Automatic winding machine and winding method

Abstract

The present invention belongs to the technical field of winding equipment, specifically an automatic winding machine and a winding method. Compared with the existing technology, the present invention provides a loading device, which uses the loading device to feed the wire to the winding device before winding and is clamped by the clamping assembly, thereby realizing automatic wire feeding and loading. In addition, during the winding process, the wire feeding mechanism moves a preset distance away from the rotating axis every time the rotating axis rotates one circle, thereby preventing the wound wire from colliding with the wire channel. The present invention has a high degree of automation, can effectively improve work efficiency, and reduce manual fatigue.

Description

Technical Field

[0001] The present invention belongs to the technical field of winding equipment, and in particular relates to an automatic winding machine and a winding method. Background Art

[0002] In current industrial production, winding machines are key equipment for wire processing. Their performance and efficiency directly affect the operation of the entire production line. They are widely used in the winding of wires such as electric wires, cables, and plastic wires. In particular, they are used in the production of 3D printing wires. By configuring winding machines downstream of the device that extrudes 3D printing wires, the winding of such wires can be completed while the 3D printing wires are being produced, thereby improving production efficiency. However, the existing traditional winding machines mainly manually pass the wire through multiple wire wheels in sequence, and then manually pull the wire and wind it on a rotating carrier, such as a rotating shaft, a winding reel, etc. This existing winding method is not only inefficient in manual operation, but also needs to repeatedly perform actions such as threading and tying the wires, especially when a large amount of wire needs to be processed. The labor intensity is high and it is prone to errors. Moreover, due to the uncontrollability of manual operation, the arrangement of the wires is often not neat, and the winding density is difficult to maintain consistency, which affects the quality and consistency of the product. Therefore, how to realize the automation of the winding process, improve production efficiency, and reduce manual labor intensity has become an urgent problem to be solved in the current development of winding machine technology. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of existing winding machines that use manual means to pull the wire onto a rotating carrier, resulting in low work efficiency and high fatigue strength, and to provide an automatic winding machine with automatic wire feeding and loading, thereby improving production efficiency and reducing manual labor intensity.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An automatic winding machine comprises a feeding device and a winding device;

[0006] The loading device includes:

[0007] The wire feeding mechanism includes a wire pulley assembly, a driving pulley assembly and a wire channel arranged along the X-axis direction;

[0008] a wire feeding drive module, comprising a first drive module for driving the wire feeding mechanism to approach or move away from the winding device along the X-axis direction;

[0009] The winding device includes:

[0010] The bearing assembly includes a rotating shaft and a clamping assembly arranged in a circumferential direction of the rotating shaft, wherein the clamping assembly is provided with a clamping member that can be manipulated to open and close;

[0011] A rotation drive module, used for driving the bearing assembly to rotate;

[0012] The wire passes through the wire wheel assembly, the driving wheel assembly and the wire channel in sequence. After the first driving module drives the wire feeding mechanism to move to a preset position toward the winding device, the driving wheel assembly pulls the wire toward the winding device, so that one end of the wire passing through the wire channel is clamped by the clamping assembly. Then, the rotating driving module drives the carrying assembly to rotate, so that the wire is wound around the rotating axis.

[0013] Furthermore, the wire feeding mechanism also includes a substrate module for installing the wire wheel group and the driving wheel group, a first adjusting cylinder is configured on the upper side of the substrate module, the driving wheel group includes an upper driving wheel whose lifting and lowering is controlled by the first adjusting cylinder, and a lower driving wheel located on the lower side of the upper driving wheel, and the lower driving wheel is connected to a wire pulling drive mechanism for driving its rotation.

[0014] Furthermore, the wire feeding mechanism is also configured with a sensor module, and the sensor module is used to detect the moving position of the wire feeding mechanism along the X-axis direction.

[0015] The adjusting base is fixedly mounted on the adjusting base, and the adjusting base is fixedly mounted on the adjusting base so as to be adjustable. The adjusting base is fixedly mounted on the adjusting base and the adjusting base, and the adjusting base is fixedly mounted on the adjusting base. The adjusting base is fixedly mounted on the adjusting base

[0016] Furthermore, the wire feeding drive module further includes a second drive module for driving the wire feeding mechanism to move along the Y-axis direction, and a third drive module for driving the wire feeding mechanism to move along the Z-axis direction;

[0017] The first driving module includes a first slide rail extending along the X-axis, a first slide table slidably arranged on the first slide rail, and a first driving mechanism that drives the first slide table to move along the first slide rail, and the wire feeding mechanism is assembled on the first slide table;

[0018] The second driving module includes a second slide rail extending along the Y axis, a second slide table slidably arranged on the second slide rail, and a second driving mechanism driving the second slide table to move along the second slide rail, and the first driving module is assembled on the second slide table;

[0019] The third driving module includes a third slide rail extending along the Z axis, a third slide table slidably arranged on the third slide rail, and a third driving mechanism driving the third slide table to move along the third slide rail. The second driving module is assembled on the third slide table.

[0020] Furthermore, the feeding device also includes a guiding mechanism arranged between the wire feeding mechanism and the winding device, the guiding mechanism includes a bracket, an upper guide wheel and a lower guide wheel arranged on the bracket, and a guide rod extending along the X-axis is movably contacted between the upper guide wheel and the lower guide wheel, and the guide rod is constructed with the wire channel, and the wire channel is driven by the guide rod.

[0021] Furthermore, the bracket is also provided with a cutting mechanism on the side of the upper guide wheel close to the winding device, and the cutting mechanism includes a back plate, an upper cutter and a lower cutter movably arranged on the back plate, a driving frame, a driving slide fixedly provided on the back plate and a driving cylinder, the sides of the upper cutter and the lower cutter are respectively constructed with driving protrusions, and the driving frame is respectively provided with an inclined extending waist-shaped groove corresponding to the driving protrusion, and the driving protrusion is assembled in the waist-shaped groove, and the driving frame is also provided with a sliding fitting part that slides with the driving slide, and the driving cylinder is connected to the sliding fitting part to drive the sliding fitting part to slide back and forth along the driving slide, and the upper cutter and the lower cutter are driven to approach or move away from each other through the waist-shaped groove and the driving protrusion.

[0022] Furthermore, the wire feeding mechanism also includes a driven wheel group and a second adjusting cylinder, the driven wheel group includes an upper driven wheel whose lifting and lowering is controlled by the second adjusting cylinder, and a lower driven wheel located on the lower side of the upper driven wheel, the lower driven wheel is connected to a meter encoder, and the wire passes between the upper driven wheel and the lower driven wheel.

[0023] Furthermore, the bracket is also equipped with an anti-jump mechanism on the side of the upper guide wheel close to the winding device. The anti-jump mechanism includes an upper positioning wheel and a lower positioning wheel arranged on the upper and lower sides of the guide rod with adjustable spacing. The upper positioning wheel and the lower positioning wheel are staggered along the X-axis direction, and both surfaces are provided with wire grooves for the wire to pass through.

[0024] Furthermore, the clamping member includes a positioning plate and a claw, the positioning plate is fixedly mounted on the rotating shaft, the clamping assembly also includes a clamping cylinder arranged on the rotating shaft, the positioning plate is provided with a through hole, the claw is constructed with a connecting portion that passes through the through hole and one end of which is connected to the output end of the clamping cylinder, and the other end of the connecting portion is connected to a clamping portion extending to the opposite side of the positioning plate.

[0025] Furthermore, the positioning plate is made of metal at least at the portion cooperating with the claw, and at least the clamping portion of the claw is made of metal. When the claw contacts the positioning plate, they are electrically connected and send out a detection signal.

[0026] Furthermore, the positioning plate includes a body and a connecting member, the body has a mounting position corresponding to the claw, the connecting member is connected to the rotating shaft and is adaptively assembled in the mounting position, the connecting member has the through hole, and the connecting member is set to a metal material.

[0027] Furthermore, the winding device also includes a winding drum, which includes a cylinder arranged on the outer periphery of the rotating shaft, with a preset distance between the cylinder and the rotating shaft, and the clamping member is at least partially located on the inner side of the cylinder, and a hollow portion is provided on the surface of the cylinder for the wire to pass through and be clamped by the clamping member.

[0028] Furthermore, the winding device also includes an auxiliary component, which includes a positioning sleeve rotatably arranged at the outer end of the rotating shaft and coaxial with the rotating shaft, and the positioning sleeve is located near the end of the rotating shaft and is configured with an annular conical surface. The auxiliary component also includes an auxiliary component driving mechanism for driving the positioning sleeve to insert the conical surface into the cylinder body.

[0029] Furthermore, the winding drum also includes baffles connected to both ends of the cylinder, and at least one bayonet is provided on the baffle; it also includes a robot, and the output end of the robot is provided with a loading gripper that can be opened and closed in a radial direction around an axis, and a wire clamping gripper that can be opened and closed along a linear direction; the winding drum can be inserted into its cylinder by the loading gripper, and clamped after the loading gripper is opened, and the robot controls the winding drum to be sleeved on the rotating shaft; the wire can be clamped by the wire clamping gripper, and the robot controls the wire to be clamped into the bayonet.

[0030] The present invention also provides a winding method using the automatic winding machine, comprising the following steps:

[0031] The wire is passed through the wire wheel assembly, the driving wheel assembly and the wire channel in sequence;

[0032] Drive the wire feeding mechanism to move to a preset position along the X-axis in a direction close to the winding device;

[0033] The driving wheel group drives the wire to pass through the wire channel;

[0034] The cutting mechanism cuts off the portion of the wire extending out of the conductor channel;

[0035] The driving wheel assembly drives the wire to move a preset distance so that the end of the wire is clamped by the clamping assembly;

[0036] The wire is wound by rotating the rotating shaft. Each time the rotating shaft rotates one circle, the wire moves away from the rotating shaft by a preset distance along the X-axis direction.

[0037] Compared with the prior art, the present invention provides a feeding device, which uses the feeding device to feed the wire to the winding device before winding and is clamped by the clamping assembly, thereby realizing automatic wire feeding and loading. In the winding process, the wire feeding mechanism moves a preset distance away from the rotating axis every time the rotating axis rotates one circle, thereby preventing the wound wire from colliding with the wire channel. The present invention has a high degree of automation, can effectively improve work efficiency, and reduce manual fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a three-dimensional diagram of an automatic winding machine;

[0039] Figure 2 It is a front view of the feeding device and the winding device;

[0040] Figure 3 and Figure 4 It is a three-dimensional diagram of the feeding device;

[0041] Figure 5 It is a three-dimensional diagram of the guiding mechanism, cutting mechanism and anti-jump mechanism;

[0042] Figure 6 A three-dimensional diagram of the cutting mechanism;

[0043] Figures 7 to 9 is a perspective view of a winding device;

[0044] Figure 10 and Figure 11 It is a three-dimensional diagram of the winding device when the auxiliary mechanism is close to the winding drum;

[0045] Figure 12 This is a structural diagram of the positioning sleeve before the positioning convex edge is inserted into the winding drum;

[0046] Figure 13 This is a schematic diagram of the structure after the positioning convex edge of the positioning sleeve is inserted into the winding drum;

[0047] Figure 14 is a three-dimensional diagram of the robot;

[0048] Figure 15 It is a structural diagram of the winding drum;

[0049] Figure 16 It is a structural diagram of the winding disk, rotating shaft and claws;

[0050] Figure 17 It is a three-dimensional diagram of an automatic winding machine using a glue-applied component;

[0051] Figure 18 It is a structural diagram of the glue-sticking component. DETAILED DESCRIPTION

[0052] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0053] See also Figure 1 and Figure 2 This embodiment provides an automatic winding machine and a winding method using the automatic winding machine, including a loading device a and a winding device b. The loading device a includes a wire feeding mechanism a1 and a wire feeding drive module a0.

[0054] See also Figure 2 、 Figure 3 and Figure 7 The winding device b includes a bearing assembly b1 and a rotating drive module b2. The wire feeding mechanism a1 includes a wire wheel assembly a11, a drive wheel assembly a12 and a wire channel a13 arranged along the X-axis direction. In a specific embodiment, the wire feeding mechanism a1 is configured with a wire tube extending along the X-axis direction. The wire tube is preferably a metal hollow tube, and the above-mentioned wire channel a13 is formed inside the tube. The wire feeding drive module a0 includes a first drive module a2, a second drive module a3 and a third drive module a4. The first drive module a2 is used to drive the wire feeding mechanism a1 along the X-axis direction to approach or move away from the winding device b. The second drive module a3 is used to drive the wire feeding mechanism a1 to move along the Y-axis direction. The third drive module a4 is used to drive the wire feeding mechanism a1 to move along the Z-axis direction.

[0055] See also Figure 7 and Figure 9 The carrier assembly b1 includes a rotating shaft b11 and a clamping assembly b12 disposed circumferentially therefrom. Clamping assembly b12 is configured with a manipulable clamping member that opens and closes to allow wire to enter and clamp the wire when closed. A rotation drive module b2, comprising a servo motor, is used to drive the carrier assembly b1 in rotation.

[0056] See also Figure 2 and Figure 3The wire passes through the wire wheel assembly a11, the driving wheel assembly a12 and the wire channel a13 in sequence. After the first driving module a2 drives the wire feeding mechanism a1 to move along the X-axis toward the winding device b to a preset position, the driving wheel assembly a12 drives the wire to move toward the winding device b, so that one end of the wire passing through the wire channel a13 is clamped by the clamping assembly b12, and the rotating driving module b2 drives the carrying assembly b1 to rotate, so that the wire is wound around the rotation axis b11.

[0057] See also Figure 3 and Figure 4 The wire feeding mechanism a1 also includes a base plate module a14 for mounting the wire pulley assembly a11 and the drive pulley assembly a12. A first adjusting cylinder a141 is disposed on the upper side of the base plate module a14. The drive pulley assembly a12 includes an upper driving pulley a121, whose elevation is controlled by the first adjusting cylinder a141, and a lower driving pulley a122 located below the upper driving pulley a121. The lower driving pulley a122 is connected to a wire pulling drive mechanism a123 for driving its rotation. The base plate module a14 can be constructed from a plurality of connected plates. The wire passes between the upper driving pulley a121 and the lower driving pulley a122. The wire pulling drive mechanism a123 drives the lower driving pulley a122 to rotate, pulling the wire through friction, thereby achieving wire traction and feeding. The first adjusting cylinder a141 is provided to adjust the spacing between the upper driving pulley a121 and the lower driving pulley a122.

[0058] See also Figure 3 The wire feeding mechanism a1 is also equipped with a sensor module a15 for detecting the movement position of the wire feeding mechanism a1 along the X-axis. The sensor module a15 can be a photoelectric sensor. For example, by disposing photoelectric sensors that emit detection signals in opposite directions in the direction of movement of the wire feeding mechanism a1, i.e., at both ends of the X-axis, the corresponding photoelectric sensors can detect the movement position of the wire feeding mechanism a1 according to its movement direction. When a specific signal is detected, it indicates that the wire feeding mechanism a1 has moved into position. This photoelectric sensor is prior art, and its detection principle is not the inventive point of the present invention and is not described in detail here.

[0059] See also Figure 2The substrate module a14 is provided with a fixed base a142, an adjustment seat a143 which is movable up and down above the fixed base a142, and a mounting seat a144 which is located below the fixed base a142. An adjustment rod a145 which is movable up and down and passes through the fixed base a142 is connected between the mounting seat a144 and the adjustment seat a143. An elastic member a146 is abutted between the mounting seat a144 and the fixed base a142. The substrate module a14 is rotatably connected to the adjusting rod a145 located below the fixed base a142. The adjusting cam a147 is between the adjusting seat a143 and the fixed base a142, and the wire wheel group a11 includes a plurality of upper guide wheels a111 arranged on the mounting seat a144, and a plurality of lower guide wheels a112 located below the upper guide wheels a111. Driving the adjusting cam a147 to rotate can drive the adjusting seat a143, the fixed seat and the plurality of upper guide wheels a111 to adjust up and down relative to the lower guide wheel a112 to loosen or clamp the wire between the upper guide wheel a111 and the lower guide wheel a112.

[0060] See also Figure 3 and Figure 4 The first driving module a2 includes a first slide rail a21 extending along the X-axis, a first slide table a22 slidingly arranged on the first slide rail a21, and a first driving mechanism a23 that drives the first slide table a22 to move along the first slide rail a21. The wire feeding mechanism a1 is assembled on the first slide table a22.

[0061] The second driving module a3 includes a second slide rail a31 extending along the Y axis, a second slide table a32 slidably arranged on the second slide rail a31, and a second driving mechanism a33 driving the second slide table a32 to move along the second slide rail a31. The first driving module a2 is assembled on the second slide table a32.

[0062] The third driving module a4 includes a third slide rail a41 extending along the Z axis, a third slide table a42 slidingly set on the third slide rail a41, and a third driving mechanism a43 driving the third slide table a42 to move along the third slide rail a41. The second driving module a3 is assembled on the third slide table a42.

[0063] The above-mentioned first drive mechanism a23, second drive mechanism a33, and third drive mechanism a43 preferably adopt the existing screw nut seat drive mechanism. By connecting the first slide a22, the second slide a32, and the third slide a42 to the corresponding nut seat, the corresponding slide can be driven to move by driving the screw to rotate.

[0064] During the wire winding process, the second driving module a3 drives the wire to move back and forth along the Y-axis direction to achieve the function of wire arrangement. During the wire winding process, the third driving module a4 adaptively drives the wire to move along the Z-axis direction according to the thickness of the wire after winding, and adjusts the wire feeding mechanism a1 to an appropriate height to avoid excessive bending of the wire.

[0065] See also Figure 2 、 Figure 3 and Figure 5 The feeding device a also includes a guide mechanism a5 arranged between the wire feeding mechanism a1 and the winding device b and driven by the second drive module a3 and the third drive module a4. The guide mechanism a5 includes a bracket a51, an upper guide wheel a52 and a lower guide wheel a53 arranged on the bracket a51. The upper guide wheel a52 and the lower guide wheel a53 are in movable contact with each other via a guide rod a131 extending along the X-axis. The guide rod a131 is covered with the above-mentioned wire tube, and the wire channel a13 is constructed in the wire tube. The wire channel a13 is driven by the guide rod a131. The above-mentioned arrangement can ensure that the wire channel a13 moves smoothly.

[0066] See also Figures 2 to 4 The wire feeding mechanism a1 also includes a driven wheel group a16 arranged between the wire wheel group a11 and the driving wheel group a12. A second adjusting cylinder a17 is configured on the upper side of the substrate module a14. The driven wheel group a16 includes an upper driven wheel a161 whose lifting and lowering is controlled by the second adjusting cylinder a17, and a lower driven wheel a162 located on the lower side of the upper driven wheel a161. The lower driven wheel a162 is connected to a meter encoder a163. The wire passes through the upper driven wheel a161 and the lower driven wheel a162. The arrangement of the driven wheel group a16 is beneficial to the guiding of the wire. By arranging the meter encoder a163, the length of the wire that has been wound can be obtained according to the number of turns made by the lower driven wheel a162.

[0067] See also Figure 2 、 Figure 3 、 Figure 5 and Figure 6The bracket a51 is further provided with a cutting mechanism a6 on the side of the upper guide wheel a52 close to the winding device b. The cutting mechanism a6 includes a back plate a60, an upper cutter a61 and a lower cutter a62 movably arranged on the back plate a60, a driving frame a63, a driving slide a64 fixedly provided on the back plate a60, and a driving cylinder a65. The sides of the upper cutter a61 and the lower cutter a62 are respectively provided with driving protrusions a601. The driving frame a63 corresponds to the driving protrusions a601. 1 is provided with an obliquely extending waist-shaped groove a602, the driving protrusion a601 is assembled in the waist-shaped groove a602, the driving frame a63 is also provided with a sliding fitting portion a603 that slides with the driving slide a64, and the driving cylinder a65 is connected to the sliding fitting portion a603 to drive the sliding fitting portion a603 to slide back and forth along the driving slide a64, thereby driving the upper cutter a61 and the lower cutter a62 to move closer to or away from each other through the waist-shaped groove a602 and the driving protrusion a601. Before winding, the wire needs to be manually inserted into the wire feeding mechanism a1. However, since it is not possible to ensure that the length of the wire passing through the conductor channel a13 is constant each time, the cutting mechanism a6 is provided to cut the wire and realize the "zeroing" function. Then, the meter encoder a163 is used to obtain the length of the wire moved, and the length of the wire winding can be obtained.

[0068] See also Figure 3 and Figure 5 The bracket a51 is also equipped with an anti-jump mechanism a7 on the side of the upper guide wheel a52 near the winding device b. The anti-jump mechanism a7 includes an upper positioning wheel a71 and a lower positioning wheel a72, which are arranged at an adjustable spacing on the upper and lower sides of the guide rod a131. The upper positioning wheel a71 and the lower positioning wheel a72 are staggered along the X-axis direction, and both surfaces are provided with a wire groove a73 for the wire to pass through. The upper positioning wheel a71 and the lower positioning wheel a72 prevent the portion of the wire that passes through the wire channel a13 from jumping up and down, thereby scratching the wire channel a13 and the wire. At the same time, the left-right staggered arrangement of the upper positioning wheel a71 and the lower positioning wheel a72 prevents the upper positioning wheel a71 and the lower positioning wheel a72 from interfering with each other, and ensures that the wire can all pass into the wire groove a73, further preventing the wire from jumping up and down.

[0069] See also Figures 9 to 11The clamping member includes a positioning plate b121 and a clip b122. The positioning plate b121 is fixedly mounted on the rotating shaft b11. The clamping assembly b12 also includes a clamping cylinder b123 arranged on the rotating shaft b11. The positioning plate b121 is provided with a through hole b124. The clip b122 is constructed with a connecting portion b125 that passes through the through hole b124 and one end of which is connected to the output end of the clamping cylinder b123. The other end of the connecting portion b125 is connected to a clamping portion b126 that extends to the opposite side of the positioning plate b121. The positioning plate b121 is not only a part of the clamping assembly b12, but also can be supported by the winding reel c mounted on the rotating shaft b11.

[0070] See also Figure 9 The positioning disk b121 is at least made of metal at the portion cooperating with the clamping member b122, and at least the clamping portion b126 of the clamping member b122 is made of metal. When the clamping member b122 contacts the positioning disk b121, they are electrically connected and send out a detection signal. Through the above-mentioned setting, it can be determined whether the wire is clamped, because when the wire is clamped between the positioning disk b121 and the clamping member b122, the two will not contact, so no detection signal will be generated, thereby determining that the wire has been clamped, and when the wire is not clamped, the two contact to generate a detection signal, thereby determining that the wire is not clamped.

[0071] See also Figure 9 and Figure 11 The positioning disk b121 includes a main body b121.1 and a connecting member b121.2. The main body b121.1 is provided with an installation position b121.3 corresponding to the clamping member b122. The connecting member b121.2 is connected to the rotating shaft b11 and is adaptively assembled in the installation position b121.3. The connecting member b121.2 is provided with the through hole b124. The connecting member b121.2 is set to be a metal material. The above-mentioned split structure setting method facilitates the detection of whether the wire is clamped without setting the entire positioning disk b121 to a metal material.

[0072] As another specific method for detecting whether the wire is clamped, a detection element for detecting whether there is a wire between the positioning plate b121 and the clamping member b122 is also included. The detection element can be an existing photoelectric sensor.

[0073] See also Figure 7 and Figure 15The winding device b also includes a winding drum c, which includes a cylinder c1 arranged on the outer periphery of the rotating shaft b11. A preset distance is left between the cylinder c1 and the rotating shaft b11, and a clamping member is at least partially located on the inner side of the cylinder c1. In this embodiment, the clamping member b122 is telescopically arranged on the inner side of the cylinder c1 by the clamping cylinder b123. The surface of the cylinder c1 is provided with a hollow portion c11 for the wire to pass through and be clamped by the clamping member. In a specific embodiment, the inner side of the cylinder c1 is constructed with a ring c12 that is sleeved on the rotating shaft b11, and a plurality of spaced reinforcing ribs c13 are connected between the ring c12 and the cylinder c1. The rotating shaft b11 adopts the pneumatic shaft in the prior art. The pneumatic shaft is equipped with an expansion portion whose extension range is adjusted by air pressure. The ring c12 is fixed by the extended expansion portion, and the ring c12 can be loosened by controlling the expansion portion to retract.

[0074] See also Figure 9 and Figure 16 As an improved embodiment, the positioning disk b121 is provided with at least two claws b127 at circumferential intervals and clamped on the inner surface of the cylinder b31. The provision of the claws b127 can make the winding disk c more firmly installed and ensure the quality of the winding.

[0075] See also Figures 7 to 11 The winding device b also includes an auxiliary component b3, which includes a positioning sleeve b31 rotatably arranged at the outer end of the rotating shaft b11 and coaxial with the rotating shaft b11, and the positioning sleeve b31 is located at the end close to the rotating shaft b11 and is configured with an annular conical surface b311. The auxiliary component b3 also includes an auxiliary component driving mechanism b4 for driving the auxiliary component b3 to move along the Y axis and the Z axis. In a specific embodiment, the auxiliary component driving mechanism b4 includes a mechanism for driving the auxiliary component b3 to move along the Y axis. The auxiliary component transverse movement mechanism b41 is used to move the auxiliary component, and the auxiliary component lifting mechanism b42 drives the auxiliary component b3 and the auxiliary component transverse movement mechanism b41 to move along the Z axis. The auxiliary component transverse movement mechanism b41 and the auxiliary component lifting mechanism b42 adopt the existing screw nut seat driving mechanism. The auxiliary component transverse movement mechanism b41 is used to drive the positioning sleeve b31 to insert the conical surface b311 into the auxiliary driving mechanism b32 in the cylinder c1. The auxiliary component b3 is provided to improve the coaxiality of the winding drum c and the rotating shaft b11, and prevent the winding drum c from shaking.

[0076] Referring to the figure, the winding drum c also includes baffles c2 connected to both ends of the cylinder c1, and at least one bayonet c21 is provided on the baffle c2; it also includes a manipulator d, the output end of which is equipped with a feeding gripper d1 that can be opened and closed in a radial direction around an axis, and a wire clamping gripper d2 that can be opened and closed along a linear direction; the winding drum c can be inserted into its cylinder c1 by the feeding gripper d1, and is clamped after the feeding gripper d1 is opened, and the manipulator d controls the winding drum c to be sleeved on the rotating shaft b11; the wire can be clamped by the wire clamping gripper d2, and the manipulator d controls the wire to be clamped into the bayonet c21. By providing the manipulator d, the automatic feeding of the winding drum c and the clamping and finishing of the wire can be realized. The feeding gripper d1 adopts the existing air claw, and the wire clamping gripper d2 adopts the existing finger cylinder, thereby realizing the above-mentioned opening and closing clamping function.

[0077] See also Figure 17 and Figure 18 As another embodiment of wire tailing, the winding device b also includes a gluing assembly b5 arranged on the circumferential side of the carrying assembly b1, and the gluing assembly b5 includes a material tray b51, a swing arm b52 located on the circumferential side of the material tray b51, a pressure tape pulley b53 arranged at the end of the swing arm b52, a plurality of tape guide rollers b54 arranged on the swing arm b52 between the material tray b51 and the pressure tape pulley b53, and a tape cutting member b55 arranged on the side of the pressure tape pulley b53. The swing arm b52 can be driven to swing relative to the material tray b51 to approach or move away from the carrying assembly b1, and the material tray b51 is used When storing the tape, the tape passes around the tape guide wheel b54 in turn and places the end portion at the bottom of the tape pressing wheel b53. The tape cutting component b55 is provided with a movable cutting blade b551. When the winding of the wire is completed, the swing arm b52 swings close to the end portion of the wire located on the supporting component b1. For the identification of the end position of the wire, the coordinates of the end portion of the wire can be obtained by an existing visual recognition device, thereby correspondingly controlling the swing arm b52 to swing and the rotation of the rotating shaft b11, so that the tape is pressed against the end portion of the wire, thereby sealing the wire. Subsequently, the cutting blade b551 cuts the tape, and the cutting knife b541 can move closer to or further away from the tape by driving the cylinder. Compared with the above-mentioned method of using the bayonet c21 to achieve the end portion of the wire, the provision of the glue-applying component b5 can avoid the bending of the wire when it is stuck in the bayonet c21, thereby ensuring the integrity of the wire.

[0078] See also Figure 8 、 Figure 12 and Figure 13The outer periphery of the positioning sleeve b31 is also constructed with a radially extending positioning ridge b32. The positioning ridge b32 is used to fit tightly against the surface of the baffle c2 when the conical surface b311 is inserted into the cylinder c1, thereby fitting the winding drum c and making the winding drum c rotate more smoothly.

[0079] This embodiment also provides a winding method using the above winding machine, comprising the following steps:

[0080] The wire is sequentially passed through the wire pulley assembly a11, the drive wheel assembly a12, and the wire channel a13; the robot arm d grabs the winding drum c and places the winding drum c on the rotating shaft b11. When grabbing the winding drum c, the robot arm d identifies the position of the hollow portion c11 of the winding drum c, for example, by visual recognition methods in the prior art to obtain the coordinates of the hollow portion c11. Then, the robot arm d1 is calculated using a computer algorithm to determine the angle by which the feeding gripper d1 needs to rotate, so that the hollow portion c11 of the winding drum c, which is mounted on the rotating shaft b11, is aligned with the clamping assembly b12.

[0081] Drive the wire feeding mechanism a1 to move to a preset position along the X-axis in a direction close to the winding device b, so that the wire channel a13 is close to the winding device b;

[0082] The driving wheel set a12 drives the wire to move, so that the end of the wire passes through the wire channel a13;

[0083] The cutting mechanism a6 cuts off the portion of the wire extending out of the conductor channel a13. Since the previous step cannot ensure that the length of the wire passing through the conductor channel a13 is consistent each time, the cutting mechanism a6 cuts the wire to achieve "zeroing". Starting from the cut portion, the meter encoder a163 calculates the subsequent length of the wire to confirm the winding length.

[0084] The driving wheel assembly a12 drives the wire to move a preset distance toward the winding device b, so that the end of the wire passes through the hollow portion c11 and enters between the connecting member b121.2 and the clamping portion b126, and is clamped by the clamping assembly b12;

[0085] The rotating shaft b11 rotates to achieve wire winding. Each time the rotating shaft b11 rotates one circle, the wire feeding mechanism a1 moves away from the rotating shaft b11 by a preset distance along the X-axis direction. At the same time, the wire feeding mechanism a1 moves back and forth along the Y-axis to arrange the wire and moves upward along the Z-axis according to the thickness of the wire wound on the winding drum c.

[0086] The length of the wire winding is obtained through the meter encoder a163. When the preset value is reached, the rotating shaft b11 stops rotating and the cutting mechanism a6 cuts the wire; the robot d clamps the end of the wire through the wire gripper d2 and clamps it into the bayonet c21, thereby completing the wire winding of a winding reel c; or, the glue component b5 controls the swing arm b52 to approach the end of the wire, and the rotating shaft b11 continues to rotate, thereby pressing the tape to the end of the wire, thereby completing the finishing.

[0087] As an improved solution, the minimum spacing between the end of the wire channel a13 and the axis of the rotating shaft b11 in the X-axis direction is 8-12 mm, preferably 10 mm. Through the above setting, the wire channel a13 can be extended as close to the winding reel c as possible, thereby avoiding the wire extending out of the wire channel a13 too long and jumping.

[0088] Compared with the prior art, the present invention provides a feeding device a, which uses the feeding device a to feed the wire to the winding device b before winding and is clamped by the clamping component b12, thereby realizing automated wire feeding and loading. In the winding process, the wire feeding mechanism a1 moves a preset distance away from the rotating axis b11 every time the rotating axis b11 rotates one circle, thereby preventing the wound wire from colliding with the wire channel a13. The present invention has a high degree of automation, can effectively improve work efficiency, and reduce manual fatigue.

[0089] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. Automatic winding machine, characterized in that, It includes a feeding device (a) and a winding device (b); The feeding device (a) comprises: The wire feeding mechanism (a1) includes a wire wheel assembly (a11), a driving wheel assembly (a12) and a wire channel (a13) arranged along the X-axis direction; a wire feeding drive module (a0), comprising a first drive module (a2) for driving the wire feeding mechanism (a1) to move toward or away from the winding device (b) along the X-axis direction, a second drive module (a3) ​​for driving the wire feeding mechanism (a1) to move along the Y-axis direction, and a third drive module (a4) for driving the wire feeding mechanism (a1) to move along the Z-axis direction; The winding device (b) comprises: A bearing assembly (b1) comprises a rotating shaft (b11), a clamping assembly (b12) arranged in a circumferential direction of the rotating shaft (b11), the clamping assembly (b12) being provided with a clamping member that can be manipulated to open and close; the clamping member comprises a positioning disc (b121) and a clamping member (b122), the positioning disc (b121) being fixedly sleeved on the rotating shaft (b11), the clamping assembly (b12) further comprising a clamping cylinder (b123) arranged on the rotating shaft (b11), the positioning disc (b121) being provided with a through hole (b124), the clamping member (b122) being constructed with a connecting portion (b125) penetrating the through hole (b124) and having one end connected to the output end of the clamping cylinder (b123), the other end of the connecting portion (b125 being connected to a clamping portion (b126) extending to the opposite side of the positioning disc (b121); A rotation drive module (b2), used for driving the bearing assembly (b1) to rotate; The wire passes through the wire wheel assembly (a11), the driving wheel assembly (a12) and the wire channel (a13) in sequence. After the first driving module (a2) drives the wire feeding mechanism (a1) to move to the winding device (b) to a preset position, the driving wheel assembly (a12) drives the wire to move toward the winding device (b), so that one end of the wire passing through the wire channel (a13) is clamped by the clamping assembly (b12), and the rotating driving module (b2) drives the bearing assembly (b1) to rotate, so that the wire is wound around the rotating axis (b11).

2. The automatic winding machine according to claim 1, characterized in that The wire feeding mechanism (a1) also includes a base plate module (a14) for installing the wire wheel group (a11) and the driving wheel group (a12), and a first regulating cylinder (a141) is configured on the upper side of the base plate module (a14). The driving wheel group (a12) includes an upper driving wheel (a121) whose lifting and lowering are controlled by the first regulating cylinder (a141), and a lower driving wheel (a122) located on the lower side of the upper driving wheel (a121). The lower driving wheel (a122) is connected to a wire pulling driving mechanism (a123) for driving its rotation.

3. The automatic winding machine according to claim 2, characterized in that The substrate module (a14) is provided with a fixed base (a142), an adjustment seat (a143) which is movably arranged above the fixed base (a142), and a mounting seat (a144) which is located below the fixed base (a142). An adjustment rod (a145) which is movably arranged above and below the fixed base (a142) is connected between the mounting seat (a144) and the adjustment seat (a143). An elastic member (a146) is abutted between the mounting seat (a144) and the fixed base (a142). The substrate module (a14) is rotatably connected to the adjustment rod (a145). An adjusting cam (a147) is provided between the joint seat (a143) and the fixed base (a142); the wire wheel assembly (a11) includes a plurality of upper guide wheels (a111) provided on the mounting seat (a144), and a plurality of lower guide wheels (a112) located below the upper guide wheels (a111); driving the adjusting cam (a147) to rotate can drive the adjusting seat (a143), the fixed seat and the plurality of upper guide wheels (a111) to adjust up and down relative to the lower guide wheel (a112), so as to loosen or clamp the wire between the upper guide wheel (a111) and the lower guide wheel (a112).

4. The automatic winding machine according to claim 1, characterized in that The first driving module (a2) includes a first slide rail (a21) extending along the X-axis, a first slide table (a22) slidably arranged on the first slide rail (a21), and a first driving mechanism (a23) driving the first slide table (a22) to move along the first slide rail (a21), and the wire feeding mechanism (a1) is assembled on the first slide table (a22); The second driving module (a3) ​​includes a second slide rail (a31) extending along the Y-axis, a second slide table (a32) slidably arranged on the second slide rail (a31), and a second driving mechanism (a33) for driving the second slide table (a32) to move along the second slide rail (a31), and the first driving module (a2) is assembled on the second slide table (a32); The third driving module (a4) includes a third slide rail (a41) extending along the Z axis, a third slide table (a42) slidingly arranged on the third slide rail (a41), and a third driving mechanism (a43) driving the third slide table (a42) to move along the third slide rail (a41), and the second driving module (a3) ​​is assembled on the third slide table (a42).

5. The automatic winding machine according to claim 1, characterized in that The feeding device (a) further includes a guide mechanism (a5) arranged between the wire feeding mechanism (a1) and the winding device (b), wherein the guide mechanism (a5) includes a bracket (a51), an upper guide wheel (a52) and a lower guide wheel (a53) arranged on the bracket (a51), a guide rod (a131) extending along the X-axis is movably contacted between the upper guide wheel (a52) and the lower guide wheel (a53), and the guide rod (a131) is constructed with the wire channel (a13), and the wire channel (a13) is driven by the guide rod (a131).

6. The automatic winding machine according to claim 5, characterized in that The bracket (a51) is further provided with a cutting mechanism (a6) on the side of the upper guide wheel (a52) close to the winding device (b), and the cutting mechanism (a6) includes a back plate (a60), an upper cutter (a61) and a lower cutter (a62) movably arranged on the back plate (a60), a driving frame (a63), a driving slide (a64) fixedly provided on the back plate (a60), and a driving cylinder (a65), wherein the sides of the upper cutter (a61) and the lower cutter (a62) are respectively provided with driving protrusions (a601), and the driving frame (a63) corresponds to the driving protrusions ( a601) is provided with an inclined waist-shaped groove (a602), the driving protrusion (a601) is assembled in the waist-shaped groove (a602), the driving frame (a63) is also provided with a sliding fitting portion (a603) that slides with the driving slide (a64), the driving cylinder (a65) is connected to the sliding fitting portion (a603) to drive the sliding fitting portion (a603) to slide back and forth along the driving slide (a64), and drive the upper cutter (a61) and the lower cutter (a62) to move closer to or away from each other through the waist-shaped groove (a602) and the driving protrusion (a601).

7. The automatic winding machine according to claim 6, characterized in that The wire feeding mechanism (a1) also includes a driven wheel group (a16) and a second regulating cylinder (a17), wherein the driven wheel group (a16) includes an upper driven wheel (a161) whose lifting and lowering is controlled by the second regulating cylinder (a17), and a lower driven wheel (a162) located on the lower side of the upper driven wheel (a161), wherein the lower driven wheel (a162) is connected to a meter encoder (a163), and the wire passes between the upper driven wheel (a161) and the lower driven wheel (a162).

8. The automatic winding machine according to claim 5, characterized in that The bracket (a51) is further provided with an anti-jumping mechanism (a7) on the side of the upper guide wheel (a52) close to the winding device (b). The anti-jumping mechanism (a7) includes an upper positioning wheel (a71) and a lower positioning wheel (a72) arranged at an adjustable interval on the upper and lower sides of the guide rod (a131). The upper positioning wheel (a71) and the lower positioning wheel (a72) are staggered along the X-axis direction, and both surfaces are provided with a wire groove (a73) for the wire to pass through.

9. The automatic winding machine according to claim 1, characterized in that The positioning plate (b121) is made of metal at least at a portion cooperating with the clamping member (b122), and at least a clamping portion (b126) of the clamping member (b122) is made of metal. When the clamping member (b122) contacts the positioning plate (b121), they are electrically connected and a detection signal is emitted. Alternatively, the positioning disk (b121) is made of metal at least at a portion cooperating with the clamping member (b122), and at least the clamping portion (b126) of the clamping member (b122) is made of metal. When the clamping member (b122) contacts the positioning disk (b121), they are electrically connected and send out a detection signal. The positioning disk (b121) includes a main body (b121.1) and a connecting member (b121.2). The main body (b121.1) is provided with a mounting position (b121.3) corresponding to the clamping member (b122). The connecting member (b121.2) is connected to the rotating shaft (b11) and is adaptively assembled in the mounting position (b121.3). The connecting member (b121.2) is provided with the through hole (b124). The connecting member (b121.2) is made of metal.

10. The automatic winding machine according to claim 1, characterized in that It also includes a detection element for detecting whether there is a wire between the positioning plate (b121) and the clamping member (b122).

11. The automatic winding machine according to claim 1, characterized in that The winding device (b) further includes a winding drum (c), the winding drum (c) including a cylinder (c1) arranged on the outer periphery of the rotating shaft (b11), a preset distance being left between the cylinder (c1) and the rotating shaft (b11), the clamping member being at least partially located on the inner side of the cylinder (c1), and a hollow portion (c11) being provided on the surface of the cylinder (c1) for allowing the wire to pass through and be clamped by the clamping member.

12. The automatic winding machine according to claim 11, characterized in that The winding device (b) further includes an auxiliary component (b3), wherein the auxiliary component (b3) includes a positioning sleeve (b31) rotatably arranged at the outer end of the rotating shaft (b11) and coaxial with the rotating shaft (b11), and the positioning sleeve (b31) is located near the end of the rotating shaft (b11) and is configured with an annular conical surface (b311). The auxiliary component (b3) further includes an auxiliary component driving mechanism (b4) for driving the positioning sleeve (b31) so that the conical surface (b311) is inserted into the cylinder (c1).

13. The automatic winding machine according to claim 11, characterized in that The winding drum (c) also includes baffles (c2) connected to both ends of the cylinder (c1), and at least one bayonet (c21) is provided on the baffle (c2); and also includes a manipulator (d), the output end of the manipulator (d) is provided with a feeding gripper (d1) that can be opened and closed in a radial direction around an axis, and a wire clamping gripper (d2) that can be opened and closed along a linear direction; the winding drum (c) can be inserted into its cylinder (c1) by the feeding gripper (d1), and can be clamped after the feeding gripper (d1) is opened, and the manipulator (d) controls the winding drum (c) to be sleeved on the rotating shaft (b11); the wire can be clamped by the wire clamping gripper (d2), and the manipulator (d) controls the wire to be clamped into the bayonet (c21).

14. The automatic winding machine according to claim 1, characterized in that The winding device (b) further includes a glue-applying assembly (b5) arranged on the circumferential side of the supporting assembly (b1), the glue-applying assembly (b5) including a material tray (b51), a swing arm (b52) located on the circumferential side of the material tray (b51), a tape pressure wheel (b53) arranged at the end of the swing arm (b52), a plurality of tape guide wheels (b54) arranged on the swing arm (b52) between the material tray (b51) and the tape pressure wheel (b53), and a tape cutting member arranged on the side of the tape pressure wheel (b53). (b55), the swing arm (b52) can be driven to swing relative to the material tray (b51) to approach or move away from the supporting component (b1), the material tray (b51) is used to store the tape, the tape passes around the tape guide wheel (b54) in turn and places the end at the bottom of the tape pressing wheel (b53), the tape cutting component (b55) is equipped with a movable cutting blade (b551), and the cutting blade (b551) can be driven to move the swing arm (b52) close to the supporting component (b1) to cut the tape pressed to the end of the wire.

15. A winding method using the automatic winding machine according to any one of claims 1 to 14, characterized in that: The following steps are involved: The wire is passed through the wire pulley assembly (a11), the driving wheel assembly (a12) and the wire channel (a13) in sequence; Driving the wire feeding mechanism (a1) to move to a preset position along the X-axis in a direction close to the winding device (b); The driving wheel assembly (a12) drives the wire to pass through the wire channel (a13); The cutting mechanism (a6) cuts off the portion of the wire extending out of the wire channel (a13); The driving wheel assembly (a12) drives the wire to move a preset distance, so that the end of the wire is clamped by the clamping assembly (b12); The rotating shaft (b11) rotates to realize the winding of the wire, and each time the rotating shaft (b11) rotates one circle, it moves away from the rotating shaft (b11) by a preset distance along the X-axis direction.

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