciprocating mechanism 6022 First rack 603 Second rack 604 Track device 7 First Track 701 Second track 702 Walking Space 703 Storage device 8 Base 10 First substrate 11 Perforation 110 Second substrate 12 Connecting seat 13 Linear bearing 14 Slider 15 The first clamping assembly 20 First hook 21 First District 211 Second District 212 Second hook 22 The second detection component 23 The first moving assembly 30 The first sliding mechanism 31 The second clamping assembly 40 The first clamping jaw 41 Vertical portion 411 Horizontal part 412 Second clamping jaw 42 Second moving assembly 50 Second sliding mechanism 51 Thrust cylinder 511 Slide Rail 512 Sliding plate 513 First convex part 5131 Second convex portion 5132 Lifting mechanism 52 Alignment component 60 Swing mechanism 61 Swing seat 611 Swinging piece 612 Elastic Part 613 Abutment 614 First detection component 70 Induction sheet 71 Limiting component 80 Limit seat 81 Limiting piece 82 The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0026] The following description will refer to the accompanying drawings to more fully describe the content of the present application. Shown in the accompanying drawings are exemplary embodiments of the present application. However, the present application can be implemented in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. Similar reference numerals represent identical or similar components.

[0027] The terms used herein are only used for the purpose of describing specific exemplary embodiments and are not intended to limit the present application. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to also include the plural forms. In addition, when used herein, "including" and / or "comprising" and / or "having", integers, steps, operations, components and / or components, but do not exclude the existence or addition of one or more other features, regions, integers, steps, operations, components and / or groups thereof.

[0028] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs. In addition, unless explicitly defined herein, terms such as those defined in general dictionaries should be interpreted as having a meaning consistent with their meaning in the relevant technology and the content of this application, and will not be interpreted as an idealized or overly formal meaning.

[0029] The specific implementation methods of the present application are further described in detail below with reference to the accompanying drawings.

[0030] like Figures 1 to 3 As shown, this embodiment provides an automated loading and unloading device 100 for a wire stranding device, which is used to realize the exchange of wire reels 5 between the wire stranding device 1 and the storage device 8.

[0031] The wire stranding device 1 is a cage stranding or tube stranding device, and has a plurality of wire reel racks 101, each of which can be loaded with a wire reel 5. The storage device 8 stores a plurality of full wire reels 5, and can store empty reels discharged from the wire stranding device 1, so as to centrally carry out subsequent transportation and winding processing of the empty reels.

[0032] It is worth noting that a robot or other device may also be provided at the material storage device 8 so that the robot can grab the empty trays on the transfer device 3 and store them at the material storage device 8 , or grab the full trays on the material storage device 8 and place them on the transfer device 3 .

[0033] For the convenience of subsequent reading, the present application introduces a first direction Z, a second direction Y, and a third direction X to describe the embodiments of the present application. The first direction Z, the second direction Y, and the third direction X may be three non-parallel linear directions in space; further, the first direction Z, the second direction Y, and the third direction X may be three mutually perpendicular directions in a three-dimensional coordinate system (three-dimensional Cartesian coordinate system). In the subsequent embodiments, the first direction Z is the Z-axis direction of the coordinate axis of the three-dimensional coordinate system, the second direction Y is the Y-axis direction of the coordinate axis of the three-dimensional coordinate system, and the third direction X is the X-axis direction of the coordinate axis of the three-dimensional coordinate system.

[0034] The automatic loading and unloading equipment 100 for a stranding device includes a buffer device 2 , a transfer device 3 , a clamping device 4 and a moving device 6 .

[0035] The buffer device 2 is configured to temporarily store the wire drum 5 to be loaded or the wire drum 5 after unloading. The transfer device 3 is configured to load and transport the wire drum 5. The transfer device 3 can move between the buffer device 2 and the storage device 8 to transport the full wire drum 5 at the storage device 8 to the buffer device 2 for temporary storage, and transport the empty wire drum received by the buffer device 2 after unloading to the storage device 8. The clamping device 4 is configured to clamp the wire drum 5 so that the wire drum 5 can move with the clamping device 4. The moving device 6 includes a first moving mechanism 601 and a second moving mechanism 602. Along the first direction Z, the first moving mechanism 601 is arranged on one side of the stranding device 1. The first moving mechanism 601 is connected to the clamping device 4 in a transmission manner, and is used to drive the clamping device 4 to move closer to or away from the stranding device 1 along the first direction Z. The second moving mechanism 602 is connected to the first moving mechanism 601 in a transmission manner, and is used to drive the first moving mechanism 601 to move between the stranding device 1 and the buffer device 2.

[0036] In this way, the automatic loading and unloading equipment 100 for the wire twisting device of the present application pre-stores the full wire reels 5 or the empty reels unloaded from the wire twisting device by setting up the buffer device 2, and grabs the empty reels on the wire twisting device to the buffer device 2 or grabs the wire reels 5 at the buffer device 2 to the wire twisting device through the cooperation of the moving device 6 and the clamping device 4, thereby realizing the automatic loading and unloading of the wire reels 5. In addition, after the number of empty reels stored at the buffer device 2 reaches a predetermined number, the transfer device 3 can also transport the empty reels stored at the buffer device 2 to the storage device 8, and transport the full wire reels 5 at the storage device 8 to the buffer device 2 for storage, thereby realizing the automatic transportation and preparation of the wire reels 5, improving the loading and unloading efficiency of the wire reels 5, and reducing labor costs.

[0037] Please combine again Figures 1 to 3 In one embodiment, the automatic loading and unloading equipment 100 for the stranding device further comprises a track device 7. The track device 7 comprises a first track 701, and the extension direction of the first track 701 is parallel to the third direction X.

[0038] The transfer device 3 can move on the first track 701 , and the transfer device 3 can be an automated transport vehicle such as a RGV (Rail Guided Vehicle) vehicle or an AGV (Automated Guided Vehicle) vehicle.

[0039] Along the second direction Y, both sides of the first track 701 are provided with a wire stranding station W1, and the wire stranding station W1 is configured to place the wire stranding device 1. The first track 701 is formed by connecting structures such as a steel frame and a steel plate. Along the first direction Z, the top surface of the first track 701 is a track surface P, and the transfer device 3 moves on the track surface P. Along the first direction Z, the track surface P is located higher than the wire stranding device 1.

[0040] In this embodiment, the mobile device 6 further includes a first rack 603 and a second rack 604. The extension direction of the first rack 603 is parallel to the third direction X. There are two first racks 603. Along the second direction Y, the two first racks 603 are respectively arranged on opposite sides of the first track 701, and the two first racks 603 are spaced apart from the first track 701. A wire twisting station W1 is arranged between each first rack 603 and the first track 701.

[0041] Along the first direction Z, the top surface of the first frame 603 is higher than the stranding device 1, and the second frame 604 is installed on the top of the first frame 603. The extension direction of the second frame 604 is parallel to the second direction Y, and the two ends of the second frame 604 are slidably connected to the two first frames 603 respectively.

[0042] The first moving mechanism 601 includes a first linear reciprocating mechanism 6021 and a second linear reciprocating mechanism 6022. There are two first linear reciprocating mechanisms 6021, and the two first linear reciprocating mechanisms 6021 are respectively installed on two first frames 603 along the third direction X. The first linear reciprocating mechanism 6021 can be a mechanism such as a lead screw slide, and its specific structure is not limited in this application.

[0043] Both ends of the second frame 604 are respectively connected to the driving ends of the two first linear reciprocating mechanisms 6021 , so that the second frame 604 is jointly driven to move along the third direction X through the two first linear reciprocating mechanisms 6021 .

[0044] The second linear reciprocating mechanism 6022 is installed on the second frame 604 along the second direction Y. The second linear reciprocating mechanism 6022 can be a mechanism such as a screw slide, and its specific structure is not limited in this application.

[0045] The second moving mechanism 602 is installed on the driving end of the second linear reciprocating mechanism 6022 to drive the second moving mechanism 602 to move along the second direction Y through the second linear reciprocating mechanism 6022, so that the clamping device 4 installed on the second moving mechanism 602 can be moved to the stranding device 1 on any side of the first track 701 along the second direction Y for loading and unloading.

[0046] Please combine again Figures 1 to 3 In one embodiment, along the second direction Y, there are multiple stranding stations W1 on any side of the first track 701, and the multiple stranding stations W1 are arranged in sequence along the third direction X, so that multiple stranding devices 1 can be placed in sequence on any side of the first track 701.

[0047] Among them, the second moving mechanism 602 is also configured to drive the first moving mechanism 601 to move along the third direction X, so that the clamping device 4 can be moved to any stranding station W1 along the third direction X, thereby enabling multiple stranding devices 1 to share one moving device 6 and clamping device 4, thereby reducing equipment costs.

[0048] Furthermore, the automated loading and unloading equipment 100 for the stranding device has a defined exchange station W2, and the transfer device 3 can move between the exchange station W2 and the storage device 8. When the transfer device 3 is located at the exchange station W2, the transfer device 3 can exchange the wire reel 5 with the buffer device 2.

[0049] The second moving mechanism 602 is also configured to drive the first moving mechanism 601 to move between the buffer device 2 and the exchange station W2, so as to realize the exchange of the wire drum 5 between the buffer device 2 and the transfer device 3 moved to the exchange station W2 through the clamping device 4. In this way, the moving device 6 and the clamping device 4 can not only realize the material exchange between the stranding device 1 and the buffer device 2, but also realize the material exchange between the buffer device 2 and the transfer device 3, so that the stranding device 1, the buffer device 2 and the transfer device 3 share a set of moving devices 6 and clamping devices 4, thereby reducing the equipment cost.

[0050] The buffer devices 2 are arranged on the track surface P, and the number of the buffer devices 2 on the first track 701 is the same as the number of the wire twisting devices 1 on both sides of the first track 701 along the second direction Y. In addition, the buffer devices 2 on the track surface P are divided into two groups, and the number of the two types of buffer devices 2 is the same and is the same as the number of the wire twisting devices 1 on either side of the first track 701 along the second direction Y.

[0051] In particular, along the second direction Y, the two groups of cache devices 2 are spaced apart to leave a walking space 703 between the two groups of cache devices 2, the exchange station W2 is located in the transfer space, and the transfer device 3 can move in the walking space 703 to realize material exchange between the transfer device 3 and any one of the two groups of cache devices 2.

[0052] In addition, the buffer device 2 is provided with a plurality of buffer cavities 201, and a wire drum 5 can be placed in each buffer cavity 201. The number of buffer cavities 201 on the buffer device 2 is one more than the number of wire drums 5 that can be installed in the wire stranding device 1 corresponding to the buffer device 2. However, after the buffer device 2 is prepared, the number of full wire drums 5 stored on the buffer device 2 is one less than the number of buffer cavities 201, so that when the wire stranding device 1 needs to be loaded or unloaded, an empty drum on the wire stranding device 1 is first unloaded and placed in the buffer cavity 201 on the buffer device 2 where no wire drums 5 are stored.

[0053] Please combine again Figures 1 to 3In one embodiment, the number of the first rails 701 is set to be multiple, and the multiple first rails 701 are arranged at intervals along the second direction Y. Along the second direction Y, both sides of each first rail 701 are provided with a stranding device 1.

[0054] The number of the moving devices 6 is the same as the number of the first rails 701, and the moving devices 6 are arranged one-to-one with the first rails 701. The second moving mechanism 602 in the same moving device 6 is configured to drive its first moving mechanism 601 to move between the stranding stations W1 on both sides of its corresponding first rail 701 along the second direction Y. In this way, each stranding device 1 on both sides of the first rail 701 along the second direction Y shares a set of moving devices 6 and clamping devices 4 to reduce equipment costs.

[0055] Furthermore, the track device 7 further includes a second track 702, on which the transfer device 3 can move, and the second track 702 is connected to at least one end of the plurality of first tracks 701, so that the transfer device 3 on the first track 701 can move to the second track 702. The second track 702 extends to the material storage device 8, so that the transfer device 3 can move to the material storage device 8 along the second track 702.

[0056] The extension direction of the second rail 702 is parallel to the second direction Y, and there are two second rails 702. One second rail 702 is disposed at one end of the plurality of first rails 701 and connected to one end of each first rail 701, and another second rail 702 is disposed at the other end of the plurality of first rails 701 and connected to the other end of each first rail 701, so that each first rail 701 is connected in series through the two second rails 702, so that the transfer device 3 can move on different first rails 701.

[0057] It is worth noting that the number of transfer devices 3 can also be set to multiple, so that when the cache devices 2 at multiple first tracks 701 need to be loaded and unloaded, multiple transfer devices 3 can work simultaneously, thereby improving the loading and unloading efficiency.

[0058] The material storage device 8 is located at one end of a second track 702 along the second direction Y, so that the material storage device 8 can serve the stranding devices 1 at multiple first tracks 701 at the same time.

[0059] Please combine again Figure 4 and Figure 5 , and see Figure 1 In one embodiment, the clamping device 4 clamps the wire drum 5 in a clamping manner, and can remove the wire drum 5 from the narrow space of the wire drum frame 101 of the stranding device 1.

[0060] The shape of the wire drum 5 is roughly cylindrical, and the wire drum 5 includes a main body 501 and two side parts 502. The main body 501 is cylindrical, and along the direction of the axis of the main body 501, the two side parts 502 are respectively connected to the two ends of the main body 501. The side part 502 is disc-shaped, and the outer contour of the side part 502 exceeds the outer contour of the main body 501. The main body 501 is used for winding wire, and the wire wound on the main body 501 is limited between the two side parts 502. When the wire drum 5 is placed in the wire drum rack 101, the direction of the axis of the wire drum 5 is parallel to the second direction Y.

[0061] The clamping device 4 includes a base 10 , a first clamping assembly 20 , a second clamping assembly 40 , and an alignment assembly 60 .

[0062] The base 10 is connected to the driving end of the first moving mechanism 601 so as to drive the base 10 to rise and fall along the first direction Z through the first moving mechanism 601. The first moving mechanism 601 may be a mechanism such as a screw lift or a lifting cylinder. The first clamping assembly 20 is movably connected to the base 10, and the first clamping assembly 20 can at least move relative to the base 10 along the second direction Y. The first clamping assembly 20 is configured to clamp or release the wire drum 5. The second clamping assembly 40 is movably connected to the base 10, and the second clamping assembly 40 can at least move relative to the base 10 along the first direction Z and the second direction Y, and the second clamping assembly 40 is configured to clamp or release the wire drum 5. Along the first direction Z, the second clamping assembly 40 can move to the side of the first clamping assembly 20 close to the wire drum 5, for clamping the wire drum 5 lifted by the first clamping assembly 20. The alignment assembly 60 includes two swinging mechanisms 61, and the two swinging mechanisms 61 are arranged at intervals along the third direction X. The swing mechanism 61 is rotatably connected to the base 10 , and the two swing mechanisms 61 are configured to elastically support opposite sides of the wire drum 5 along the third direction X, so as to adjust the position of the wire drum 5 .

[0063] In this way, the first clamping assembly 20, the second clamping assembly 40, and the alignment assembly 60 are installed on the base 10. When the base 10 moves toward the stranding device 1, the alignment assembly 60 contacts the wire drum 5 stored at the stranding device 1 and adjusts the position of the wire drum 5 so that it can be clamped by the first clamping assembly 20 and the second clamping assembly 40. Subsequently, the first clamping assembly 20 clamps the wire drum 5, and the first clamping assembly 20 moves with the base 10 toward the side away from the stranding device 1 to lift the wire drum 5 to a certain height, ensuring that the subsequent second clamping assembly 40 can smoothly clamp the wire drum 5. Subsequently, the second clamping assembly 40 aligns with the wire drum 5 and clamps the wire drum 5 to prevent the wire drum 5 from shaking during the movement. The base 10 continues to move until the wire drum 5 is completely removed from the stranding device 1, thereby realizing the automatic unloading of the wire drum 5. In addition, when loading the wire drum 5, the first clamping assembly 20 and the second clamping assembly 40 directly clamp the wire drum 5 at the same time, and then drive the base 10 to move toward the stranding device 1, so as to automatically put the wire drum 5 into the wire drum rack 101 of the stranding device 1. The loading and unloading of the entire wire drum 5 can be automated without manual intervention, and when unloading the wire drum 5, the first clamping assembly 20 first clamps the wire drum 5, then lifts it for a distance, and then clamps the wire drum 5 by the second clamping assembly 40, which can avoid the narrow space at the wire drum rack 101 affecting the work of the second clamping assembly 40, and can well take out the heavy wire drum 5 from the relatively narrow wire drum rack 101 safely.

[0064] Please combine again Figures 5 to 8 In one embodiment, the base 10 includes a first substrate 11 and a second substrate 12 .

[0065] The first substrate 11 and the second substrate 12 are both in the shape of a flat plate. The first substrate 11 and the second substrate 12 are arranged in parallel and are both placed along the second direction Y. Along the first direction Z, the second substrate 12 is arranged at intervals on a side of the first substrate 11 away from the stranding device 1. The first clamping assembly 20 is located between the first substrate 11 and the second substrate 12, and the first clamping assembly 20 is movably connected to the first substrate 11. The second clamping assembly 40 is movably connected to the second substrate 12.

[0066] In particular, a connecting seat 13 is protrudingly provided at the center of the second substrate 12 away from the first substrate 11 , and the connecting seat 13 is connected to the lifting end of the first moving mechanism 601 .

[0067] In this embodiment, the clamping device 4 further includes a first detection component 70 . The first detection component 70 is configured to detect whether the first substrate 11 slides relative to the second substrate 12 .

[0068] The base 10 further includes a linear bearing 14 and a sliding member 15. There are four linear bearings 14, which are disposed at the corners of the second substrate 12. Along the first direction Z, the four linear bearings 14 are all disposed through the second substrate 12, and the four linear bearings 14 are fixed to the second substrate 12.

[0069] There are four sliding members 15, and the four sliding members 15 are arranged corresponding to the four linear bearings 14. The shape of the sliding member 15 is cylindrical, and the sliding member 15 is arranged along the first direction Z. One end of the sliding member 15 is fixed to the first substrate 11, and the other end of the sliding member 15 is penetrated through the linear bearing 14, and one end of the sliding member 15 penetrated through the linear bearing 14 is slidably connected to the linear bearing 14, thereby realizing the sliding connection between the first substrate 11 and the second substrate 12 in the first direction Z.

[0070] In this embodiment, the first detection component 70 adopts a contact position sensor, and the induction sheet 71 of the contact position sensor is arranged at intervals at one end of a sliding member 15 passing through the linear bearing 14. When the first moving mechanism 601 drives the base 10 to descend until the first substrate 11 contacts with the structure such as the wire drum rack 101 or the wire drum 5, the first substrate 11 slides upward, thereby driving the sliding member 15 to slide downward, and the end of the sliding member 15 contacts the induction sheet 71 of the first detection component 70, triggering an alarm signal, thereby controlling the first moving mechanism 601 to stop working to avoid damage to the equipment.

[0071] It is understandable that in other embodiments, the first detection component 70 may also use other detection elements such as a laser ranging sensor.

[0072] Please combine again Figures 5 to 7 , and combined with Figure 1 In one embodiment, the clamping device 4 further includes a first moving assembly 30 . The first moving assembly 30 includes two first sliding mechanisms 31 , and the two first sliding mechanisms 31 are both disposed on the base 10 .

[0073] Specifically, the two first sliding mechanisms 31 are located between the first substrate 11 and the second substrate 12 and are installed on one side of the first substrate 11 close to the second substrate 12. Along the third direction X, the two first sliding mechanisms 31 are spaced apart to save space required for installing the two first sliding mechanisms 31.

[0074] In this embodiment, the first sliding mechanism 31 is a screw slide, and the first sliding mechanism 31 is disposed along the second direction Y.

[0075] It is understandable that, in other embodiments, the first sliding mechanism 31 may also be other linear mechanisms such as a cylinder slide.

[0076] Further, the first clamping assembly 20 includes a first hook 21 and a second hook 22. The first hook 21 and the second hook 22 are spaced apart along the second direction Y, and the first hook 21 and the second hook 22 can be respectively clamped in the hook grooves 503 formed on the two side portions 502 of the wire drum 5.

[0077] One first sliding mechanism 31 is connected to the first hook 21 for driving the first hook 21 to slide along the second direction Y. Another first sliding mechanism 31 is connected to the second hook 22 for driving the second hook 22 to slide along the second direction Y. When the two first sliding mechanisms 31 drive the first hook 21 and the second hook 22 to approach each other, the first hook 21 and the second hook 22 hook the wire drum 5 and lift it. When the two first sliding mechanisms 31 drive the first hook 21 and the second hook 22 to move away from each other, the first hook 21 and the second hook 22 release the wire drum 5.

[0078] Specifically, the first hook 21 and the second hook 22 are both in an "L" shape and include a first section 211 and a second section 212. The first section 211 is arranged along the first direction Z, and the top of the first section 211 is connected to the sliding end of the first sliding mechanism 31. The first substrate 11 is provided with a through hole 110, and the through hole 110 penetrates the first substrate 11 along the first direction Z. The bottom end of the first section 211 passes through the through hole 110 and is exposed to the first substrate 11, so that when the first hook 21 and the second hook 22 grab the wire drum 5, the first substrate 11 will not contact the wire drum 5. The second section 212 is arranged along the second direction Y, one end of the second section 212 is connected to the bottom end of the first section 211, and the other end of the second section 212 is adapted to the shape of the hook groove 503 to be clamped in the hook groove 503.

[0079] In this way, when the wire reel 5 in the wire reel rack 101 needs to be taken out, the first moving mechanism 601 drives the clamping device 4 to descend until the first hook claw 21 and the second hook claw 22 are roughly flush with the top of the hook groove 503, and then the two first sliding mechanisms 31 drive the first hook claw 21 and the second hook claw 22 to be clamped in the hook groove 503. After the first moving mechanism 601 drives the clamping device 4 to rise a certain distance, the wire reel 5 is partially extended out of the wire reel rack 101, so that the wire reel 5 can be clamped by the second clamping assembly 40 later.

[0080] In particular, the first clamping assembly 20 further includes a second detection assembly 23, which is a photoelectric sensor. The transmitting end and the receiving end of the photoelectric sensor are respectively arranged on the adjacent side of the two first sections 211 to detect whether the wire drum 5 is located between the first hook 21 and the second hook 22.

[0081] Please combine again Figures 5 to 8In one embodiment, the clamping device 4 further includes a second moving assembly 50. The second moving assembly 50 includes a second sliding mechanism 51 and a lifting mechanism 52. The second sliding mechanism 51 is disposed on the base 10. The second sliding mechanism 51 is connected to the lifting mechanism 52 in a transmission manner to drive the lifting mechanism 52 to slide along the second direction Y. The lifting mechanism 52 is connected to the second clamping assembly 40 in a transmission manner to drive the second clamping assembly 40 to rise and fall along the first direction Z.

[0082] Specifically, the number of the second moving assemblies 50 is set to two, and the second sliding mechanisms 51 of the two second moving assemblies 50 are installed on the side of the second substrate 12 away from the first substrate 11. Along the second direction Y, the two second sliding mechanisms 51 are respectively arranged on opposite sides of the connecting seat 13.

[0083] The second sliding mechanism 51 includes a thrust cylinder 511, a slide rail 512, and a slide plate 513. The slide rail 512 is installed on the side of the second substrate 12 away from the first substrate 11 along the second direction Y. The slide plate 513 is slidably installed on the slide rail 512 so that the slide rail 512 guides the slide plate 513 to slide along the second direction Y. The shape of the slide plate 513 is generally "L"-shaped, and along the third direction X, the two opposite sides of the slide plate 513 are respectively convexly provided with a first convex portion 5131 and a second convex portion 5132.

[0084] Along the second direction Y, the thrust cylinder 511 is installed on a side of the second substrate 12 away from the first substrate 11 , and a driving end of the thrust cylinder 511 is connected to the first protrusion 5131 to push and pull the sliding plate 513 along the second direction Y.

[0085] In this embodiment, along the second direction Y, a lifting mechanism 52 is provided on the opposite sides of the sliding plates 513 of the two second sliding mechanisms 51. The lifting mechanism 52 is a screw lifting slide and is provided along the first direction Z.

[0086] The second clamping assembly 40 includes a first clamping jaw 41 and a second clamping jaw 42. Along the second direction Y, the first clamping jaw 41 and the second clamping jaw 42 are spaced apart, and the lifting mechanisms 52 of the two second moving assemblies 50 are respectively connected to the first clamping jaw 41 and the second clamping jaw 42 to drive the first clamping jaw 41 and the second clamping jaw 42 to move toward or away from each other, thereby enabling the second clamping assembly 40 to clamp or release the wire drum 5.

[0087] The first clamping jaw 41 and the second clamping jaw 42 are both in an "L" shape and include a vertical portion 411 and a horizontal portion 412. The vertical portion 411 is arranged along the first direction Z, and along the second direction Y, the vertical portion 411 is arranged at intervals on the outside of the base 10. The side of the vertical portion 411 close to the base 10 is connected to the lifting end of the lifting mechanism 52, and the horizontal portion 412 is arranged along the second direction Y. One end of the horizontal portion 412 is fixed to the side of the bottom end of the vertical portion 411 close to the base 10, and the other end of the horizontal portion 412 can be clamped in the center hole 504 of the two side portions 502, so that the wire drum 5 is pressed tightly by the two side portions 502 of the first clamping jaw 41 and the second clamping jaw 42.

[0088] It is worth noting that along the second direction Y, the length of the horizontal portion 412 should satisfy the following requirement: when the horizontal portion 412 abuts against the side portion 502 , there is still a gap between the vertical portion 411 and the base 10 to prevent the vertical portion 411 from pressing against the base 10 .

[0089] In this way, in the initial state, the first clamping jaw 41 and the second clamping jaw 42 are located at their maximum upward travel and are in a retracted state, so as to avoid interference between the narrow space at the wire drum rack 101 and the second clamping assembly 40 when the first moving mechanism 601 drives the base 10 to descend to the wire drum rack 101. When the first clamping assembly 20 clamps the wire drum 5 and rises to the second clamping assembly 40 so as not to be restricted by the narrow space at the wire drum rack 101, the lifting mechanism 52 drives the first clamping jaw 41 and the second clamping jaw 42 to descend to the horizontal portion 412 below the first hook 21 and the second hook 22. Subsequently, the two second sliding mechanisms 51 drive the first clamping jaw 41 and the second clamping jaw 42 to press against the center of the wire drum 5, thereby ensuring that the wire drum 5 will not shake during the subsequent lifting process, reducing safety hazards.

[0090] In this embodiment, the clamping device 4 further includes a limit assembly 80. When the two second sliding mechanisms 51 drive the first clamping jaw 41 and the second clamping jaw 42 to move toward each other, the limit assembly 80 is configured to limit the maximum sliding stroke of the first clamping jaw 41 and the second clamping jaw 42 respectively.

[0091] Specifically, the limiting assembly 80 includes a limiting seat 81 and a limiting member 82. The limiting seat 81 is fixed to the side of the second substrate 12 away from the first substrate 11, and the limiting member 82 is arranged through the limiting seat 81 along the second direction Y. One end of the limiting member 82 is used to abut against the second protrusion 5132 to limit the sliding plate 513 from sliding further. The limiting member 82 is threadedly matched with the limiting seat 81 to achieve position adjustment of the limiting member 82 relative to the limiting seat 81 in the second direction Y.

[0092] The number of the limiting components 80 is set to two to respectively limit the maximum sliding stroke of the two sliding plates 513 when sliding toward one side of the connecting seat 13 , thereby adjusting the clamping position of the first clamping jaw 41 and the second clamping jaw 42 .

[0093] Please combine again Fig. 9 and Fig.10 In one embodiment, the swing mechanism 61 includes a swing seat 611 , a swing member 612 , an elastic member 613 , and a supporting member 614 .

[0094] The swing seat 611 is fixed to the side of the first substrate 11 away from the second substrate 12, and the shape of the swing member 612 is roughly a "water drop" shape. Along the first direction Z, the top end of the swing member 612 is rotatably connected to the swing seat 611, and the direction of the rotation axis of the swing member 612 is parallel to the second direction Y.

[0095] The elastic member 613 is a compression spring or the like. One end of the elastic member 613 is elastically connected to the middle portion of the swing member 612 , and the other end of the elastic member 613 is elastically connected to the swing seat 611 .

[0096] The extension direction of the abutment 614 is parallel to the second direction Y, and the number of the swing seat 611 and the swing member 612 is set to two. Along the second direction Y, the two swing members 612 are arranged at intervals, and the abutment 614 is arranged between the two swing members 612, and the two ends of the abutment 614 are respectively connected to the two swing members 612. The shape of the abutment 614 is cylindrical, and the extension length of the abutment 614 is greater than the distance between the two side portions 502, so that the abutment 614 can abut against the side portion 502 of the wire drum 5. In addition, along the first direction Z, the two abutment 614 are both located below the first hook 21 and the second hook 22.

[0097] When the alignment component 60 and the wire drum 5 are in a separated state, the distance between the two abutting members 614 is smaller than the length of the wire drum 5 in the third direction X. In this way, when the first moving mechanism 601 drives the base 10 to descend, the two abutting members 614 first abut against the outer peripheral surface of the side portion 502 of the wire drum 5, and the abutting members 614 slide downward along the outer peripheral surface of the side portion 502, and the elastic member 613 is gradually stretched to apply a resetting elastic force to the abutting members 614, so that the two abutting members 614 have a tendency to move closer to each other, so that the center of the wire drum 5 is adjusted to a suitable position after the wire drum 5 is clamped by the two abutting members 614, thereby facilitating the subsequent operation of the first clamping component 20 and the second clamping component 40. Subsequently, when the first moving mechanism 601 drives the base 10 to rise, the wire drum 5 can be directly separated from the two abutting members 614, and the abutting members 614 are reset under the action of the elastic member 613 to facilitate subsequent alignment again.

[0098] Please refer to Figures 1 to 3 The present application also provides an automated loading and unloading method 200 for a stranding device, which is applied to the automated loading and unloading equipment 100 for a stranding device. The automated loading and unloading method 200 for a stranding device comprises the following steps: S1. A full-wire reel 5 is pre-stored in the buffer device 2 corresponding to each wire twisting device 1.

[0099] In this step, the full wire drums 5 at the storage device 8 are first transported to the buffer device 2 for storage by the transfer device 3, and the number of full wire drums 5 stored in the buffer device 2 is the same as the number of wire drum racks 101 of the corresponding stranding device 1.

[0100] S2. After detecting that the wire reel 5 on the wire twisting device 1 is empty, the moving device 6 and the clamping device 4 cooperate to grab the empty reel on the wire twisting device 1 to its corresponding buffer device 2.

[0101] In this step, a monitoring device such as an industrial camera can be provided at the wire twisting device 1 to monitor in real time whether the wire reel 5 on the wire twisting device 1 is an empty reel. When the monitoring device detects that a wire reel 5 on the wire twisting device 1 is an empty reel, the monitoring device sends a material discharge signal to a control device, and the control device controls the movement of the moving device 6 and the clamping device 4 to grab the empty reel and place it in the buffer cavity 201 of the buffer device 2 where no wire reel 5 is placed.

[0102] S3. If the wire twisting device 1 needs to be loaded with materials after the empty reel is removed, the moving device 6 and the clamping device 4 cooperate to load the wire reel 5 pre-stored in the buffer device 2 onto the wire twisting device 1.

[0103] In this step, if the wire twisting device 1 needs to continue working after removing the empty reel, it is necessary to load the full wire reel 5 into the wire twisting device 1, and the clamping device 4 grabs a pre-stored wire reel 5 from the buffer device 2 and loads it into the wire reel rack 101 of the wire twisting device 1. Then, the operator can perform the threading operation.

[0104] S4, the moving device 6 and the clamping device 4 cooperate to grab the empty disk at the buffer device 2 and put it on the transferring device 3, the transferring device 3 transports the empty disk to the storage device 8 and transports the full wire disk 5 at the storage device 8 to the buffer device 2, and then the moving device 6 and the clamping device 4 cooperate to grab the wire disk 5 on the transferring device 3 and put it to the buffer device 2 for standby.

[0105] In this step, if the stranding device 1 is loaded with a plurality of wire drums 5, and each wire drum 5 has completed the unloading operation and is placed in the buffer device 2, the plurality of empty drums stored in the buffer device 2 can be simultaneously transferred to the storage device 8 by the transfer device 3 for unified material replacement.

[0106] S5. If the stranding device 1 does not need to be loaded after the empty disk is removed, the moving device 6 and the clamping device 4 cooperate to grab the empty disk at the buffer device 2 and place it on the transfer device 3, and the transfer device 3 transports the empty disk to the storage device 8.

[0107] In this step, if the twisting device 1 only unloads one empty disc, the empty disc can be stored on the transfer device 3, and the transfer device 3 continues to go to other cache devices 2 to receive empty discs until the number of empty discs stored on the transfer device 3 reaches the maximum value, and then the transfer device 3 moves to the storage device 8 to store the empty discs in the storage device 8.

[0108] In the above, the specific embodiments of the present application are described with reference to the accompanying drawings. However, those skilled in the art will appreciate that various changes and substitutions may be made to the specific embodiments of the present application without departing from the scope of the present application. These changes and substitutions are all within the scope defined by the present application.

Claims

1. An automatic loading and unloading device for a stranding device, used to realize the exchange of wire reels between the stranding device and the storage device; characterized in that: The automatic loading and unloading equipment for the stranding device comprises: A buffer device, configured to temporarily store the wire reels to be loaded or the wire reels after unloading; A transfer device, configured to load and transport the wire drum, wherein the transfer device can move between the buffer device and the material storage device; a clamping device configured to clamp the wire drum; The moving device includes a first moving mechanism and a second moving mechanism. The first moving mechanism is arranged on one side of the stranding device along a first direction. The first moving mechanism is transmission-connected to the clamping device and is used to drive the clamping device to approach or move away from the stranding device along the first direction. The second moving mechanism is transmission-connected to the first moving mechanism and is used to drive the first moving mechanism to move between the stranding device and the cache device.

2. The automatic loading and unloading equipment for a stranding device according to claim 1, characterized in that: The automated loading and unloading equipment for the stranding device has a defined exchange station, and the transfer device can move between the exchange station and the storage device. When the transfer device is located at the exchange station, the transfer device can exchange the wire drum with the buffer device.

3. The automatic loading and unloading equipment for a stranding device according to claim 2, characterized in that: The second moving mechanism is further configured to drive the first moving mechanism to move between the buffer device and the exchange station, so as to realize the exchange of the wire trays between the buffer device and the transfer device moved to the exchange station through the clamping device.

4. The automatic loading and unloading equipment for a stranding device according to claim 1, characterized in that: The automatic loading and unloading equipment for the stranding device further comprises a track device, wherein the track device comprises a first track, and the transfer device can move on the first track; The number of the first tracks is set to be multiple, and the multiple first tracks are arranged at intervals along the second direction, the second direction intersects with the first direction, and along the second direction, both sides of each of the first tracks are provided with a twisting station, the twisting station is configured to place the twisting device, and the buffer device is arranged on the first track; Among them, the number of the mobile devices is the same as the number of the first rails, and the mobile devices and the first rails are arranged one-to-one, and the second mobile mechanism in the same mobile device is configured to drive its first mobile mechanism to move between the stranding stations on both sides of its corresponding first rail along the second direction.

5. The automatic loading and unloading equipment for a stranding device according to claim 4, characterized in that: Along the second direction, the wire twisting stations on any side of the first track are provided in plurality, and the plurality of wire twisting stations are sequentially arranged along a third direction, and the third direction intersects the first direction and the second direction; Wherein, the second moving mechanism is further configured to drive the first moving mechanism to move along the third direction, so that the clamping device can be moved to any wire stranding station along the third direction.

6. The automatic loading and unloading equipment for a stranding device according to claim 4, characterized in that: The track device also includes a second track, the transfer device can move on the second track, the second track is connected to at least one end of the plurality of first tracks, and the second track extends to the material storage device.

7. The automatic loading and unloading equipment for a stranding device according to claim 1, characterized in that: The clamping device comprises: A base, transmission-connected to the first moving mechanism; a first clamping assembly, movably connected to the base, the first clamping assembly being movable relative to the base at least along a second direction, the second direction intersecting the first direction, the first clamping assembly being configured to clamp or release the wire drum; A second clamping assembly is movably connected to the base, the second clamping assembly can move relative to the base at least along the first direction and the second direction, and the second clamping assembly is configured to clamp or release the wire drum; along the first direction, the second clamping assembly can move to a side of the first clamping assembly close to the wire drum, for clamping the wire drum lifted by the first clamping assembly; The alignment component includes two swing mechanisms, which are arranged at intervals along a third direction, and the third direction intersects with the first direction and the second direction. The swing mechanisms are rotatably connected to the base, and the two swing mechanisms are configured to elastically support opposite sides of the wire drum along the third direction for adjusting the position of the wire drum.

8. The automatic loading and unloading equipment for a stranding device according to claim 7, characterized in that: The swing mechanism comprises: A swinging member is rotatably connected to a side of the base close to the wire drum; An elastic member, one end of which is elastically connected to the swing member, and the other end of which is elastically connected to the base; The supporting member extends in a direction parallel to the second direction. The number of the swinging members is set to two. Along the second direction, the two swinging members are arranged at intervals. The supporting member is arranged between the two swinging members, and the two ends of the supporting member are respectively connected to the two swinging members.

9. The automatic loading and unloading equipment for a stranding device according to claim 8, characterized in that: When the alignment assembly and the wire drum are in a separated state, the distance between the two abutting members is smaller than the length of the wire drum in the third direction.

10. An automated loading and unloading method for a stranding device, characterized in that: The automatic loading and unloading equipment for a stranding device as claimed in any one of claims 1 to 9, wherein the automatic loading and unloading method for a stranding device comprises the following steps: A full-wire reel is pre-stored at a buffer device corresponding to each wire twisting device; After detecting that a wire reel on a wire twisting device is empty, the moving device and the clamping device cooperate to grab the empty reel on the wire twisting device to its corresponding buffer device; If the wire twisting device needs to be loaded after the empty reel is removed, the moving device and the clamping device cooperate to load the wire reel pre-stored in the buffer device onto the wire twisting device; The moving device and the clamping device cooperate to grab the empty disk at the buffer device to the transfer device, the transfer device transports the empty disk to the storage device and transports the full wire disk at the storage device to the buffer device, and then the moving device and the clamping device cooperate to grab the wire disk on the transfer device to the buffer device for standby; If the stranding device does not need to be loaded after the empty disk is removed, the moving device and the clamping device cooperate to grab the empty disk at the buffer device to the transfer device, and the transfer device transports the empty disk to the storage device.

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