Automated Loading and Unloading Equipment and Method for Stranding Device

Abstract

The present application provides an automatic loading and unloading device and method for a stranding device. The automatic loading and unloading device for the stranding device is used to realize the coil exchange between the stranding device and the stock storage device. The automatic loading and unloading device for the stranding device includes a buffer device, a transfer device, a clamping device and a moving device. The buffer device is configured to temporarily store the coil to be loaded or the coil after unloading. The transfer device is configured to load and transport the coil, and the transfer device can move between the buffer device and the stock storage device. The clamping device is configured to clamp the coil. The moving device includes a first moving mechanism and a second moving mechanism. Along a first direction, the first moving mechanism is disposed on one side of the stranding device. The first moving mechanism is drivingly 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 drivingly connected to the first moving mechanism and is used to drive the first moving mechanism to move between the stranding device and the buffer 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;

[0008] 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;

[0009] 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.

[0010] 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;

[0011] 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.

[0012] 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.

[0013] In a possible implementation, the clamping device includes:

[0014] A base, transmission-connected to the first moving mechanism;

[0015] 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;

[0016] A second clamping assembly, movably connected to the base, the second clamping assembly being movable relative to the base at least along the first direction and the second direction, the second clamping assembly being configured to clamp or release the coil; along the first direction, the second clamping assembly can be moved to a side of the first clamping assembly close to the coil for clamping the coil lifted by the first clamping assembly;

[0017] An alignment assembly, including two swing mechanisms, arranged at intervals along a third direction, the third direction intersecting with the first direction and the second direction, the swing mechanisms rotatably connected to the base, the two swing mechanisms being configured to elastically abut against opposite sides of the coil along the third direction for adjusting the position of the coil.

[0018] In a possible implementation manner, the swing mechanism includes:

[0019] A swing member, rotatably connected to a side of the base close to the coil;

[0020] An elastic member, elastically connected to the swing member at one end and elastically connected to the base at the other end of the elastic member;

[0021] A holding member, the extending direction of which is parallel to the second direction, the number of the swing members being two, arranged at intervals along the second direction, the holding member being arranged between the two swing members, and both ends of the holding member being respectively connected to the two swing members.

[0022] In a possible implementation manner, when the alignment assembly is in a separated state from the coil, the distance between the two holding members is smaller than the length of the coil in the third direction.

[0023] The present application further provides an automatic loading and unloading method for a wire stranding device, applied to the above-mentioned automatic loading and unloading equipment for a wire stranding device, the automatic loading and unloading method for a wire stranding device including the following steps:

[0024] Pre-store full coils at the buffer device corresponding to each wire stranding device;

[0025] After it is detected that the coil on a wire stranding device is an empty coil, the moving device and the clamping device cooperate to grab the empty coil on the wire stranding device to its corresponding buffer device;

[0026] If the wire stranding device still needs to be loaded after removing the empty coil, the moving device and the clamping device cooperate to load the coil pre-stored at the buffer device onto the wire stranding device;

[0027] The mobile device and the clamping device cooperate to grab the empty trays at the buffer device onto the transfer device. The transfer device transports the empty trays to the storage device and transports the full trays at the storage device to the buffer device, and then, through the cooperation of the mobile device and the clamping device, grabs the trays on the transfer device to the buffer device for standby.

[0028] If the stranding device does not need to be loaded after removing the empty trays, the mobile device and the clamping device cooperate to grab the empty trays at the buffer device onto the transfer device, and the transfer device transports the empty trays to the storage device.

[0029] The automatic loading and unloading equipment for the stranding device of the present application pre-stores the full trays or the empty trays unloaded from the stranding equipment through the buffer device, and through the cooperation of the mobile device and the clamping device, grabs the empty trays on the stranding equipment to the buffer device or grabs the trays at the buffer device to the stranding equipment, so as to realize the automatic loading and unloading of the trays. In addition, after the number of empty trays stored at the buffer device reaches a predetermined number, the transfer device can also uniformly transport the empty trays stored at the buffer device to the storage device and transport the full trays at the storage device to the buffer device for storage, so as to realize the automatic transfer and preparation of the trays, improve the loading and unloading efficiency of the trays, and reduce the labor cost. Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0031] Figure 2 It is a schematic structural diagram of the first track of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0032] Figure 3 It is a schematic plan distribution diagram of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0033] Figure 4 It is a schematic structural diagram of the tray of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0034] Figure 5 It is a schematic structural diagram of the clamping device of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0035] Figure 6 It is an exploded schematic diagram of the clamping device of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0036] Figure 7 It is a bottom view schematic diagram of the clamping device of the automatic loading and unloading equipment for the stranding device of the present application in an embodiment.

[0037] Figure 8 is Figure 5 A partial enlarged schematic view of the corresponding area A of the clamping device in

[0038] Figure 9 is Figure 5 A schematic view of the alignment component of the clamping device in an embodiment when contacting the wire spool.

[0039] Figure 10 is Figure 5 A schematic view of the structure of the alignment component of the clamping device in an embodiment.

[0040] Description of main component symbols:

[0041] Automated loading and unloading method 200 for stranding device

[0042] Automated loading and unloading equipment 100 for stranding device

[0043] First direction Z

[0044] Second direction Y

[0045] Third direction X

[0046] Track surface P

[0047] Stranding station W1

[0048] Exchange station W2

[0049] Stranding device 1

[0050] Wire spool rack 101

[0051] Buffer device 2

[0052] Buffer chamber 201

[0053] Transfer device 3

[0054] Clamping device 4

[0055] Wire spool 5

[0056] Main body part 501

[0057] Side part 502

[0058] Hook groove 503

[0059] Central hole 504

[0060] Moving device 6

[0061] First moving mechanism 601

[0062] Second moving mechanism 602

[0063] The first linear reciprocating mechanism 6021

[0064] The second linear reciprocating mechanism 6022

[0065] The first frame 603

[0066] The second frame 604

[0067] The track device 7

[0068] The first track 701

[0069] The second track 702

[0070] The walking space 703

[0071] The stock storage device 8

[0072] The base 10

[0073] The first substrate 11

[0074] The perforation 110

[0075] The second substrate 12

[0076] The connecting seat 13

[0077] The linear bearing 14

[0078] The sliding part 15

[0079] The first clamping assembly 20

[0080] The first hook claw 21

[0081] The first section 211

[0082] The second section 212

[0083] The second hook claw 22

[0084] The second detection assembly 23

[0085] The first moving assembly 30

[0086] The first sliding mechanism 31

[0087] The second clamping assembly 40

[0088] The first jaw 41

[0089] The vertical part 411

[0090] The horizontal part 412

[0091] The second jaw 42

[0092] The second moving assembly 50

[0093] The second sliding mechanism 51

[0094] The pushing cylinder 511

[0095] The slide rail 512

[0096] The sliding plate 513

[0097] The first convex part 5131

[0098] The second convex part 5132

[0099] The lifting mechanism 52

[0100] The alignment component 60

[0101] The swinging mechanism 61

[0102] The swinging seat 611

[0103] The swinging part 612

[0104] The elastic part 613

[0105] The abutting part 614

[0106] The first detection component 70

[0107] The induction sheet 71

[0108] The limiting component 80

[0109] The limiting seat 81

[0110] The limiting part 82

[0111] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. Specific embodiments

[0112] The following description will describe the content of the present application more comprehensively with reference to the drawings. The exemplary embodiments shown in the drawings are of the present application. However, the present application can be implemented in many different forms and should not be construed as 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 denote the same or similar components.

[0113] The terms used herein are for the purpose of describing specific exemplary embodiments only 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 include the plural forms as well. Further, when used herein, "comprising" and / or "including" and / or "having", integers, steps, operations, components and / or components, but do not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components and / or their groups.

[0114] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. In addition, unless clearly defined in the text, terms such as those defined in a general dictionary should be interpreted as having a meaning consistent with their meaning in the relevant art and the content of this application, and will not be interpreted as idealized or overly formal meanings.

[0115] The following further describes in detail the specific implementation manners of this application with reference to the accompanying drawings.

[0116] As Figures 1 to 3 shown, this embodiment provides an automatic loading and unloading device 100 for a stranding device, which is used to realize the exchange of the wire reel 5 between the stranding device 1 and the stock storage device 8.

[0117] The stranding device 1 is a device such as a cage stranding or tube stranding device, and has a plurality of wire reel racks 101, and each wire reel rack 101 can load one wire reel 5. The stock storage device 8 stores a plurality of full wire reels 5 and can store the empty reels unloaded from the stranding device 1, so as to centrally transfer and wind the empty reels subsequently.

[0118] It should be noted that a device such as a manipulator can also be provided at the stock storage device 8 to grab the empty reel on the transfer device 3 to the stock storage device 8 for storage through the manipulator, or grab the full wire reel on the stock storage device 8 to the transfer device 3.

[0119] For the convenience of subsequent reading, this application introduces the first direction Z, the second direction Y, and the third direction X to describe the embodiments of this application. The first direction Z, the second direction Y, and the third direction X can be three non-parallel linear directions in space; further, the first direction Z, the second direction Y, and the third direction X can be three mutually perpendicular directions in a three-dimensional coordinate system (three-dimensional Cartesian coordinate system). In subsequent embodiments, the first direction Z is taken as the Z-axis direction of the coordinate axis of the three-dimensional coordinate system, the second direction Y is taken as the Y-axis direction of the coordinate axis of the three-dimensional coordinate system, and the third direction X is taken as the X-axis direction of the coordinate axis of the three-dimensional coordinate system as an example for description.

[0120] The automatic loading and unloading device 100 for a stranding device includes a buffer device 2, a transfer device 3, a clamping device 4, and a moving device 6.

[0121] The buffer device 2 is configured to temporarily store the spool 5 to be loaded or the spool 5 after unloading. The transfer device 3 is configured to load and transport the spool 5. The transfer device 3 can move between the buffer device 2 and the storage device 8 to transport the full spool 5 at the storage device 8 to the buffer device 2 for temporary storage, and transport the empty spool after unloading received by the buffer device 2 to the storage device 8. The clamping device 4 is configured to clamp the spool 5 so that the spool 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 disposed on one side of the stranding device 1. The first moving mechanism 601 is drivingly connected to the clamping device 4 and is used to drive the clamping device 4 to approach or move away from the stranding device 1 along the first direction Z. The second moving mechanism 602 is drivingly connected to the first moving mechanism 601 and is used to drive the first moving mechanism 601 to move between the stranding device 1 and the buffer device 2.

[0122] Thus, for the automatic loading and unloading device 100 for the stranding device in the present application, by providing the buffer device 2 to pre-store the full spool 5 or the empty spool unloaded from the stranding device, and through the cooperation of the moving device 6 and the clamping device 4, the empty spool on the stranding device is grabbed to the buffer device 2 or the spool 5 at the buffer device 2 is grabbed to the stranding device, thereby realizing the automatic loading and unloading of the spool 5. In addition, after the number of empty spools stored at the buffer device 2 reaches a predetermined number, the transfer device 3 can also uniformly transport the empty spools stored at the buffer device 2 to the storage device 8, and transport the full spool 5 at the storage device 8 to the buffer device 2 for storage, thereby realizing the automatic transfer and preparation of the spool 5, improving the loading and unloading efficiency of the spool 5, and reducing the labor cost.

[0123] Please also combine with Figures 1 to 3 , in an embodiment, the automatic loading and unloading device 100 for the stranding device further includes a track device 7. The track device 7 includes a first track 701, and the extending direction of the first track 701 is parallel to the third direction X.

[0124] The transfer device 3 can move on the first track 701. The transfer device 3 can be an automated transport cart such as an RGV (Rail Guided Vehicle) cart or an AGV (Automated Guided Vehicle) cart.

[0125] Along the second direction Y, stranding stations W1 are provided on both sides of the first track 701. The stranding stations W1 are configured for the stranding device 1 to be placed. The first track 701 is connected by structures such as a steel frame and a steel plate. Along the first direction Z, the top surface of the first track 701 is the track surface P, and the transfer device 3 moves on the track surface P. Along the first direction Z, the position where the track surface P is located is higher than the stranding device 1.

[0126] In this embodiment, the mobile device 6 further includes a first frame 603 and a second frame 604. The extending direction of the first frame 603 is parallel to the third direction X, and the number of the first frames 603 is two. Along the second direction Y, the two first frames 603 are respectively arranged on the opposite sides of the first track 701, and both of the two first frames 603 are arranged at intervals from the first track 701. A stranding station W1 is arranged between each first frame 603 and the first track 701.

[0127] 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 extending direction of the second frame 604 is parallel to the second direction Y, and the two ends of the second frame 604 are respectively slidably connected to the two first frames 603.

[0128] The first moving mechanism 601 includes a first linear reciprocating mechanism 6021 and a second linear reciprocating mechanism 6022. The number of the first linear reciprocating mechanisms 6021 is two, and the two first linear reciprocating mechanisms 6021 are respectively installed on the 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 table, and its specific structure is not limited in this application.

[0129] The two ends of the second frame 604 are respectively connected to the driving ends of the two first linear reciprocating mechanisms 6021, so as to jointly drive the second frame 604 to move along the third direction X through the two first linear reciprocating mechanisms 6021.

[0130] 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 lead screw slide table, and its specific structure is not limited in this application.

[0131] The second moving mechanism 602 is installed on the driving end of the second linear reciprocating mechanism 6022, so as 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.

[0132] Please also combine Figures 1 to 3 , in an embodiment, along the second direction Y, a plurality of stranding stations W1 are arranged on any side of the first track 701, and the plurality of stranding stations W1 are arranged in sequence along the third direction X, so that a plurality of stranding devices 1 can be sequentially placed on any side of the first track 701.

[0133] Among them, the second moving mechanism 602 is further 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 wire stranding station W1 along the third direction X. Furthermore, multiple wire stranding devices 1 can share one moving device 6 and one clamping device 4, thus reducing the equipment cost.

[0134] Furthermore, the automatic loading and unloading equipment 100 for the wire stranding device has a defined exchange station W2. The transfer device 3 can move between the exchange station W2 and the stock storage device 8. When the transfer device 3 is located at the exchange station W2, the transfer device 3 can exchange the wire spool 5 with the buffer device 2.

[0135] The second moving mechanism 602 is further 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 spool 5 between the buffer device 2 and the transfer device 3 that has 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 wire stranding device 1 and the buffer device 2, but also realize the material exchange between the buffer device 2 and the transfer device 3. Thus, the wire stranding device 1, the buffer device 2 and the transfer device 3 share a set of moving device 6 and clamping device 4, thereby reducing the equipment cost.

[0136] The buffer device 2 is arranged on the track surface P, and the number of buffer devices 2 on the first track 701 is the same as the number of wire stranding 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 buffer devices 2 is the same and is the same as the number of wire stranding devices 1 on any one side of the first track 701 along the second direction Y.

[0137] Particularly, along the second direction Y, the two groups of buffer devices 2 are arranged at intervals, so as to leave a walking space 703 between the two groups of buffer devices 2. The exchange station W2 is located at the transplanting space, and the transfer device 3 can move within the walking space 703 to realize the material exchange between the transfer device 3 and any one of the two groups of buffer devices 2.

[0138] In addition, a plurality of buffer cavities 201 are provided on the buffer device 2, and one wire spool 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 spools 5 that can be installed on the corresponding wire stranding device 1 of the buffer device 2. However, after the buffer device 2 is stocked, the number of full wire spools 5 stored on the buffer device 2 is one less than the number of buffer cavities 201, so as to facilitate the loading and unloading of the wire stranding device 1. When the wire stranding device 1 needs to be loaded and unloaded, first unload an empty spool on the wire stranding device 1 and place it at the buffer cavity 201 on the buffer device 2 where no wire spool 5 is stored.

[0139] Please refer to Figures 1 to 3, in one embodiment, the number of the first tracks 701 is set to be plural, and the plural first tracks 701 are arranged at intervals along the second direction Y. Along the second direction Y, a stranding device 1 is provided on both sides of each first track 701.

[0140] Wherein, the number of the moving devices 6 is the same as that of the first tracks 701, and the moving devices 6 and the first tracks 701 are arranged in one-to-one correspondence. 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 track 701 along the second direction Y. Thus, the stranding devices 1 on both sides of each first track 701 along the second direction Y share a set of moving devices 6 and clamping devices 4, so as to reduce the equipment cost.

[0141] Further, the track device 7 further includes a second track 702. The transfer device 3 can move on the second track 702. The second track 702 is communicated with at least one end of the plural 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 stock device 8, so that the transfer device 3 can move along the second track 702 to the stock device 8.

[0142] The extending direction of the second track 702 is parallel to the second direction Y, and the number of the second tracks 702 is two. One second track 702 is arranged at one end of the plural first tracks 701 and communicates with one end of each first track 701, and the other second track 702 is arranged at the other end of the plural first tracks 701 and communicates with the other end of each first track 701, so as to connect the respective first tracks 701 in series through the two second tracks 702, and realize that the transfer device 3 can move on different first tracks 701.

[0143] It should be noted that the number of the transfer devices 3 can also be set to be plural, so that when the buffer devices 2 at the plural first tracks 701 need to be loaded and unloaded, the plural transfer devices 3 can work simultaneously, thereby improving the loading and unloading efficiency.

[0144] Wherein, the stock device 8 is located at one end of one second track 702 along the second direction Y, so that the stock device 8 can serve the stranding devices 1 at the plural first tracks 701 simultaneously.

[0145] Please combine with Figure 4 and Figure 5 again, and refer to Figure 1 , in one embodiment, the clamping device 4 clamps the coil spool 5 in a clamping manner and can take out the coil spool 5 from the narrow space of the coil spool rack 101 of the stranding device 1.

[0146] The shape of the wire reel 5 is generally cylindrical. The wire reel 5 includes a main body portion 501 and two side portions 502. The shape of the main body portion 501 is cylindrical. Along the direction of the axis of the main body portion 501, the two side portions 502 are respectively connected to both ends of the main body portion 501. The shape of the side portion 502 is disc-shaped, and the outer contour of the side portion 502 extends beyond the outer contour of the main body portion 501. The main body portion 501 is for winding the wire, and the wire wound on the main body portion 501 is limited between the two side portions 502. When the wire reel 5 is placed in the wire reel holder 101, the direction of the axis of the wire reel 5 is parallel to the second direction Y.

[0147] The clamping device 4 includes a base 10, a first clamping assembly 20, a second clamping assembly 40, and an alignment assembly 60.

[0148] The base 10 is connected to the driving end of the first moving mechanism 601 to drive the base 10 to move up and down along the first direction Z through the first moving mechanism 601. The first moving mechanism 601 can be a lead screw lifting table or a lifting cylinder and other mechanisms. 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 reel 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. The second clamping assembly 40 is configured to clamp or release the wire reel 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 reel 5 to clamp the wire reel 5 lifted by the first clamping assembly 20. The alignment assembly 60 includes two swing mechanisms 61. Along the third direction X, the two swing mechanisms 61 are spaced apart. The swing mechanism 61 is rotatably connected to the base 10, and the two swing mechanisms 61 are configured to elastically abut against the opposite sides of the wire reel 5 along the third direction X for adjusting the position of the wire reel 5.

[0149] Thus, 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 towards the stranding device 1, the alignment assembly 60 contacts the coil spool 5 stored at the stranding device 1 and adjusts the position of the coil spool 5 to facilitate clamping by the first clamping assembly 20 and the second clamping assembly 40. Subsequently, the first clamping assembly 20 clamps the coil spool 5, and the first clamping assembly 20 moves with the base 10 towards the side away from the stranding device 1 to lift the coil spool 5 by a certain height, ensuring that the second clamping assembly 40 can successfully clamp the coil spool 5 subsequently. Then, after the second clamping assembly 40 is aligned with the coil spool 5, it clamps the coil spool 5 to prevent the coil spool 5 from shaking during movement. The base 10 continues to move until the coil spool 5 is completely removed from the stranding device 1, thereby realizing the automatic blanking of the coil spool 5. In addition, when loading the coil spool 5, the first clamping assembly 20 and the second clamping assembly 40 directly clamp the coil spool 5 simultaneously, and then the base 10 is driven to move towards the stranding device 1, so as to automatically place the coil spool 5 into the coil spool rack 101 of the stranding device 1. The loading and unloading of the entire coil spool 5 can achieve automatic operation without manual participation. And when unloading the coil spool 5, the first clamping assembly 20 first clamps the coil spool 5 and lifts it by a certain distance, and then the second clamping assembly 40 clamps the coil spool 5, which can avoid the narrow space at the coil spool rack 101 affecting the operation of the second clamping assembly 40 and can safely remove the relatively heavy coil spool 5 from the relatively narrow coil spool rack 101.

[0150] Please further combine Figures 5 to 8 , in an embodiment, the base 10 includes a first substrate 11 and a second substrate 12.

[0151] The shapes of the first substrate 11 and the second substrate 12 are both flat plates. The first substrate 11 and the second substrate 12 are arranged in parallel, and both are placed along the second direction Y. Along the first direction Z, the second substrate 12 is spaced apart from the 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.

[0152] Specifically, a connecting seat 13 protrudes from the center of the side 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.

[0153] In this embodiment, the clamping device 4 further includes a first detection assembly 70. The first detection assembly 70 is configured to detect whether the first substrate 11 slides relative to the second substrate 12.

[0154] The base 10 further includes linear bearings 14 and sliding members 15. The number of linear bearings 14 is four, and the four linear bearings 14 are respectively arranged at the corners of the second substrate 12. Along the first direction Z, the four linear bearings 14 all pass through the second substrate 12, and the four linear bearings 14 are fixed to the second substrate 12.

[0155] The number of sliding members 15 is four, 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 passes through the linear bearing 14, and the end of the sliding member 15 passing 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.

[0156] In this embodiment, the first detection component 70 adopts a contact position sensor, and the sensing sheet 71 of the contact position sensor is spacedly arranged 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 structures such as the coil reel holder 101 or the coil 5, the first substrate 11 slides upward, thereby driving the sliding member 15 to slide downward. After the end of the sliding member 15 contacts the sensing sheet 71 of the first detection component 70, an alarm signal is triggered, thereby controlling the first moving mechanism 601 to stop working and avoiding damage to the equipment.

[0157] It can be understood that in other embodiments, the first detection component 70 can also adopt other detection elements such as a laser distance sensor.

[0158] Please also combine with Figures 5 to 7 and combine with Figure 1 In an embodiment, the clamping device 4 further includes a first moving component 30. The first moving component 30 includes two first sliding mechanisms 31, and the two first sliding mechanisms 31 are both arranged on the base 10.

[0159] Specifically, the two first sliding mechanisms 31 are located between the first substrate 11 and the second substrate 12, and are installed on the 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 the space required for installing the two first sliding mechanisms 31.

[0160] In this embodiment, the first sliding mechanism 31 is a lead screw stage, and the first sliding mechanism 31 is arranged along the second direction Y.

[0161] It can be understood that in other embodiments, the first sliding mechanism 31 can also be other linear mechanisms such as a cylinder stage.

[0162] Further, the first clamping assembly 20 includes a first hook 21 and a second hook 22. Along the second direction Y, the first hook 21 and the second hook 22 are spaced apart, and the first hook 21 and the second hook 22 can be respectively clamped in the hook grooves 503 formed in two side portions 502 of the coil spool 5.

[0163] One first sliding mechanism 31 is drivingly 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 drivingly 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 respectively drive the first hook 21 and the second hook 22 to approach each other, the coil spool 5 is hooked and lifted by the first hook 21 and the second hook 22. When the two first sliding mechanisms 31 respectively 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 coil spool 5.

[0164] Specifically, the shapes of the first hook 21 and the second hook 22 are both "L" - shaped 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 end 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 outside the first substrate 11, so that when the first hook 21 and the second hook 22 grasp the coil spool 5, the first substrate 11 will not contact the coil spool 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.

[0165] Thus, when it is necessary to take out the coil spool 5 in the coil spool rack 101, the first moving mechanism 601 drives the clamping device 4 to descend until the first hook 21, the second hook 22 and the top section of the hook groove 503 are substantially flush. Subsequently, the two first sliding mechanisms 31 drive the first hook 21 and the second hook 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 coil spool 5 partially extends out of the coil spool rack 101, so as to facilitate subsequent clamping of the coil spool 5 by the second clamping assembly 40.

[0166] Particularly, the first clamping assembly 20 further includes a second detection assembly 23, and the second detection assembly 23 is an optoelectronic sensor. The emitting end and the receiving end of the optoelectronic sensor are respectively arranged on the adjacent sides of the two first sections 211 to detect whether the coil spool 5 is located between the first hook 21 and the second hook 22.

[0167] Please also combine with Figures 5 to 8, in one embodiment, the clamping device 4 further includes a second moving component 50. The second moving component 50 includes a second sliding mechanism 51 and a lifting mechanism 52. The second sliding mechanism 51 is disposed on the base 10, and the second sliding mechanism 51 is drivingly connected to the lifting mechanism 52 for driving the lifting mechanism 52 to slide along the second direction Y. The lifting mechanism 52 is drivingly connected to the second clamping component 40 for driving the second clamping component 40 to lift along the first direction Z.

[0168] Specifically, the number of the second moving components 50 is set to two, and the second sliding mechanisms 51 of the two second moving components 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 disposed on opposite sides of the connecting seat 13.

[0169] The second sliding mechanism 51 includes a pushing cylinder 511, a slide rail 512, and a sliding plate 513. Along the second direction Y, the slide rail 512 is installed on the side of the second substrate 12 away from the first substrate 11. The sliding plate 513 is slidably installed on the slide rail 512 so that the slide rail 512 guides the sliding plate 513 to slide along the second direction Y. The shape of the sliding plate 513 is generally "L" - shaped, and along the third direction X, a first convex portion 5131 and a second convex portion 5132 are respectively protruded from opposite sides of the sliding plate 513.

[0170] Along the second direction Y, the pushing cylinder 511 is installed on the side of the second substrate 12 away from the first substrate 11, and the driving end of the pushing cylinder 511 is connected to the first convex portion 5131 to push and pull the sliding plate 513 along the second direction Y.

[0171] In this embodiment, along the second direction Y, a lifting mechanism 52 is provided on each of the opposite sides of the sliding plates 513 of the two second sliding mechanisms 51. The lifting mechanism 52 is a lead - screw lifting stage and is arranged along the first direction Z.

[0172] The second clamping component 40 includes a first jaw 41 and a second jaw 42. Along the second direction Y, the first jaw 41 and the second jaw 42 are spaced apart. The lifting mechanisms 52 of the two second moving components 50 are respectively drivingly connected to the first jaw 41 and the second jaw 42 to drive the first jaw 41 and the second jaw 42 to move towards each other or away from each other, so as to realize clamping or releasing of the wire reel 5 by the second clamping component 40.

[0173] The shapes of the first clamping jaw 41 and the second clamping jaw 42 are both "L" - shaped, and each includes a vertical portion 411 and a horizontal portion 412. The vertical portion 411 is arranged along the first direction Z. Along the second direction Y, the vertical portion 411 is spaced outside the base 10. One side of the vertical portion 411 close to the base 10 is connected to the lifting end of the lifting mechanism 52. 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 central holes 504 of the two side portions 502, so as to clamp the wire reel 5 tightly through the two side portions 502 of the first clamping jaw 41 and the second clamping jaw 42.

[0174] It should be noted that along the second direction Y, the length of the horizontal portion 412 should satisfy that 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.

[0175] In this way, in the initial state, the first clamping jaw 41 and the second clamping jaw 42 are at their upward maximum stroke and in a retracted state, avoiding interference between the narrow space at the wire reel rack 101 and the second clamping assembly 40 when the first moving mechanism 601 drives the base 10 to descend to the wire reel rack 101. When the first clamping assembly 20 clamps the wire reel 5 and ascends to a position where the second clamping assembly 40 is not restricted by the narrow space at the wire reel rack 101, the lifting mechanism 52 drives the first clamping jaw 41 and the second clamping jaw 42 to descend until the horizontal portion 412 is below the first hook claw 21 and the second hook claw 22. Subsequently, the two second sliding mechanisms 51 drive the first clamping jaw 41 and the second clamping jaw 42 to tightly hold the center of the wire reel 5, so as to ensure that the wire reel 5 does not shake during the subsequent lifting process and reduce potential safety hazards.

[0176] In this embodiment, the clamping device 4 further includes a limiting assembly 80. When the two second sliding mechanisms 51 drive the first clamping jaw 41 and the second clamping jaw 42 to move closer to each other, the limiting assembly 80 is configured to respectively limit the maximum sliding stroke of the first clamping jaw 41 and the second clamping jaw 42.

[0177] 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. The limiting member 82 is inserted through the limiting seat 81 along the second direction Y. One end of the limiting member 82 is used to abut against the second convex portion 5132 to limit the continuous sliding of the sliding plate 513. The limiting member 82 is in threaded cooperation with the limiting seat 81 to realize the position adjustment of the limiting member 82 relative to the limiting seat 81 in the second direction Y.

[0178] The number of the limiting assemblies 80 is set to two to respectively limit the maximum sliding stroke when the two sliding plates 513 slide toward the side of the connecting seat 13, so as to adjust the clamping position of the first clamping jaw 41 and the second clamping jaw 42.

[0179] Please further combine with Figure 9 and Figure 10 In one embodiment, the swing mechanism 61 includes a swing seat 611, a swing member 612, an elastic member 613, and a holding member 614.

[0180] The swing seat 611 is fixed to one side of the first substrate 11 away from the second substrate 12. The shape of the swing member 612 is generally "droplet" - shaped. Along the first direction Z, the top end of the swing member 612 is rotatably connected to the swing seat 611, and the direction where the rotation axis of the swing member 612 is located is parallel to the second direction Y.

[0181] The elastic member 613 is a compression spring or the like. One end of the elastic member 613 is elastically connected to the middle region of the swing member 612, and the other end of the elastic member 613 is elastically connected to the swing seat 611.

[0182] The extending direction of the holding member 614 is parallel to the second direction Y. The numbers of both the swing seat 611 and the swing member 612 are set to two. Along the second direction Y, the two swing members 612 are arranged at intervals. The holding member 614 is disposed between the two swing members 612, and both ends of the holding member 614 are respectively connected to the two swing members 612. The shape of the holding member 614 is cylindrical, and the extending length of the holding member 614 is greater than the distance between the two side portions 502, so that the holding member 614 can abut against the side portion 502 of the wire reel 5. In addition, along the first direction Z, both of the two holding members 614 are located below the first hook 21 and the second hook 22.

[0183] When the alignment assembly 60 is in a separated state from the wire reel 5, the distance between the two holding members 614 is smaller than the length of the wire reel 5 in the third direction X. Thus, when the first moving mechanism 601 drives the base 10 to descend, the two holding members 614 first abut against the outer peripheral surface of the side portion 502 of the wire reel 5, and the holding member 614 slides downward along the outer peripheral surface of the side portion 502. The elastic member 613 is gradually stretched and applies a restoring elastic force to the holding member 614, so that the two holding members 614 have a tendency to approach each other, thereby clamping the wire reel 5 through the two holding members 614 and adjusting the center of the wire reel 5 to a proper position, and then facilitating the subsequent operations of the first clamping assembly 20 and the second clamping assembly 40. Subsequently, when the first moving mechanism 601 drives the base 10 to ascend, the wire reel 5 can directly disengage from the two holding members 614, and the holding member 614 is reset under the action of the elastic member 613, which is convenient for subsequent alignment again.

[0184] Please further refer to Figures 1 to 3 This application also provides an automatic loading and unloading method 200 for a wire stranding device, which is applied to the above - mentioned automatic loading and unloading equipment 100 for a wire stranding device. The automatic loading and unloading method 200 for a wire stranding device includes the following steps:

[0185] S1. At each buffer device 2 corresponding to a stranding device 1, a full spool 5 of wire is pre-stored.

[0186] In this step, first, the transfer device 3 transports the full spool 5 of wire from the storage device 8 to the buffer device 2 for storage, and the number of full spools 5 of wire stored at the buffer device 2 is the same as the number of spool racks 101 of the corresponding stranding device 1.

[0187] S2. After it is detected that the spool 5 on a stranding device 1 is an empty spool, the moving device 6 and the clamping device 4 cooperate to grab the empty spool on the stranding device 1 and place it at the corresponding buffer device 2.

[0188] In this step, a monitoring device such as an industrial camera can be set at the stranding device 1 to monitor in real time whether the spool 5 on the stranding device 1 is an empty spool. When the monitoring device detects that a spool 5 on the stranding device 1 is an empty spool, the monitoring device sends a blanking signal to a control device, and the control device then controls the moving device 6 and the clamping device 4 to act, so as to grab the empty spool and place it in the buffer chamber 201 of the buffer device 2 where no spool 5 is placed.

[0189] S3. If the stranding device 1 still needs to be loaded with wire after the empty spool is removed, the moving device 6 and the clamping device 4 cooperate to load the pre-stored spool 5 at the buffer device 2 onto the stranding device 1.

[0190] In this step, if the stranding device 1 still needs to continue working after the empty spool is removed, it is necessary to load a full spool 5 of wire onto the stranding device 1. Then, the clamping device 4 grabs a pre-stored spool 5 from the buffer device 2 and loads it into the spool rack 101 of the stranding device 1. Subsequently, the threading operation can be carried out by an operator.

[0191] S4. The moving device 6 and the clamping device 4 cooperate to grab the empty spool at the buffer device 2 onto the transfer device 3. The transfer device 3 transports the empty spool to the storage device 8 and transports the full spool 5 of wire 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 spool 5 on the transfer device 3 and place it at the buffer device 2 for standby.

[0192] In this step, if multiple spools 5 are loaded on the stranding device 1 and each spool 5 has completed the blanking operation and is placed at the buffer device 2, the transfer device 3 can simultaneously transfer multiple empty spools stored at the buffer device 2 to the storage device 8 for unified material replacement.

[0193] S5. If the stranding device 1 does not need to be loaded with wire after the empty spool is removed, the moving device 6 and the clamping device 4 cooperate to grab the empty spool at the buffer device 2 onto the transfer device 3, and the transfer device 3 transports the empty spool to the storage device 8.

[0194] In this step, if the stranding device 1 only feeds one empty tray, the empty tray can be stored on the transfer device 3, and the transfer device 3 continues to receive empty trays from other buffer devices 2 until the number of empty trays 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 trays at the storage device 8.

[0195] In the foregoing, specific embodiments of the present application have been described with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that various changes and substitutions can be made to the specific embodiments of the present application without departing from the scope of the present application. These changes and substitutions all fall 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 comprises a first moving mechanism and a second moving mechanism. The first moving mechanism is arranged at one side of the stranding device along a first direction. The first moving mechanism is connected to the clamping device in a transmission manner 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 connected to the first moving mechanism in a transmission manner and is used to drive the first moving mechanism to move between the stranding device and the buffer device. A track device, the track device comprising 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; The number of the mobile devices is the same as the number of the first tracks, and the mobile devices are arranged in a one-to-one correspondence with the first tracks, 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 the first track corresponding to it along the second direction; The clamping device includes a base, a first clamping assembly, a second clamping assembly, and an alignment assembly; the base is transmission-connected to the first moving mechanism; the first clamping assembly is movably connected to the base, the first clamping assembly can at least move relative to the base along a second direction, the second direction intersects with the first direction, and the first clamping assembly is configured to clamp or release the wire drum; the second clamping assembly is movably connected to the base, the second clamping assembly can at least move relative to the base 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 assembly includes two swing mechanisms, along In the third direction, the two swing mechanisms are arranged at intervals, and the third direction intersects with the first direction and the second direction. The swing mechanism is rotatably connected to the base, and the two swing mechanisms are configured to elastically abut the opposite sides of the wire drum along the third direction for adjusting the position of the wire drum; the swing mechanism comprises a swing member, an elastic member, and a supporting member; the swing member is rotatably connected to a side of the base close to the wire drum; one end of the elastic member is elastically connected to the swing member, and the other end of the elastic member is elastically connected to the base; the extension direction of the supporting member is parallel to the second direction, the number of the swing members is set to two, along the second direction, the two swing members are arranged at intervals, the supporting member is arranged between the two swing members, and the two ends of the supporting member are respectively connected to the two swing members.

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: 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.

5. The automatic loading and unloading equipment for a stranding device according to claim 1, 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.

6. The automatic loading and unloading equipment for a stranding device according to claim 1, 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.

7. 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 6, 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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