Full-automatic forming machine for cable accessories

Abstract

The invention belongs to the technical field of forming, and particularly relates to a full-automatic forming machine for cable accessories, which comprises a base fixedly connected with one end of a first mechanical arm, and two ends of a second mechanical arm respectively connected with the other end of the first mechanical arm and one end of a third mechanical arm, the other end is connected with a stress cone track sensor, a stress cone position sensor and a stress cone pneumatic clamp; signals monitored by the stress cone position sensor, the stress cone track sensor, the first mold clamping force sensing sensor and the second mold clamping force sensing sensor are transmitted to the stress cone control module for stress cone track positioning, stress cone track planning and accurate control over the clamping force of the first mold and the clamping force of the second mold. According to the invention, the positioning of the stress cone and the precise control and planning of the track of the stress cone are realized, the mold expansion efficiency of the stress cone sleeve is ensured, and the optimal clamping force of the first mold and the second mold is calculated through the stress cone control module, so that the molding quality of the stress cone is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of forming machines, in particular to a full-automatic forming machine for cable accessories. Background Art

[0002] The cable accessories fully automatic forming machine is an automated equipment used to produce cable accessories. First, it is mainly used to produce cable accessories such as power intermediate joints and power terminals. These products play a vital role in power transmission and distribution systems and can ensure the reliability and safety of cable connections; secondly, it can be used to produce connectors, terminals and other accessories for communication cables to ensure the stable transmission of communication signals; finally, in rail transit systems such as subways and light rails, the cable accessories fully automatic forming machine can be used to produce cable accessories of various specifications to meet the high requirements of rail transit vehicles and equipment for cable connections.

[0003] The equipment is mainly composed of the following parts: frame, electrical box, silicone servo conveying mechanism, fixed frame, stress cone conveying mechanism, stress cone assembly mechanism, mold rod core, mold rod core lifting cylinder, cable accessory mold, mold drive mechanism, air blowing and demoulding mechanism and cable accessory material taking mechanism.

[0004] The main working principle of the equipment is as follows: first, the liquid silicone is transported to the mold cavity through the silicone servo conveying mechanism; then, the mold is closed, and under a certain temperature and pressure, the liquid silicone is solidified and formed in the mold cavity; after forming, the mold is opened, and the air blowing demolding mechanism blows air into the inner cavity of the product to expand it, making it easier to remove from the mold; finally, the cable accessories taking mechanism takes out the formed cable accessories and transports them to the designated location, completing a production cycle.

[0005] The announcement number is CN112693056B. The present invention relates to a fully automatic forming machine for cable accessories, including a frame, an electrical box, a silicone servo conveying mechanism, a fixing frame, a stress cone conveying mechanism, a stress cone assembly mechanism, a mold rod core, a mold rod core lifting cylinder, a mold, a mold driving mechanism, an air blowing demoulding mechanism and a material taking mechanism. The stress cone conveying mechanism conveys the stress cone to the stress cone assembly mechanism, the stress cone assembly mechanism drives the stress cone sleeve to the mold rod core, the mold rod core lifting cylinder drives the mold rod core to descend, the mold driving mechanism drives the mold to close the mold and clamp the mold rod core, the silicone servo conveying mechanism inputs liquid silicone into the mold cavity, the cable accessories are molded after a certain period of time, the mold driving mechanism drives the mold to separate the mold, the air blowing demoulding mechanism takes out the cable accessories, and the material taking mechanism clamps the cable accessories in the air blowing demoulding mechanism and moves them out for storage. The whole process is automated, no manual material taking is required, high efficiency and high yield rate are achieved, which is conducive to reducing costs and meeting production needs.

[0006] Still can't realize in the above prior art 1. During the process of taking and placing the stress cone, the stress cone's trajectory is chaotic and it cannot reach the designated placement location smoothly. In serious cases, the stress cone may accidentally hit other mechanical parts during movement, causing the stress cone to fall, affecting production efficiency.

[0007] 2. The stress cone has a chaotic trajectory, which causes the stress cone to be unable to accurately reach the predetermined position, affecting the next process.

[0008] 3. The optimal clamping force of the mold is not controlled, and the optimal mold clamping force cannot be output constantly, resulting in poor molding effect or mold damage and mold deformation.

[0009] It should be noted that the above contents belong to the technical knowledge of the inventor and do not necessarily constitute prior art. Summary of the invention

[0010] In view of the deficiencies in the prior art, the present invention provides a method to solve the problems existing in the prior art.

[0011] To achieve the above object, the present invention provides the following technical solutions: A fully automatic forming machine for cable accessories comprises: one end of a base fixed to the ground, the other end of which is fixedly connected to a mechanical arm assembly and an electrical box, both ends of a first fixed column and a second fixed column are respectively fixedly connected to the other end of the base and a stress cone bottom plate assembly, and both ends of a third fixed column and a fourth fixed column are respectively connected to a workbench assembly and one end of a transmission assembly.

[0012] Further, the mechanical arm assembly includes a mechanical arm driving motor fixedly connected to the other end of the base, one end of the first mechanical arm fixedly connected to the base and connected to the mechanical arm driving motor, two ends of the second mechanical arm are respectively connected to the other end of the first mechanical arm and one end of the third mechanical arm, and the other end is connected to a stress cone track sensor for monitoring the moving position of the stress cone, a stress cone pneumatic clamp for taking and placing the stress cone, and a stress cone position sensor for accurately locating the placement position of the stress cone, and the stress cone position sensor is embedded in the stress cone pneumatic clamp; The stress cone bottom plate assembly comprises: one end of the stress cone bottom plate for placing the stress cone is fixedly connected to the other end of the workbench assembly, and the other end of the stress cone bottom plate is in a longitudinal relative position with the stress cone pneumatic clamp; The workbench assembly includes: two ends of a first fixed plate are respectively connected to one end of the conveyor belt and one end of the stress cone sleeve, two ends of a second fixed plate are respectively connected to one end of the conveyor belt and one end of the first mold driving cylinder, and the other end is connected to the first mold, and a first mold clamping force sensing sensor is embedded in the first mold, two ends of a third fixed plate are respectively connected to one end of the conveyor belt and one end of the mold rod core, two ends of a fourth fixed plate are respectively connected to one end of the conveyor belt and one end of the second mold driving cylinder, and the other end is connected to the second mold, and a second mold clamping force sensing sensor is embedded in the second mold, and a mold driving air pump is fixedly connected to one side of the third fixed column, and the mold driving air pump is connected to the first mold driving cylinder and the second mold driving cylinder; The transmission assembly includes multiple groups of rollers, multiple groups of rollers and the inner sleeves are in the multiple groups of rollers, the conveyor belt is sleeved outside the multiple groups of rollers, the two ends of the multiple groups of rollers are connected to a group of transmission chains, the output end of the conveyor belt driving motor is connected to one of the rollers in the multiple groups of rollers, and the conveyor belt driving motor is fixedly connected to one side of the fourth fixed column; The stress cone position sensor, the stress cone track sensor, the first mold clamping force sensing sensor, the second mold clamping force sensing sensor, the robot arm drive motor, the conveyor belt drive motor and the mold drive air pump are connected to the stress cone control module, and the electrical box is connected to the stress cone control module; The stress cone control module includes a signal input unit for a data signal input end, a data model comparison unit for comparing actual data with a preset data model, judging and calling a data model, a preset data model storage unit for storing a preset data model, a data model correction unit for storing a data model correction method and a signal output unit for command signal output, and each unit is connected in sequence.

[0013] Furthermore, the preset stress cone initial placement position H0 in the preset data model storage unit in the stress cone control module and the actual stress cone placement position H1 monitored by the stress cone position sensor, then: When H0>H1, the stress cone control module determines that it is the working position of the first mold rod core; When H0

[0014] Further, if the stress cone control module determines that it is the working position of the first mold rod core, the correction method of the first mold rod core working position in the data model correction unit is used for correction, then the correction coefficient Q1 of the actual stress cone placement position H1 is, Q1=

[0015] ​Wherein, A is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the first mold rod core is in the working position.

[0016] If the stress cone control module determines that it is the working position of the second mold rod core, the second mold rod core working position correction method in the data model correction unit is used for correction, then the second mold rod core working position correction coefficient Q2 is, Q2=

[0017] Wherein, B is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the second mold rod core is in the working position.

[0018] Furthermore, the preset stress cone movement trajectory range M0 in the preset data model storage unit in the stress cone control module and the stress cone trajectory range M1 actually monitored by the stress cone trajectory sensor, then; When M0>M1, the stress cone control module determines that it is within the first trajectory range of the stress cone; When M0<M1, the stress cone control module determines that it is within the second trajectory range of the stress cone.

[0019] Furthermore, if the stress cone control module determines that the stress cone is in the first trajectory range, the actual trajectory range of the stress cone is within the preset trajectory range of the stress cone, so no correction is required; If the stress cone control module determines that the stress cone is in the second trajectory range, the stress cone correction trajectory range method in the data model correction unit is used for correction, and the stress cone correction trajectory range X is, X=

[0020] Among them, U is beyond the range of stress cone trajectory, and P is the maximum trajectory range of stress cone.

[0021] Furthermore, the preset data model storage unit in the stress cone control module presets a rated working pressure Q0 of the mold driving cylinder, and the first mold clamping force sensing sensor and the second mold clamping force sensing sensor monitor the actual rated working pressure Q1 of the mold driving cylinder, then: When Q0>Q1, the stress cone control module determines that the mold is in the first working state; When Q0<Q1, the stress cone control module determines that the mold is in the second working state.

[0022] Furthermore, if the stress cone control module determines that the mold is in the first working state, the first mold clamping force correction method in the data model correction unit is used for correction, and the first mold clamping force correction coefficient K1 is, K1=

[0023] in, is the sum of the total rated mold drive cylinder working pressures of the first mold drive cylinder and the second mold drive cylinder, The sum of the maximum mold driving cylinder working pressures of the first mold driving cylinder and the second mold driving cylinder; If the stress cone control module determines that the mold is in the second working state, the second mold clamping force correction method in the data model correction unit is used for correction, and the second mold clamping force correction coefficient K2 is, K2= .

[0024] Beneficial effects of the present invention: First, the present invention is conducive to using a robotic arm to achieve precise control of the stress cone and plan the optimal trajectory route during the stress cone placement process, thereby expanding the moving range of the stress cone and improving production efficiency; secondly, the stress cone control module is used to realize automated production of cable accessories, thereby improving the intelligence and production efficiency of the equipment; finally, the present invention accurately controls and plans the stress cone positioning and stress cone trajectory to ensure the mold expansion efficiency of the stress cone sleeve, and uses the first clamping force sensing sensor and the second clamping force sensing sensor to monitor the distance between the expanded stress cone and the first clamp and the second clamp, and uses the stress cone control module to accurately control the optimal clamping force of the first mold and the second mold to prevent the first mold and the second mold from having too small or too large clamping forces, resulting in poor molding effects or mold deformation problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic structural diagram of the transmission assembly of the present invention; Figure 3 A schematic diagram of the control process of the stress cone control module of the present invention; Figure 4 It is a schematic structural diagram of the stress cone control module of the present invention.

[0026] In the figure: 1, base; 2, mechanical arm drive motor; 3, first mechanical arm; 4, second mechanical arm; 5, third mechanical arm; 6, stress cone track sensor; 7, stress cone pneumatic clamp; 8, stress cone position sensor; 9, stress cone bottom plate; 10, workbench assembly; 11, first fixed column; 12, electrical box; 13, second fixed column; 14, third fixed column; 15, fourth fixed column; 16, conveyor belt drive motor; 17, conveyor assembly; 18, stress cone sleeve; 19, first fixed plate; 20, second fixed plate; 21, first mold drive cylinder; 22. First mold; 23. First mold clamping force sensing sensor; 24. Mold rod core; 25. Second mold; 26. Second mold clamping force sensing sensor; 27. Third fixed plate; 28. Second mold driving cylinder; 29. ​​Fourth fixed plate; 30. Roller; 31. Roller; 32. Transmission chain; 33. Conveyor belt; 34. Stress cone control module; 35. Signal input unit; 36. Data model comparison unit; 37. Data model correction unit; 38. Preset data model storage unit; 39. Signal output unit; 40. Mold driving air pump. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-4 In this embodiment: a fully automatic forming machine for cable accessories, which includes: one end of a base 1 is fixed to the ground, the other end of which is fixedly connected to a robotic arm assembly and an electrical box 12, the first fixed column 11 and the second fixed column 13 are respectively fixedly connected at both ends of the base 1 and the stress cone bottom plate assembly, and the third fixed column 14 and the fourth fixed column 15 are respectively connected at both ends of the workbench assembly 10 and one end of the transmission assembly 17.

[0029] Specifically, the present invention is conducive to controlling the trace of the stress cone during the placement process, expanding the moving range of the stress cone, and utilizing the stress cone control module 34 to realize automated production of cable accessories, thereby improving the intelligence and production efficiency of the equipment.

[0030] Specifically, the robotic arm assembly includes a robotic arm driving motor 2 fixedly connected to the other end of the base 1, one end of a first robotic arm 3 fixedly connected to the base 1 and connected to the robotic arm driving motor 2, two ends of a second robotic arm 4 respectively connected to the other end of the first robotic arm 3 and one end of a third robotic arm 5, and the other end connected to a stress cone track sensor 6 for monitoring the moving position of the stress cone, a stress cone pneumatic clamp 7 for taking and placing the stress cone, and a stress cone position sensor 8 for accurately locating the placement position of the stress cone, wherein the stress cone position sensor 8 is embedded in the stress cone pneumatic clamp 7; The stress cone bottom plate assembly includes: one end of a stress cone bottom plate 9 for placing a stress cone is fixedly connected to the other end of the workbench assembly 10, and the other end of the stress cone bottom plate 9 is in a longitudinal relative position with the stress cone pneumatic clamp 7; The workbench assembly 10 includes: two ends of a first fixed plate 19 are respectively connected to one end of the conveyor belt 33 and one end of the stress cone sleeve 18; two ends of a second fixed plate 20 are respectively connected to one end of the conveyor belt 33 and one end of a first mold driving cylinder 21, and the other end is connected to the first mold 22; a first mold clamping force sensing sensor 23 is embedded in the first mold 22; two ends of a third fixed plate 27 are respectively connected to one end of the conveyor belt 33 and one end of a mold rod core 24; two ends of a fourth fixed plate 29 are respectively connected to one end of the conveyor belt 33 and one end of a second mold driving cylinder 28, and the other end is connected to the second mold 25; a second mold clamping force sensing sensor 26 is embedded in the second mold 25; a mold driving air pump 40 is fixedly connected to one side of the third fixed column 14, and the mold driving air pump 40 is connected to the first mold driving cylinder 21 and the second mold driving cylinder 28; The transmission assembly 17 includes a plurality of rollers 30, a plurality of rollers 31 which are sleeved inside the plurality of rollers 30, a conveyor belt 33 sleeved outside the plurality of rollers 31, two ends of the plurality of rollers 30 are connected to a group of transmission chains 32, an output end of a conveyor belt driving motor 16 is connected to one of the rollers 30 in the plurality of rollers 30, and the conveyor belt driving motor 16 is fixedly connected to one side of the fourth fixed column 15; The stress cone position sensor 8, the stress cone track sensor 6, the first mold clamping force sensing sensor 23, the second mold clamping force sensing sensor 26, the robot arm drive motor 2, the conveyor belt drive motor 16 and the mold drive air pump 40 are connected to the stress cone control module 34, and the electrical box 12 is connected to the stress cone control module 34; The stress cone control module 34 includes a signal input unit 35 for a data signal input end, a data model comparison unit 36 ​​for comparing actual data with a preset data model, judging and calling a data model, a preset data model storage unit 38 for storing a preset data model, a data model correction unit 37 for storing a data model correction method and a signal output unit 39 for command signal output, and each unit is connected in sequence.

[0031] Specifically, on the one hand, the present invention accurately controls the positioning and movement trajectory of the stress cone, thereby improving the work efficiency of the stress cone expansion process and the molding process, and effectively improving product production capacity and product quality; on the other hand, the present invention accurately controls the clamping force when the mold is closed, thereby preventing the mold from having poor molding effect, mold damage, or mold deformation due to loose closure or excessive mold clamping force.

[0032] Specifically, the preset stress cone initial placement position H0 in the preset data model storage unit 38 in the stress cone control module 34 and the actual stress cone placement position H1 monitored by the stress cone position sensor 8, then: When H0>H1, the stress cone control module 34 determines that it is the working position of the first mold rod core; When H0

[0033] Specifically, the stress cone control module 34 determines that the first or second mold rod core working position is conducive to accurately adjusting the mold rod core position and improving the accuracy of the stress cone placement position.

[0034] Specifically, if the stress cone control module 34 determines that the first mold rod core working position is corrected by using the first mold rod core working position correction method in the data model correction unit 37, the correction coefficient Q1 of the actual stress cone placement position H1 is, Q1=

[0035] Wherein, A is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the first mold rod core is in the working position.

[0036] If the stress cone control module 34 determines that it is the working position of the second mold rod core, the correction method of the second mold rod core working position in the data model correction unit 37 is used for correction, then the correction coefficient Q2 of the actual stress cone placement position H1 is, Q2=

[0037] Wherein, B is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the second mold rod core is in the working position.

[0038] ​Specifically, the mold rod core is corrected to the first or second working position according to the stress cone position correction coefficient Q1 or Q2, which is conducive to the stress cone pneumatic clamp 7 to accurately pick up and place the stress cone into the moving mold rod core 24, improve the grasping and placement accuracy of the stress cone, and improve the working efficiency and intelligence of the equipment.

[0039] Specifically, the preset stress cone trace range M0 in the preset data model storage unit 38 in the stress cone control module 34 and the stress cone trace range M1 actually monitored by the stress cone trace sensor 6, then; When M0>M1, the stress cone control module 34 determines that it is in the first trajectory range of the stress cone; When M0<M1, the stress cone control module 34 determines that the stress cone is in the second trajectory range.

[0040] Specifically, according to the stress cone control module 34, it is determined to be the first or second trajectory range of the stress cone. On the one hand, it is conducive to accurately controlling the moving range of the stress cone and improving the planning of the stress cone grabbing position, placement position and moving range. On the other hand, it is conducive to the stress cone control module 34 to plan the stress cone moving route according to the first or second trajectory range of the stress cone, thereby improving production efficiency.

[0041] Specifically, if the stress cone control module 34 determines that the stress cone is in the first trajectory range, the actual trajectory range of the stress cone is within the preset trajectory range of the stress cone, so no correction is required; If the stress cone control module 34 determines that the stress cone is in the second trajectory range, the stress cone trajectory range correction method in the data model correction unit 37 is used for correction, and the stress cone trajectory range X is X=

[0042] Among them, U is beyond the range of stress cone trajectory, and P is the maximum trajectory range of stress cone.

[0043] Specifically, judging the first or second trajectory range of the stress cone by the stress cone control module 34 helps to accurately control and plan the trajectory route of the stress cone, thereby preventing production efficiency from being delayed and production safety problems from occurring due to the irregular trajectory route of the stress cone.

[0044] Specifically, the preset rated working pressure Q0 of the mold driving cylinder in the preset data model storage unit 38 in the stress cone control module 34, and the first mold clamping force sensing sensor 23 and the second mold clamping force sensing sensor 26 monitor the actual rated working pressure Q1 of the mold driving cylinder, then: When Q0>Q1, the stress cone control module 34 determines that the mold is in the first working state; When Q0<Q1, the stress cone control module 34 determines that the mold is in the second working state.

[0045] Specifically, according to the stress cone control module 34, it is determined that the mold is in the first or second working state. On the one hand, it is beneficial to ensure the model molding quality, improve the product performance of the cable, and ensure the product yield during the molding and demolding processes; on the other hand, according to the first or second working state of the mold, it is possible to avoid leakage and damage to the mold due to excessive or insufficient mold clamping force.

[0046] Specifically, if the stress cone control module 34 determines that the mold is in the first working state, the first mold clamping force correction method in the data model correction unit 37 is used for correction, and the mold clamping force correction coefficient K1 is, K1=

[0047] in, is the sum of the total rated mold driving cylinder working pressures of the first mold driving cylinder 21 and the second mold driving cylinder 28, The sum of the maximum mold driving cylinder working pressures of the first mold driving cylinder 21 and the second mold driving cylinder 28; If the stress cone control module 34 determines that the mold is in the second working state, the second mold clamping force correction method in the data model correction unit 37 is used for correction, and the mold clamping force correction coefficient K2 is, K2= .

[0048] Specifically, according to whether the stress cone control module 34 determines that the mold is in the first or second working form, the first or second clamping force correction method of the mold is performed. On the one hand, it is beneficial to increase the service life of the mold; on the other hand, it can achieve precise control of the clamping force of the mold, improve product quality, improve demolding efficiency, and ensure the integrity of the mold.

[0049] The working principle and use process of the present invention: 1. Stress cone picking and placing process. After the electric box 12 is started, the device starts to work automatically. The stress cone position sensor 8 selects the stress cone in the stress cone base plate 9, and the stress cone control module 34 controls the mechanical arm drive motor 2 through the first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5 to the stress cone pneumatic clamp 7 to cooperate with each other to grab the selected stress cone.

[0050] The stress cone trajectory sensor 6 monitors the distance signal of the stress cone placement point and transmits it to the stress cone control module 34 to plan the stress cone trajectory route. The stress cone control module 34 controls the robotic arm drive motor 2 to move to the designated position according to the planned trajectory route via the first robotic arm 3, the second robotic arm 4 and the third robotic arm 5; when the stress cone arrives at the designated location, the stress cone in the stress cone pneumatic clamp 7 is inserted into the stress cone sleeve 18, and the stress cone sleeve 18 performs a constant temperature mold expansion treatment on the stress cone, and the stress cone sleeve 18 expands the stress cone to the mold requirements.

[0051] 2. Stress cone molding working process: The stress cone pneumatic clamp 7 places the expanded stress cone in the mold rod core 24, and the first mold clamping force sensing sensor 23 and the second mold clamping force sensing sensor 26 monitor the distance signal between the first mold 22 and the second mold 25 and the stress cone, and transmit it to the stress cone control module 34 to control the mold driving air pump 40 to drive the first mold driving cylinder 21 and the second mold driving cylinder 28 to work.

[0052] 3. Working process of the conveyor assembly 17. When the stress cone molding process is completed, the stress cone control module 34 controls the conveyor belt drive motor 16 to drive the roller 30 to rotate, thereby driving the transmission chain 32 to operate and drive the multiple groups of rollers 30 to rotate, and the multiple groups of rollers 30 drive the multiple groups of rollers 31 and the conveyor belt 33 to operate until the molded stress cone is sent to the next process.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fully automatic forming machine for cable accessories, characterized in that: It comprises: a base (1) fixed to the ground at one end, the other end of which is fixedly connected to a mechanical arm assembly and an electric box (12); two ends of a first fixed column (11) and a second fixed column (13) are respectively fixedly connected to the other end of the base (1) and the stress cone bottom plate assembly; two ends of a third fixed column (14) and a fourth fixed column (15) are respectively connected to a workbench assembly (10) and one end of a transmission assembly (17).

2. A fully automatic cable accessory forming machine according to claim 1, characterized in that: The mechanical arm assembly comprises a mechanical arm driving motor (2) fixedly connected to the other end of the base (1), one end of a first mechanical arm (3) fixedly connected to the base (1) and connected to the mechanical arm driving motor (2), two ends of a second mechanical arm (4) respectively connected to the other end of the first mechanical arm (3) and one end of a third mechanical arm (5), and the other end connected to a stress cone track sensor (6) for monitoring the moving position of the stress cone, a stress cone pneumatic clamp (7) for taking and placing the stress cone, and a stress cone position sensor (8) for accurately locating the placement position of the stress cone, wherein the stress cone position sensor (8) is embedded in the stress cone pneumatic clamp (7); The stress cone bottom plate assembly comprises: one end of a stress cone bottom plate (9) for placing a stress cone is fixedly connected to the other end of the workbench assembly (10); the other end of the stress cone bottom plate (9) is in a longitudinal relative position to the stress cone pneumatic clamp (7); The workbench assembly (10) comprises: a first fixed plate (19) having two ends respectively connected to one end of the conveyor belt (33) and one end of the stress cone sleeve (18); a second fixed plate (20) having two ends respectively connected to one end of the conveyor belt (33) and one end of the first mold driving cylinder (21), and the other end connected to the first mold (22); a first mold clamping force sensing sensor (23) embedded in the first mold (22); a third fixed plate (27) having two ends respectively connected to one end of the conveyor belt (33) and one end of the mold rod core (24); a fourth fixed plate (29) having two ends respectively connected to one end of the conveyor belt (33) and one end of the second mold driving cylinder (28), and the other end connected to the second mold (25); a second mold clamping force sensing sensor (26) embedded in the second mold (25); a mold driving air pump (40) fixedly connected to one side of the third fixed column (14); and the mold driving air pump (40) connected to the first mold driving cylinder (21) and the second mold driving cylinder (28); The transmission assembly (17) comprises a plurality of roller groups (30), a plurality of roller groups (31) which are sleeved inside the plurality of roller groups (30), a conveyor belt (33) sleeved outside the plurality of roller groups (31), two ends of the plurality of roller groups (30) being connected to a group of transmission chains (32), an output end of a conveyor belt drive motor (16) being connected to one of the rollers (30) in the plurality of roller groups (30), and the conveyor belt drive motor (16) being fixedly connected to one side of the fourth fixed column (15); The stress cone position sensor (8), the stress cone trajectory sensor (6), the first mold clamping force sensing sensor (23), the second mold clamping force sensing sensor (26), the robot arm drive motor (2), the conveyor belt drive motor (16) and the mold drive air pump (40) are connected to a stress cone control module (34), and the electrical box (12) is connected to the stress cone control module (34); The stress cone control module (34) comprises a signal input unit (35) for a data signal input end, a data model comparison unit (36) for comparing actual data with a preset data model, judging and calling a data model, a preset data model storage unit (38) for storing a preset data model, a data model correction unit (37) for storing a data model correction method, and a signal output unit (39) for outputting a command signal, and each unit is connected in sequence.

3. A cable accessory fully automatic forming machine according to claim 2, characterized in that: The preset stress cone initial placement position H0 in the preset data model storage unit (38) in the stress cone control module (34) and the actual stress cone placement position H1 monitored by the stress cone position sensor (8) are: When H0>H1, the stress cone control module (34) determines that it is the working position of the first mold rod core; When H0<H1, the stress cone control module (34) determines that it is the working position of the second mold rod core.

4. A cable accessory fully automatic forming machine according to claim 3, characterized in that: If the stress cone control module (34) determines that the first mold rod core working position is corrected using the first mold rod core working position correction method in the data model correction unit (37), then the correction coefficient Q1 of the actual stress cone placement position H1 is, Q1= Wherein, A is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the first mold rod core is in the working position.

5. The fully automatic cable accessory forming machine according to claim 3, characterized in that: If the stress cone control module (34) determines that the second mold rod core working position is corrected using the second mold rod core working position correction method in the data model correction unit (37), the correction coefficient Q2 of the actual stress cone placement position H1 is, Q2= Wherein, B is the deviation value of the actual placement position H1 of the mold rod core and the stress cone when the second mold rod core is in the working position.

6. A cable accessory fully automatic forming machine according to claim 2, characterized in that: The preset stress cone trace range M0 in the preset data model storage unit (38) in the stress cone control module (34) and the stress cone trace range M1 actually monitored by the stress cone trace sensor (6) are: When M0>M1, the stress cone control module (34) determines that it is within the first trajectory range of the stress cone; When M0<M1, the stress cone control module (34) determines that the stress cone is in the second trajectory range.

7. A fully automatic cable accessory forming machine according to claim 6, characterized in that: If the stress cone control module (34) determines that it is within the first stress cone trajectory range, the actual stress cone trajectory range is within the preset stress cone trajectory range, so no correction is required.

8. The fully automatic cable accessory forming machine according to claim 6, characterized in that: If the stress cone control module (34) determines that the stress cone is in the second trajectory range, the stress cone trajectory range correction method in the data model correction unit (37) is used for correction, and the stress cone trajectory range X is X= Among them, U is beyond the range of stress cone trajectory, and P is the maximum trajectory range of stress cone.

9. The fully automatic cable accessory forming machine according to claim 2, characterized in that: The preset data model storage unit (38) in the stress cone control module (34) presets the rated working pressure Q0 of the mold driving cylinder, and the first mold clamping force sensing sensor (23) and the second mold clamping force sensing sensor (26) monitor the actual rated working pressure Q1 of the mold driving cylinder, then: When Q0>Q1, the stress cone control module (34) determines that the mold is in the first working state; When Q0<Q1, the stress cone control module (34) determines that the mold is in the second working state.

10. A fully automatic cable accessory forming machine according to claim 9, characterized in that: If the stress cone control module (34) determines that the mold is in the first working state, the first mold clamping force correction method in the data model correction unit (37) is used for correction, and the first mold clamping force correction coefficient K1 is, K1= in, is the sum of the total rated mold driving cylinder working pressures of the first mold driving cylinder (21) and the second mold driving cylinder (28), is the sum of the maximum mold driving cylinder working pressures of the first mold driving cylinder (21) and the second mold driving cylinder (28); If the stress cone control module (34) determines that the mold is in the second working state, the second mold clamping force correction method in the data model correction unit (37) is used for correction, and the second mold clamping force correction coefficient K2 is, K2= .

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