An automatic I-wheel clamping device for superconducting wire braiding process and use method thereof

Abstract

The present application discloses an automatic I-wheel clamping device for a superconducting wire braiding process and a method for using the device, the device comprising: an I-wheel placing mechanism, a braiding machine host, an AGV trolley and an I-wheel; the I-wheel placing mechanism is fixed to the legs below the braiding machine host through a fixing member; the I-wheel is placed on the I-wheel placing mechanism; wherein the I-wheel is placed on the pay-off side of the I-wheel placing mechanism or removed from the take-up side of the I-wheel placing mechanism by the AGV trolley based on a dispatching signal, so as to solve the problem of how to realize the automation of up and down lines in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of low-temperature superconducting wire production, and in particular to an I-wheel automatic clamping device for a superconducting wire braiding process and a use method thereof. Background Art

[0002] Superconducting materials are widely used in many fields such as medicine, transportation, aerospace, power electronics, and high-energy physics. At present, NbTi and Nb3Sn superconducting wires are superconducting products with relatively mature processing technology and application level, and the demand for them in the domestic and foreign markets is becoming increasingly apparent. In recent years, in the field of superconducting materials, my country's scientific research institutions have completed many basic and applied research. With the deepening of superconducting research, the requirements for marketization and industrial-scale production are becoming increasingly urgent. Therefore, the development of various related industrial equipment has also been launched.

[0003] The low copper ratio NbTi superconducting wire was prepared by traditional technology, and the high copper ratio NbTi / Cu superconducting wire was mass-produced by composite inlay method using purchased oxygen-free copper slot wire, and then the high copper ratio superconducting wire was woven in the weaving process. The weaving process consists of up to hundreds of weaving machines, each of which includes a weaving main machine, a take-up mechanism, a pay-off mechanism and multiple sets of wire guide wheels.

[0004] The existing weaving machine's retractable and retractable wire mechanism cannot be used in conjunction with the lurking and lifting AGV (Automated Guided Vehicle), which has a direct impact on the realization of automated material transfer in the weaving process. In addition, each weaving machine requires operators to manually complete the up and down lines, including the clamping of the I-shaped wheel and the locking of the head, which is time-consuming and labor-intensive, occupies a large number of people, and greatly affects the weaving efficiency. Summary of the invention

[0005] The embodiment of the present application provides an I-wheel automatic clamping device and a method of use for a superconducting wire braiding process, which are used to solve the problem of how to achieve automatic upper and lower lines in the prior art.

[0006] The present application provides an I-wheel automatic clamping device for a superconducting wire braiding process, comprising: an I-wheel placing mechanism, a braiding machine host, an AGV trolley and an I-wheel;

[0007] The I-shaped wheel placement mechanism is fixed to the supporting legs below the main machine of the braiding machine through a fixing piece;

[0008] The spool is placed on the spool placement mechanism; wherein, the spool is placed on the wire-releasing side of the spool placement mechanism or removed from the wire-receiving side of the spool placement mechanism by the AGV trolley based on a dispatching signal.

[0009] Optionally, a QR code is provided on the wire-releasing side or the wire-retrieving side of the I-spool placement mechanism, and the QR code is used for scanning and identification by the AGV to obtain the number of the I-spool and the purpose information of the I-spool.

[0010] Optionally, the device also includes: an active top-end mechanism, a passive top-end mechanism, a wire-arranging mechanism, and a wire-passing mechanism. The active top-end mechanism and the passive top-end mechanism are symmetrically arranged on the wire-releasing side and the wire-receiving side of the I-wheel placing mechanism and are symmetrically distributed. The wire-arranging mechanism is arranged on the wire-receiving side of the I-wheel placing mechanism and is located on the upper beam of the I-wheel placing mechanism. The wire-passing mechanism is fixed to the lower beam of the I-wheel placing mechanism and is fixed to the I-wheel placing mechanism by screws.

[0011] Optionally, the active centering mechanism includes: a first centering point, a first sleeve, a telescopic shaft, a first rotating shaft, a clamping cylinder, a cylinder fixing plate, and a stroke adjustment plate; the first centering point is installed on the first rotating shaft, the rotating shaft is installed on the telescopic shaft, the telescopic shaft is fixed on the first sleeve, the first sleeve is connected to the I-shaped wheel placement mechanism by welding, the clamping cylinder is installed on the cylinder fixing plate, the first sleeve is also fixed on the cylinder fixing plate, and the stroke adjustment plate is installed on the telescopic shaft and connected to the clamping cylinder.

[0012] Optionally, the passive top mechanism includes: a second top, a second sleeve, a second rotating shaft, a pin fixing plate, a pin, a first gear, a second gear, a torque motor, a reducer, a transmission chain, a single-acting cylinder, and a rubber top block. The second top is installed on the second rotating shaft, the second rotating shaft is installed on the second sleeve, and the second sleeve is connected to the I-shaped wheel placement mechanism by welding; the pin fixing plate is installed on the second rotating shaft, the pin is installed on the pin fixing plate, the first gear is installed on the second rotating shaft, the torque motor is installed on the crossbeam of the I-shaped wheel placement mechanism, the reducer is connected to the torque motor, the second gear is installed on the output shaft of the reducer, the transmission chain is installed on the first gear and the second gear, the single-acting cylinder is fixed on the I-shaped wheel placement mechanism, and the rubber top block is installed on the single-acting cylinder rod.

[0013] Optionally, the wire arranging mechanism includes: a screw support seat, a screw, a slide rail, a base plate, a servo motor, a motor bracket, a coupling, a screw nut, a wire arranging guide wheel group, and a wire arranging guide wheel bracket. The base plate is fixed on the I-shaped wheel placement mechanism, the screw support seat is installed on the base plate, the screw is installed on the screw support seat, the motor bracket is fixed on the base plate, the servo motor is installed on the motor bracket, the coupling is installed on the servo motor output shaft and the screw shaft end, the screw nut is installed on the screw, the wire arranging guide wheel bracket is installed on the screw nut, and the wire arranging guide wheel group is installed on the wire arranging guide wheel bracket.

[0014] Optionally, the wire-passing mechanism includes a bearing seat, a bare rod, a sliding bearing, a counterweight bracket, a counterweight rod, a paper-blocking nylon ring, and a wire-passing wheel. The bearing seat is fixed on the I-shaped wheel placement mechanism, the bare rod is installed on the bearing seat, the sliding bearing is installed on the bare rod, the counterweight bracket is installed on the sliding bearing, the counterweight rod is installed on the counterweight bracket, the paper-blocking nylon ring is installed on the counterweight bracket, and the wire-passing wheel is installed on the bare rod.

[0015] Optionally, the I-shaped wheel placement mechanism includes: a placement frame, a slide, a ball, an electric push rod, a first two-dimensional code, a second two-dimensional code, an optical detection device, a ball is arranged at the bottom of the slide, the ball is installed in the slot of the rear beam of the placement frame, the electric push rod is installed on the columns on both sides of the placement frame, the column on the line-releasing side is provided with the first two-dimensional code, the column on the line-retrieving side is provided with the second two-dimensional code, and the optical detection device is installed on the column on the line-releasing side or the column on the line-retrieving side.

[0016] Optionally, the AGV communicates with the knitting machine host via a wireless network.

[0017] The present application also provides a method for using an I-wheel automatic clamping device for a superconducting wire braiding process, comprising:

[0018] Steps for the on-line process on the pay-off side:

[0019] S1. Dispatching the AGV with the I-shaped wheel to the first QR code pasting point on the pay-off side of the I-shaped wheel automatic clamping device for the superconducting wire braiding process based on the first dispatching signal, wherein the first dispatching signal is generated by the dispatching system according to the braiding length and number of turns information sent by the braiding machine host and the state information of the I-shaped wheel sent by the optical detection device;

[0020] S2, the electric push rod of the I-shaped wheel placement mechanism extends;

[0021] S3, the AGV trolley is lifted and lowered so that the I-shaped wheel falls on the placement rack, the AGV trolley withdraws, and the transfer is completed;

[0022] S4, the first center of the active center mechanism enters the center hole of the I-shaped wheel and pushes it close to the second center to complete the clamping;

[0023] S5. After clamping, the spool and the center slide relative to each other. The pin compressed during the clamping process bounces up when it moves to the spool pin hole. The spool and the passive center mechanism rotate synchronously, and the threading on the pay-off side is completed.

[0024] Steps for taking-up side offline process:

[0025] S6. Automatic I-wheel clamping device for superconducting wire braiding process. After the superconducting wire braiding is completed, the active top mechanism is retracted, and the single-acting cylinder in the passive top mechanism is actuated to push the I-wheel out and place it on the I-wheel placement mechanism;

[0026] S7, dispatching the unloaded AGV to the second QR code pasting point on the take-up side of the I-wheel automatic clamping device for the superconducting wire braiding process based on the second dispatching signal, wherein the second dispatching signal is generated by the dispatching system according to the braiding length and number of turns information sent by the braiding machine host and the state information of the I-wheel sent by the optical detection device;

[0027] S8, the AGV trolley is lifted up, and the spool is lifted up and away from the spool placement mechanism;

[0028] S9, the electric push rod on the I-shaped wheel placement mechanism retracts;

[0029] S10, the AGV trolley transports the I-shaped pulley wound with the braided wire to the storage area, and the wire-taking side is completed.

[0030] The I-wheel automatic clamping device and use method for a superconducting wire braiding process in the present application have the following advantages:

[0031] The automatic clamping device for the I-shaped wheel is equipped with an AGV car, which realizes the automatic loading and unloading of the I-shaped wheel on the retracting and releasing side of the braiding machine. The AGV car communicates with the main machine of the braiding machine through wireless communication and the dispatching system, which solves the docking problem between the AGV car and the retracting and releasing mechanism of the braiding machine in the braiding process of superconducting wires, and promotes the automation development of superconducting wire production equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a three-dimensional layout diagram of the I-wheel automatic clamping device for the superconducting wire braiding process, the braiding machine host and the AGV trolley provided in an embodiment of the present application.

[0034] Figure 2 It is a three-dimensional schematic diagram of an I-wheel automatic clamping device for a superconducting wire braiding process provided in an embodiment of the present application.

[0035] Figure 3 It is a three-dimensional schematic diagram of an I-wheel placement mechanism of an I-wheel automatic clamping device for a superconducting wire weaving process provided in an embodiment of the present application.

[0036] Figure 4 It is a three-dimensional schematic diagram of an active center mechanism of an I-wheel automatic clamping device for a superconducting wire braiding process provided in an embodiment of the present application.

[0037] Figure 5 It is a three-dimensional schematic diagram of a passive centering mechanism of an I-wheel automatic clamping device for a superconducting wire braiding process provided in an embodiment of the present application.

[0038] Figure 6 It is a three-dimensional schematic diagram of a wire arrangement mechanism of an I-wheel automatic clamping device for a superconducting wire braiding process provided in an embodiment of the present application.

[0039] Figure 7 It is a three-dimensional schematic diagram of a wire-passing mechanism of an I-wheel automatic clamping device for a superconducting wire braiding process provided in an embodiment of the present application.

[0040] Among them: 1 is a mounting bracket.

[0041] 2 is an active centering mechanism, 201 is a first centering point, 202 is a first sleeve, 203 is a telescopic shaft, 204 is a first rotating shaft, 205 is a clamping cylinder, 206 is a cylinder fixing plate, and 207 is a stroke adjustment plate.

[0042] 3 is a passive top mechanism, 301 is a second top, 302 is a second sleeve, 303 is a second shaft, 304 is a pin fixing plate, 305 is a pin, 306 is a gear, 307 is a gear, 308 is a torque motor, 309 is a reducer, 310 is a transmission chain, 311 is a single-acting cylinder, and 312 is a rubber top block.

[0043] 4 is a wire arrangement mechanism, 401 is a screw support seat, 402 is a screw, 403 is a slide rail, 404 is a base plate, 405 is a servo motor, 406 is a motor bracket, 407 is a coupling, 408 is a screw nut, 409 is a wire arrangement guide wheel group, and 410 is a wire arrangement guide wheel bracket.

[0044] 5 is a wire-passing mechanism, 501 is a bearing seat, 502 is a bare rod, 503 is a sliding bearing, 504 is a counterweight bracket, 505 is a counterweight rod, 506 is a paper-blocking nylon ring, and 507 is a wire-passing wheel.

[0045] 6 is an I-shaped wheel placement mechanism, 601 is a placement frame, 602 is a slide, 603 is a ball bearing, 604 is an electric push rod, 605 is a first two-dimensional code, 606 is a second two-dimensional code, and 607 is an optical detection device.

[0046] 7 is the main machine of the knitting machine.

[0047] 8 is the AGV car.

[0048] 9 is an I-shaped wheel. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] Combination Figure 1 and Figure 2 The present invention provides an I-wheel automatic clamping device for a superconducting wire braiding process, comprising a mounting bracket 1, an active top mechanism 2, a passive top mechanism 3, a wire arrangement mechanism 4, a wire passing mechanism 5, an I-wheel placing mechanism 6, a braiding machine host 7, an AGV trolley 8 and an I-wheel 9.

[0051] The I-shaped wheel placement mechanism 6 is fixed to the support leg below the mainframe 7 of the knitting machine through a fixing member, and the fixing member here can be a fixing member such as a screw, a bolt, etc., which is not limited here.

[0052] The spool 9 is placed on the spool placement mechanism 6; wherein, the spool 9 is placed on the wire-releasing side of the spool placement mechanism 6 or removed from the wire-receiving side of the spool placement mechanism 6 by the AGV trolley 8 based on a dispatching signal.

[0053] It should be noted that the active top mechanism 2, the passive top mechanism 3, the wire arrangement mechanism 4, the wire passing mechanism 5, the I-shaped wheel placement mechanism 6, the braiding machine mainframe 7 and the I-shaped wheel 9 are all assembled on the mounting bracket 1. The active top mechanism 2 and the passive top mechanism 3 are arranged on both sides of the retracting and releasing wires and are symmetrically distributed. The wire arrangement mechanism 4 is arranged on the side of the I-shaped wheel 9 for retracting wires and is located on the upper crossbeam of the mounting bracket 1. The wire passing mechanism 5 fixes the lower crossbeam of the mounting bracket 1, the I-shaped wheel placement mechanism 6 is located on both sides of the mounting bracket 1 and is fixed to the mounting bracket by screws, and the AGV trolley 8 is docked with the I-shaped wheel placement mechanism 6.

[0054] The I-wheel automatic clamping device for the superconducting wire weaving process provided in this embodiment is connected with the AGV trolley 8 through the I-wheel placement mechanism 6 when the line is on and off, so as to realize the automatic clamping of the I-wheel, solve the problem of time-consuming, labor-intensive and inefficient manual on and off line, and accelerate the industrialization process of superconducting materials.

[0055] Optionally, a QR code is provided on the line-releasing side or the line-retrieving side of the spool placement mechanism 6 , and the QR code is used for the AGV trolley 8 to scan and identify, and obtain the number of the spool 9 and the purpose information of the spool 9 .

[0056] In one embodiment, if Figure 3As shown, the I-shaped wheel placement mechanism 6 includes a placement frame 601, a slide 602, a ball 603, an electric push rod 604, a first two-dimensional code 605, a second two-dimensional code 606, an optical detection device 607, a ball 603 is arranged at the bottom of the slide 602, the ball 603 is installed in the rear beam slot of the placement frame 601, the electric push rod 604 is installed on the columns on both sides of the placement frame 601, the column on the line-releasing side is provided with the first two-dimensional code 605, the column on the line-receiving side is provided with the second two-dimensional code 606, and the optical detection device 607 is installed on the column on the line-releasing side or the column on the line-receiving side.

[0057] Optionally, the AGV 8 communicates with the knitting machine host 7 via a wireless network.

[0058] The AGV 8 is equipped with a high-precision navigation and positioning system, such as laser navigation, visual navigation or QR code navigation. By identifying the first QR code 605 on the pay-off side of the knitting machine and the second QR code 606 on the take-up side to obtain the number of the spool 9, the destination information of the spool 9 and the navigation path, the AGV 8 can accurately drive to the designated docking position, and its positioning accuracy can be controlled within a few millimeters.

[0059] Among them, the I-shaped wheel placement mechanism 6 is mainly used to dock with the AGV trolley 8, and cooperate with other mechanisms in the device of the present invention to complete the automatic clamping of the I-shaped wheel 9. The height of the placement frame 601 is designed according to the center height requirement of the I-shaped wheel 9 after placement, ensuring that the center height of the I-shaped wheel 9 is about 5mm lower than the clamping center height. The slide 602 and the ball 603 are designed for the action of the active top mechanism 2 and the action of the single-acting cylinder 311 to ensure smooth sliding of the I-shaped wheel 9.

[0060] When laying out the line, the AGV trolley 8 moves to the I-shaped wheel placement mechanism 6 and scans the first QR code 605 provided on the column on the laying-out side to obtain the number of the I-shaped wheel 9 and the purpose information of the I-shaped wheel 9. The AGV trolley 8 obtains the target I-shaped wheel 9 and carries it to the laying-out side of the I-shaped wheel placement mechanism 6, lifts it, and places the target I-shaped wheel 9 on the I-shaped wheel placement mechanism 6.

[0061] When winding the line, the unloaded AGV trolley 8 moves to the winding position of the I-shaped wheel placement mechanism 6. After scanning the second QR code 606, the second QR code 606 on the winding side obtains the number of the I-shaped wheel 9, the destination information of the I-shaped wheel 9 and the navigation path, and transports the target I-shaped wheel 9 to the target warehouse.

[0062] Specifically, the AGV 8 completes the following wire collection and wire release operations:

[0063] S1. Dispatch the AGV trolley 8 carrying the I-wheel 9 to the first QR code 605 pasting point on the pay-off side of the I-wheel automatic clamping device for the superconducting wire weaving process based on the first dispatching signal, wherein the first dispatching signal is generated by the dispatching system according to the weaving length and number of turns information sent by the weaving machine host 7 and the status information of the I-wheel 9 sent by the optical detection device 607, wherein the status information of the I-wheel 9 includes whether the I-wheel 9 is in a rotating state and a stopped state, and whether the I-wheel 9 is in a rotating state or a stopped state is detected by the optical detection device 607, and the optical detection device 607 sends the detected signal to the dispatching system via the wireless network, and the dispatching system then sends a control signal to the AGV trolley 8, wherein the optical detection device 607 can be a laser detection device, which is not limited here.

[0064] S2, the electric push rod 604 of the I-shaped wheel placement mechanism 6 extends;

[0065] S3, the AGV trolley 8 is lifted and lowered so that the I-shaped wheel 9 falls on the placement rack 601, and the AGV trolley 8 withdraws, and the transfer is completed;

[0066] S4, the first center 201 of the active center mechanism 2 enters the center hole of the spool 9 and pushes it close to the second center 301 to complete the clamping;

[0067] S5, after clamping, the spool 9 and the second center 301 slide relative to each other, and the pin 305 compressed during the clamping process bounces up when it turns to the pin hole of the spool 9, and the spool 9 and the passive center mechanism 3 rotate synchronously, and the threading on the pay-off side is completed;

[0068] Steps for taking-up side offline process:

[0069] S6, I-wheel automatic clamping device for superconducting wire braiding process After the superconducting wire braiding is completed, the active top mechanism 2 is retracted, and the single-acting cylinder 311 in the passive top mechanism 3 is actuated to push the I-wheel 9 out and place it on the I-wheel placement mechanism 6;

[0070] S7. Dispatch the unloaded AGV 8 to the second QR code 606 pasting point on the take-up side of the I-wheel automatic clamping device for the superconducting wire weaving process based on the second dispatch signal, wherein the second dispatch signal is generated by the dispatch system according to the weaving length and number of turns information sent by the weaving machine host 7 and the status information of the I-wheel 9 sent by the optical detection device 607.

[0071] S8, the AGV trolley 8 is lifted up, and the spool 9 is lifted up and away from the spool placement mechanism 6;

[0072] S9, the electric push rod 604 on the I-shaped wheel placement mechanism 6 is retracted;

[0073] S10, the AGV trolley 8 transfers the I-shaped wheel 9 wound with the braided wire to the storage area, and the wire-receiving side is unloaded.

[0074] Optionally, the device also includes: an active top-end mechanism 2, a passive top-end mechanism 3, a wire-arranging mechanism 4, and a wire-passing mechanism 5. The active top-end mechanism 2 and the passive top-end mechanism 3 are respectively arranged on the wire-releasing side and the wire-receiving side of the I-wheel placing mechanism 6 and are symmetrically distributed. The wire-arranging mechanism 4 is arranged on the wire-receiving side of the I-wheel placing mechanism 6 and is located on the crossbeam above the I-wheel placing mechanism 6. The wire-passing mechanism 5 is fixed to the crossbeam below the I-wheel placing mechanism 6 and is fixed to the I-wheel placing mechanism 6 by screws.

[0075] In one embodiment, if Figure 4 As shown, the active centering mechanism 2 includes: a first centering point 201, a first sleeve 202, a telescopic shaft 203, a first rotating shaft 204, a clamping cylinder 205, a cylinder fixing plate 206, and a stroke adjustment plate 207; the first centering point 201 is installed on the rotating shaft 202, the rotating shaft 202 is installed on the telescopic shaft 203, the telescopic shaft 203 is fixed on the first sleeve 202, the first sleeve 202 is connected to the I-shaped wheel placing mechanism 6 by welding, the clamping cylinder 205 is installed on the cylinder fixing plate 206, the first sleeve 202 is also fixed on the cylinder fixing plate 206, and the stroke adjustment plate 207 is installed on the telescopic shaft 203 and connected to the clamping cylinder 205.

[0076] Among them, the first top point 201 and the second top point 301 are designed to be conical according to the clamping aperture of the I-shaped wheel 9 to ensure reliable clamping of the I-shaped wheel 9, and are connected to the first rotating shaft 204 and the second rotating shaft 303 through a flat key. The telescopic shaft 203 and the sleeve 202 are matched through the shaft hole clearance, and a tin bronze ring is embedded in the sleeve to ensure wear resistance and convenience of replacement after wear. A grease injection hole is designed on the first sleeve 202. A plurality of top screw holes are designed at the end of the telescopic shaft 203 for adjusting the clamping stroke. The first rotating shaft 204 and the telescopic shaft 203 are matched through multiple sets of roller bearings. There are two clamping cylinders 205 designed according to the maximum load of the I-shaped wheel 9 to ensure reliable clamping during use. The stroke adjustment plate 207 is designed with a locking threaded hole, which can be fixed through the locking threaded hole after the stroke adjustment is completed.

[0077] In one embodiment, if Figure 5As shown, the passive top mechanism 3 in the embodiment of the present invention includes: a second top 301, a second sleeve 302, a second shaft 303, a pin fixing plate 304, a pin 305, a first gear 306, a second gear 307, a torque motor 308, a reducer 309, a transmission chain 310, a single-acting cylinder 311, and a rubber top block 312. The second top 301 is installed on the second shaft 303, the second shaft 303 is installed on the second sleeve 302, and the second sleeve 302 is connected to the I-shaped wheel placement mechanism 6 by welding; the pin fixing plate 304 is installed on the second rotating shaft 303, the pin 305 is installed on the pin fixing plate 304, the first gear 306 is installed on the second rotating shaft 303, the torque motor 308 is installed on the crossbeam of the I-shaped wheel placing mechanism 6, the reducer 309 is connected to the torque motor 308, the second gear 307 is installed on the output shaft of the reducer 309, the transmission chain 310 is installed on the first gear 306 and the second gear 307, the single-acting cylinder 311 is fixed on the I-shaped wheel placing mechanism 6, and the rubber top block 312 is installed on the rod of the single-acting cylinder 311.

[0078] The entire dynamic centering mechanism 3 is fixed on the mounting bracket 1, and the second rotating shaft 303 is connected to the second sleeve 302 through multiple sets of roller bearings. The pin fixing plate 304 and the gear 306 are connected to the second rotating shaft 303 through a flat key. The pin 305 is designed as a spring structure to realize the automatic insertion of the pin during the clamping process of the I-shaped wheel. The torque motor 308, the reducer 309, the gear 306, the gear 307 and the transmission chain 310 realize the tension control on the retracting and releasing side. The single-acting cylinder 311 is used to push out the I-shaped wheel 9 when the line is unloaded to avoid the situation that the I-shaped wheel 9 cannot be completely disengaged when the active centering mechanism 2 is retracted. The rubber top block 312 has the function of buffering and reducing noise.

[0079] In one embodiment, if Figure 6 As shown, the wire arrangement mechanism 4 in the embodiment of the present invention includes: a screw support seat 401, a screw 402, a slide rail 403, a base plate 404, a servo motor 405, a motor bracket 406, a coupling 407, a screw nut 408, a wire arrangement guide wheel group 409, and a wire arrangement guide wheel bracket 410. The base plate 404 is fixed on the I-shaped wheel placement mechanism 6, the screw support seat 401 is installed on the base plate 404, the screw 402 is installed on the screw support seat 401, the motor bracket 406 is fixed on the base plate 404, the servo motor 405 is installed on the motor bracket 406, the coupling 407 is installed on the output shaft of the servo motor 405 and the shaft end of the screw 402, the screw nut 408 is installed on the screw 402, the wire arrangement guide wheel bracket 410 is installed on the screw nut 408, and the wire arrangement guide wheel group 409 is installed on the wire arrangement guide wheel bracket 410.

[0080] Among them, the cable arranging guide wheel group 409 is designed as two V-shaped guide wheels, and the V-shaped guide wheels are made of nylon, mainly to ensure the cable arranging angle of the cable.

[0081] In one embodiment, if Figure 7 As shown, the wire-passing mechanism 5 in the embodiment of the present invention includes a bearing seat 501, a bare rod 502, a sliding bearing 503, a counterweight bracket 504, a counterweight rod 505, a paper-blocking nylon ring 506, and a wire-passing wheel 507. The bearing seat 501 is fixed on the I-shaped wheel placement mechanism 6, the bare rod 502 is installed on the bearing seat 501, the sliding bearing 503 is installed on the bare rod 502, the counterweight bracket 504 is installed on the sliding bearing 503, the counterweight rod 505 is installed on the counterweight bracket 504, the paper-blocking nylon ring 506 is installed on the counterweight bracket 504, and the wire-passing wheel 507 is installed on the bare rod 502.

[0082] Among them, different counterweight blocks can be replaced at both ends of the counterweight rod 505 to prevent the wire on the pay-off side from being loosened and escaping from the wire passing wheel 507. The wire passing wheel 507 is designed as a U-shaped groove, which is mainly used for guiding the wire on the pay-off side to pass into the braiding main machine 7. The paper blocking nylon ring 506 is mainly used to prevent the padding paper in the I-shaped wheel 9 from being brought into the braiding main machine 7 during the pay-off process.

[0083] The present application also provides a method for using an I-wheel automatic clamping device for a superconducting wire braiding process, comprising:

[0084] Steps for the on-line process on the pay-off side:

[0085] S1, dispatching the AGV 8 carrying the I-shaped wheel 9 to the first QR code 605 pasting point on the pay-off side of the I-shaped wheel automatic clamping device for the superconducting wire braiding process based on the first dispatching signal, wherein the first dispatching signal is generated by the dispatching system according to the braiding length and number of turns information sent by the braiding machine host 7 and the state information of the I-shaped wheel 9 sent by the optical detection device 607;

[0086] S2, the electric push rod 604 of the I-shaped wheel placement mechanism 6 extends;

[0087] S3, the AGV trolley 8 is lifted and lowered so that the I-shaped wheel 9 falls on the placement rack 601, and the AGV trolley 8 withdraws, and the transfer is completed;

[0088] S4, the first center 201 of the active center mechanism 2 enters the center hole of the spool 9 and pushes it close to the second center 301 to complete the clamping;

[0089] S5, after clamping, the spool 9 and the second center 301 slide relative to each other, and the pin 305 compressed during the clamping process bounces up when it turns to the pin hole of the spool 9, and the spool 9 and the passive center mechanism 3 rotate synchronously, and the threading on the pay-off side is completed;

[0090] Steps for taking-up side offline process:

[0091] S6, I-wheel automatic clamping device for superconducting wire braiding process After the superconducting wire braiding is completed, the active top mechanism 2 is retracted, and the single-acting cylinder 311 in the passive top mechanism 3 is actuated to push the I-wheel 9 out and place it on the I-wheel placement mechanism 6;

[0092] S7, dispatching the unloaded AGV 8 to the second QR code 606 pasting point on the take-up side of the I-wheel automatic clamping device for the superconducting wire braiding process based on the second dispatching signal, wherein the second dispatching signal is generated by the dispatching system according to the braiding length and number of turns information sent by the braiding machine host 7 and the state information of the I-wheel 9 sent by the optical detection device 607;

[0093] S8, the AGV trolley 8 is lifted up, and the spool 9 is lifted up and away from the spool placement mechanism 6;

[0094] S9, the electric push rod 604 on the I-shaped wheel placement mechanism 6 is retracted;

[0095] S10, the AGV trolley 8 transfers the I-shaped wheel 9 wound with the braided wire to the storage area, and the wire-receiving side is unloaded.

[0096] It should be noted that the embodiment of the method is specifically based on the method of using the above-mentioned I-wheel automatic clamping device for the superconducting wire weaving process. This method realizes the docking of the weaving machine with the AGV automatic transfer cart when the weaving machine is on and off the line, promotes the automation development of the superconducting wire weaving process, and at the same time realizes the automatic clamping of the I-wheel, solves the time-consuming, labor-intensive and inefficient problems of manual on and off the line, and accelerates the industrialization process of superconducting materials.

[0097] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0098] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An automatic I-wheel clamping device for a superconducting wire braiding process, characterized in that: include: I-shaped wheel placement mechanism (6), a braiding machine mainframe (7), an AGV trolley (8) and an I-shaped wheel (9); The spool placement mechanism (6) is fixed to the support leg below the braiding machine mainframe (7) via a fixing member; The spool (9) is placed on the spool placement mechanism (6); wherein the AGV trolley (8) places the spool (9) on the wire-releasing side of the spool placement mechanism (6) or removes the spool (9) from the wire-receiving side of the spool placement mechanism (6) based on a dispatching signal; The device further comprises: an active top-end mechanism (2), a passive top-end mechanism (3), a wire arrangement mechanism (4), and a wire passing mechanism (5), wherein the active top-end mechanism (2) and the passive top-end mechanism (3) are symmetrically arranged on the wire-releasing side and the wire-receiving side of the spool placement mechanism (6), respectively; the wire arrangement mechanism (4) is arranged on the wire-receiving side of the spool placement mechanism (6) and is located on the upper crossbeam of the spool placement mechanism (6); and the wire passing mechanism (5) is fixed to the lower crossbeam of the spool placement mechanism (6) and is fixed to the spool placement mechanism (6) by screws. The passive top mechanism (3) comprises: a second top (301), a second shaft sleeve (302), a second rotating shaft (303), a pin-pushing fixing plate (304), a pin (305), a first gear (306), a second gear (307), a torque motor (308), a reducer (309), a transmission chain (310), a single-acting cylinder (311), and a rubber top block (312); the second top (301) is mounted on the second rotating shaft (303); the second rotating shaft (303) is mounted on the second shaft sleeve (302); the second shaft sleeve (302) is connected to the I-shaped wheel placement mechanism (6) by welding; the pin-pushing fixing plate (304) is mounted on the second rotating shaft ( The first gear (306) is mounted on the second rotating shaft (303), the first torque motor (308) is mounted on the crossbeam of the I-shaped wheel placing mechanism (6), the reducer (309) is connected to the torque motor (308), the second gear (307) is mounted on the output shaft of the reducer (309), the transmission chain (310) is mounted on the first gear (306) and the second gear (307), the single-acting cylinder (311) is fixed on the I-shaped wheel placing mechanism (6), and the rubber top block (312) is mounted on the rod of the single-acting cylinder (311).

2. The I-wheel automatic clamping device for a superconducting wire braiding process according to claim 1, characterized in that: A two-dimensional code is provided on the wire-releasing side or the wire-retrieving side of the spool placement mechanism (6), and the two-dimensional code is used for scanning and identification by the AGV trolley (8) to obtain the number and destination information of the spool (9).

3. The I-wheel automatic clamping device for a superconducting wire braiding process according to claim 1, characterized in that: The active centering mechanism (2) comprises: a first centering point (201), a first sleeve (202), a telescopic shaft (203), a first rotating shaft (204), a clamping cylinder (205), a cylinder fixing plate (206), and a stroke adjustment plate (207); the first centering point (201) is mounted on the first sleeve (202), the first sleeve (202) is mounted on the telescopic shaft (203), the telescopic shaft (203) is fixed on the first sleeve (202), the first sleeve (202) and the I-shaped wheel placing mechanism (6) are connected by welding, the clamping cylinder (205) is mounted on the cylinder fixing plate (206), the first sleeve (202) is also fixed on the cylinder fixing plate (206), and the stroke adjustment plate (207) is mounted on the telescopic shaft (203) and connected to the clamping cylinder (205).

4. The automatic I-wheel clamping device for a superconducting wire braiding process according to claim 1, characterized in that: The wire arrangement mechanism (4) comprises: a screw support seat (401), a screw (402), a slide rail (403), a base plate (404), a servo motor (405), a motor bracket (406), a coupling (407), a screw nut (408), a wire arrangement guide wheel group (409), and a wire arrangement guide wheel bracket (410); the base plate (404) is fixed on the I-shaped wheel placement mechanism (6); the screw support seat (401) is mounted on the base plate (404); and the screw (402) is mounted on the screw support seat. (401), the motor bracket (406) is fixed on the base plate (404), the servo motor (405) is mounted on the motor bracket (406), the coupling (407) is mounted on the output shaft of the servo motor (405) and the shaft end of the screw rod (402), the screw rod nut (408) is mounted on the screw rod (402), the wire arranging guide wheel bracket (410) is mounted on the screw rod nut (408), and the wire arranging guide wheel assembly (409) is mounted on the wire arranging guide wheel bracket (410).

5. The I-wheel automatic clamping device for superconducting wire braiding process according to claim 1, characterized in that: The wire-passing mechanism (5) comprises: a bearing seat (501), a bare rod (502), a sliding bearing (503), a counterweight bracket (504), a counterweight rod (505), a paper-blocking nylon ring (506), and a wire-passing wheel (507); the bearing seat (501) is fixed on the I-shaped wheel placement mechanism (6); the bare rod (502) is mounted on the bearing seat (501); the sliding bearing (503) is mounted on the bare rod (502); the counterweight bracket (504) is mounted on the sliding bearing (503); the counterweight rod (505) is mounted on the counterweight bracket (504); the paper-blocking nylon ring (506) is mounted on the counterweight bracket (504); and the wire-passing wheel (507) is mounted on the bare rod (502).

6. The I-wheel automatic clamping device for a superconducting wire braiding process according to claim 1, characterized in that: The I-shaped wheel placement mechanism (6) comprises: a placement frame (601), a slide (602), a ball (603), an electric push rod (604), a first two-dimensional code (605), a second two-dimensional code (606), and an optical detection device (607); the ball (603) is arranged at the bottom of the slide (602); the ball (603) is installed in a rear beam slot of the placement frame (601); the electric push rod (604) is installed on columns on both sides of the placement frame (601); the column on the line-releasing side is provided with the first two-dimensional code (605); the column on the line-receiving side is provided with the second two-dimensional code (606); and the optical detection device (607) is installed on the column on the line-releasing side or the column on the line-receiving side.

7. The automatic I-wheel clamping device for superconducting wire braiding process according to claim 1, characterized in that: The AGV trolley (8) communicates with the braiding machine host (7) via a wireless network.

8. A method for using an I-wheel automatic clamping device for a superconducting wire braiding process, the method for using the I-wheel automatic clamping device for a superconducting wire braiding process according to claim 1, characterized in that: include: Steps for the on-line process on the pay-off side: S1. Dispatching an AGV (8) carrying an I-shaped wheel (9) to a first QR code (605) pasting point on the pay-off side of an I-shaped wheel automatic clamping device for a superconducting wire braiding process based on a first dispatching signal, wherein the first dispatching signal is generated by a dispatching system based on braiding length and number of turns information sent by a braiding machine host (7) and status information of the I-shaped wheel (9) sent by an optical detection device (607); S2, the electric push rod (604) of the I-shaped wheel placement mechanism (6) extends; S3, the AGV trolley (8) is lifted and lowered so that the I-shaped wheel (9) falls on the placement rack (601), and the AGV trolley (8) withdraws, and the transfer is completed; S4, the first center (201) of the active center mechanism (2) enters the center hole of the I-shaped wheel (9) and pushes it close to the second center (301), thereby completing the clamping; S5, after clamping, the spool (9) and the second center (301) slide relative to each other, the pin (305) compressed during the clamping process bounces up when it reaches the pin hole of the spool (9), the spool (9) and the passive center mechanism (3) rotate synchronously, and the threading on the pay-off side is completed; Steps for taking-up side offline process: S6. After the superconducting wire braiding is completed by using the I-wheel automatic clamping device in the superconducting wire braiding process, the active top mechanism (2) is retracted, and the single-acting cylinder (311) in the passive top mechanism (3) is actuated to push out the I-wheel (9) and place it on the I-wheel placement mechanism (6); S7, dispatching the unloaded AGV trolley (8) to the second QR code (606) pasting point on the take-up side of the I-wheel automatic clamping device for the superconducting wire braiding process based on the second dispatching signal, wherein the second dispatching signal is generated by the dispatching system according to the braiding length and number of turns information sent by the braiding machine host (7) and the status information of the I-wheel (9) sent by the optical detection device (607); S8, the AGV trolley (8) is lifted up, and the spool wheel (9) is lifted up and away from the spool wheel placement mechanism (6); S9, the electric push rod (604) on the I-shaped wheel placement mechanism (6) is retracted; S10, the AGV trolley (8) transfers the I-shaped wheel (9) wound with the braided wire to the storage area, and the wire taking-up side is completed.

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