Electric wire sorting device and electric wire sorting method

Abstract

The invention relates to the technical field of electric wire sorting, and discloses an electric wire sorting device and an electric wire sorting method.The electric wire sorting device comprises a mechanical arm, an electric wire clamp, a visual camera and a conveying line used for placing electric wires; a visual camera is arranged above the conveying line, and the conveying line is arranged on the side edge of the mechanical arm. The wire clamp comprises a clamp base and at least three sets of clamping jaw mechanisms, the clamp base is arranged at the tail end of the mechanical arm, and each clamping jaw mechanism comprises a clamping jaw assembly, a clamping jaw rail and a driving assembly; the clamping jaw rails are arranged on the clamp base and extend in the radial direction of the clamp base, the multiple clamping jaw rails are arranged in the circumferential direction of the clamp base at equal intervals, the clamping jaw assembly is movably arranged on the clamping jaw rails, the driving assembly is arranged on the clamp base and connected with the clamping jaw assembly, and the driving assembly is used for driving the clamping jaw assembly to move along the clamping jaw rails. The clamping jaw assembly is provided with a clamping part used for clamping an electric wire, and the clamping part is arranged in the direction away from the clamp base in the radial direction of the clamp base. The electric wire sorting device can quickly and accurately sort electric wires of different specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of wire sorting, and in particular to a wire sorting device and a wire sorting method. Background Art

[0002] Low-voltage wires are key components used to transmit electrical energy in power systems, and their rated voltage range is generally between 0.01kV and 1kV. These wires are widely used in power transmission, distribution systems and other occasions. Their cores are usually made of copper (BVV) or aluminum (BLVV). Common core cross-sectional areas include 10mm 2 、16mm 2 , 25mm 2 、35mm 2 , 50mm 2 、70mm 2 、95mm 2 , 120mm 2 、150mm 2 、185mm 2 , 240mm 2 And other specifications.

[0003] In the construction and support of power distribution network, emergency support and disaster relief, the storage and management of low-voltage wires are particularly important, especially in power material warehouses, where BLVV / BVV (10-240mm 2 )Low-voltage wires to meet the needs of different occasions.

[0004] These wires are usually packaged in the form of 100 meters / roll and stored in warehouse shelves according to a certain number of layers and piles. However, in actual warehousing operations, the scattered entry and exit of low-voltage wires and the need for pallet replacement often lead to traditional operations requiring multiple people to carry them, which is inefficient and has high labor costs. The current automatic sorting and handling technology faces many challenges: First, the existing sorting devices have poor compatibility, and there is no suitable sorting device for BLVV / BVV (10-240mm 2 ) Special equipment for low-voltage wires; secondly, many devices have complex structures, resulting in a large weight, which increases the load on the robotic arm and affects the overall operating efficiency; finally, the stability of existing equipment is generally poor, and usually adopts a two-claw clamping method with a small contact area, which cannot adapt to changes in wire diameters, resulting in insufficient clamping stability and increased operational risks.

[0005] Therefore, there is an urgent need for a new type of wire sorting device to improve the sorting efficiency and stability of low-voltage wires, reduce labor costs, and meet the needs of modern power material storage. Summary of the invention

[0006] The purpose of the present invention is to design a wire sorting device and a wire sorting method which can realize fast and accurate sorting of low-voltage wires of different specifications.

[0007] In order to achieve the above-mentioned object, the present invention provides a wire sorting device, comprising: a mechanical arm, a wire clamp, a visual camera and a conveying line for placing wires; the visual camera is arranged above the conveying line, and the conveying line is arranged on the side of the mechanical arm;

[0008] The wire clamp comprises a clamp base and at least three sets of clamp mechanisms, wherein the clamp base is arranged at the end of the mechanical arm, and the clamp mechanism comprises a clamp assembly, a clamp track and a driving assembly;

[0009] The clamp track is arranged on the clamp base and extends radially along the clamp base. A plurality of the clamp tracks are arranged at equal intervals along the circumference of the clamp base. The clamp assembly is movably arranged on the clamp track. The driving assembly is arranged on the clamp base and connected to the clamp assembly. The driving assembly is used to drive the clamp assembly to move along the clamp track. The clamp assembly has a clamping portion for clamping the wire, and the clamping portion is arranged along the radial direction of the clamp base in a direction away from the clamp base.

[0010] Furthermore, the clamp base has a first side surface and a second side surface that are arranged opposite to each other, the end of the robotic arm is connected to the second side surface of the clamp base, the clamp track is arranged on the first side surface, the clamp assembly is protruded on the side of the clamp track away from the clamp base, and the drive assembly is arranged on the second side surface of the clamp base.

[0011] Furthermore, the wire clamp also includes a protective cover, which is arranged on the second side and covers each of the driving components.

[0012] Furthermore, the wire clamp also includes a synchronous belt, which is arranged on the second side surface, and the plurality of clamping jaw assemblies are connected through the synchronous belt transmission.

[0013] Furthermore, the wire clamp also includes the same number of synchronization components as the clamping jaw mechanism, the synchronization components include synchronization pulleys and synchronization gears, the clamping jaw assembly is provided with a synchronization rack adapted to the synchronization gear, the synchronization rack extends along the extension direction of the clamping jaw track, the synchronization gear is rotatably arranged on the clamp base and is transmission-connected to the synchronization rack, the synchronization pulley is coaxially connected to the synchronization gear, and each of the synchronization pulleys is transmission-connected via the synchronization belt.

[0014] Furthermore, the driving assembly includes a driving cylinder, which is arranged on the clamp base and extends along the extension direction of the clamp track, and the power output end of the driving cylinder is connected to the clamp assembly.

[0015] Furthermore, it includes a mixed placement seat for placing wires of various specifications and at least two conveyor lines for placing wires of different specifications. The two conveyor lines extend in the front-to-back direction and are respectively arranged on the left and right sides of the robotic arm. The mixed placement seat is arranged between the two conveyor lines and is located on the front side of the robotic arm.

[0016] Furthermore, the robotic arm is a six-axis robotic arm.

[0017] The present invention also provides a wire sorting method, which is used in the above-mentioned wire sorting device, and is characterized in that it comprises the following steps:

[0018] S1 simulates the arrangement and combination of the stacking positions of the wires on the mixed placement seat according to the types and quantities of wires that need to be shipped out of the warehouse;

[0019] The S2 robot moves to the corresponding wire positions in sequence according to the results of the simulated arrangement and combination, and manipulates the wire clamps to sort the wires.

[0020] Furthermore, the specific steps of operating the wire clamp to sort the wires in S2 are:

[0021] According to the specifications of the wires to be clamped, the corresponding control circuit is selected to be connected to the drive component, so as to control each drive cylinder to extend or retract to the set position corresponding to the specifications of the wires, thereby realizing the clamping and release of the wires.

[0022] Compared with the prior art, the wire sorting device and wire sorting method according to the embodiment of the present invention have the following beneficial effects:

[0023] The wire sorting device of the embodiment of the present invention can solve the storage operation requirements of wires with different wire diameters through a set of universal wire clamps, including outbound sorting, incoming pallet replacement, scattered tray assembly and other business needs. It can improve the efficiency and stability of wire sorting, reduce labor costs and operational risks, and meet the needs of modern power material warehousing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The structure of the wire sorting device according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 The structure of the wire sorting device according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 3The isometric view of the wire clamp in the wire sorting device of the embodiment of the present invention Figure 1 ;

[0027] Figure 4 The isometric view of the wire clamp in the wire sorting device of the embodiment of the present invention Figure 2 ;

[0028] Figure 5 is an axonometric diagram of a wire clamp in a clamping state in a wire sorting device according to an embodiment of the present invention;

[0029] Figure 6 It is a schematic structural diagram of a clamp body and a buffer pad in a wire sorting device according to an embodiment of the present invention;

[0030] Figure 7 is a top view of a single clamp body and a buffer pad in the wire sorting device according to an embodiment of the present invention;

[0031] Figure 8 It is a schematic structural diagram of a wire clamp in a wire sorting device according to an embodiment of the present invention clamping a large-diameter wire;

[0032] Fig. 9 It is a schematic structural diagram of a wire clamp in a wire sorting device according to an embodiment of the present invention clamping a small-diameter wire;

[0033] Fig.10 is a top view of the wire clamp in the wire sorting device of the embodiment of the present invention in the initial state;

[0034] Fig.11 is a top view of a wire clamp in a wire sorting device according to an embodiment of the present invention clamping a large-diameter wire;

[0035] Fig.12 It is a schematic structural diagram of a wire clamp in a wire sorting device according to an embodiment of the present invention clamping a small-diameter wire;

[0036] Fig.13 The isometric view of a wire clamp in a wire sorting device according to another embodiment of the present invention Figure 1 ;

[0037] Fig.14 The isometric view of a wire clamp in a wire sorting device according to another embodiment of the present invention Figure 2 ;

[0038] Fig.15 is a front view of a wire clamp in a wire sorting device according to another embodiment of the present invention;

[0039] Fig.16 is a schematic diagram of the structure of a driving circuit of a wire sorting device according to an embodiment of the present invention;

[0040] Fig.17It is a structural schematic diagram of a wire sorting device according to an embodiment of the present invention for sorting wires of the same specification;

[0041] Fig.18 The structure diagram of the wire sorting device of the embodiment of the present invention for sorting wires of different specifications Figure 1 ;

[0042] Fig.19 The structure diagram of the wire sorting device of the embodiment of the present invention for sorting wires of different specifications Figure 2 .

[0043] In the figure, 1. clamp base; 11. first side; 12. second side; 21. synchronous belt; 22. synchronous pulley; 23. synchronous gear; 3. clamp mechanism; 31. clamp assembly; 311. clamping part; 312. clamp base; 313. clamp body; 314. buffer pad; 3141. buffer pad; 315. synchronous rack; 32. clamp track; 33. drive assembly; 331. drive cylinder; 4. protective cover; 51. air source; 52. reversing circuit; 53. control circuit; 531. first solenoid valve; 532. manual pressure regulating valve; 533. second solenoid valve; 54. execution circuit; 541. first one-way throttle valve; 542. second one-way throttle valve; 6. robotic arm; 7. wire clamp; 81. visual camera; 82. visual bracket; 83. mobile hanging rod; 9. conveyor line; 10. mixed placement seat. DETAILED DESCRIPTION

[0044] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0045] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] In the description of the present invention, it should be understood that the terms "connected", "connected", "fixed" and the like used in the present invention should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a welding connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The present invention uses the terms "first", "second", etc. to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0048] Reference Figure 1-2 , a wire sorting device according to an embodiment of the present invention comprises a robot arm 6, a wire clamp 7, a visual camera 81 and a conveyor line 9 for placing wires; the visual camera 81 is arranged above the conveyor line 9, and the conveyor line 9 is arranged on the side of the robot arm 6;

[0049] The wire clamp 7 includes a clamp base 1 and at least three sets of clamp mechanisms 3. The clamp base 1 is arranged at the end of the mechanical arm 6. The clamp mechanism 3 includes a clamp assembly 31, a clamp rail 32 and a driving assembly 33.

[0050] The clamp rail 32 is provided on the clamp base 1 and extends radially along the clamp base 1. A plurality of the clamp rails 32 are arranged at equal intervals along the circumference of the clamp base 1. The clamp assembly 31 is movably provided on the clamp rail 32. The driving assembly 33 is provided on the clamp base 1 and connected to the clamp assembly 31. The driving assembly 33 is used to drive the clamp assembly 31 to move along the clamp rail 32. The clamp assembly 31 has a clamping portion 311 for clamping an electric wire. The clamping portion 311 is provided along the radial direction of the clamp base 1 in a direction away from the clamp base 1.

[0051] By combining the mechanical arm 6 with the visual camera 81, wires of different specifications can be quickly identified and located; according to the principle of three points defining a plane, the clamping mechanism 3 is provided with at least three groups, which work together to ensure the stability of the plane of the center of gravity of the clamped wire roll. In a specific embodiment of the present application, the clamping mechanism 3 is provided with three groups, wherein the corresponding three clamping parts 311 are radially oriented away from the central axis direction of the clamp base 1. The moving stroke of the clamping jaw assembly 31 can be adjusted by adjusting the clamping jaw track 32, thereby controlling the size specification range of the clampable wire. The driving assembly 33 drives the clamping jaw assembly 31 so that the clamping part 311 performs a corresponding opening and closing action. By utilizing the opening and closing action, the clamping part 311 can pass through the center of the wire roll formed by the wire winding, and form a clamping connection with the wire roll, thereby realizing the clamping and placement of the wire roll by the wire clamp 7.

[0052] The wire clamp 7 of the present application is a universal wire clamp 7, which can clamp wires of different wire diameters and specifications, and solve various warehousing operation needs including outbound sorting, inbound pallet replacement, and scattered assembly of trays, etc. It can improve the efficiency and stability of wire sorting, reduce labor costs and operational risks, and meet the needs of modern power material warehousing.

[0053] Reference Figure 3 to Figure 5 In some improved schemes of the present application, the clamp base 1 has a first side surface 11 and a second side surface 12 that are arranged opposite to each other, the end of the robot arm 6 is connected to the second side surface 12 of the clamp base 1, the clamp rail 32 is arranged on the first side surface 11, the clamp assembly 31 is protruded on the side of the clamp rail 32 away from the clamp base 1, and the drive assembly 33 is arranged on the second side surface 12 of the clamp base 1.

[0054] The wire clamp 7 is divided into a first side 11 for work and a second side 12 for auxiliary work using the clamp base 1 as a substrate, making the overall structure of the wire clamp 7 more compact, reducing its occupied space, and helping to reduce the volume and weight, avoiding excessive burden on the robot arm 6, while also reducing the interference of the auxiliary components on the clamping components, ensuring the stability and reliability of the entire device.

[0055] Reference Figure 14 to Figure 16 In some improved solutions of the present application, the wire clamp 7 further includes a protective cover 4, which is disposed on the second side surface 12 and covers each of the driving components 33. The protective cover 4 can effectively prevent mechanical damage, electric shock or other potential dangers in the external environment from affecting the internal components, reduce the failure rate caused by accidental collision or other external factors, and improve the reliability and safety of the entire system.

[0056] Reference Figure 3In some improved solutions of the present application, the wire clamp 7 also includes a synchronous belt 21, and the synchronous belt 21 is arranged on the second side surface 12, and the multiple clamping jaw assemblies 31 are connected through the synchronous belt 21.

[0057] Through the transmission connection of the synchronous belt 21, multiple clamping jaw assemblies 31 can achieve synchronous movement, thereby ensuring that each clamping jaw can evenly apply clamping force when clamping the wire, avoiding damage or deformation of the wire due to uneven clamping. The synchronous belt 21 can also significantly improve the transmission efficiency of the overall movement of the clamping jaw assembly 31, and ensure the position accuracy of each clamping jaw assembly 31 during execution. While keeping the center of the circle enclosed by the multiple clamping jaw assemblies 31 consistent with the center of the wire roll, the coordination between the clamping jaw assemblies 31 is also greatly enhanced, which can effectively reduce the clamping instability caused by external vibration or impact, and improve the stability of the wire clamp 7 during operation.

[0058] In some improved schemes of the present application, the wire clamp 7 also includes the same number of synchronization components as the clamping jaw mechanism 3, and the synchronization components include a synchronization belt 21 wheel and a synchronization gear 23. The clamping jaw assembly 31 is provided with a synchronization rack 315 adapted to the synchronization gear 23, and the synchronization rack 315 extends along the extension direction of the clamping jaw rail 32. The synchronization gear 23 is rotatably arranged on the clamp base 1 and is transmission-connected to the synchronization rack 315. The synchronization belt 21 wheel is coaxially connected to the synchronization gear 23, and each of the synchronization belt 21 wheels is transmission-connected through the synchronization belt 21.

[0059] The synchronous rack 315 and the synchronous gear 23 are both located on the first side 11 of the clamp base 1, the synchronous belt 21 wheel and the synchronous belt 21 are both located on the second side 12 of the clamp base 1, and the synchronous belt 21 is sleeved on each synchronous belt 21 wheel. The clamp base 1 is also provided with a plurality of bearing supports, through which a synchronous shaft is installed, and each synchronous gear 23 and each synchronous belt 21 wheel are installed on both sides of the synchronous shaft in a one-to-one correspondence, so that the synchronous gear 23 and the synchronous belt 21 wheel can achieve synchronous rotation. The synchronous rack 315 is provided on the clamping jaw assembly 31. When the synchronous rack 315 moves linearly along the clamping jaw track 32 with the clamping jaw assembly 31, it meshes with the synchronous gear 23 to drive the synchronous gear 23 to rotate. The rotation of the synchronous gear 23 on the first side 11 drives the synchronous belt 21 wheel located on the second side 12 of the clamp base 1 to rotate. Each synchronous belt 21 wheel is meshed with the synchronous belt 21 to achieve the same rotation angle of each synchronous gear 23, thereby achieving the same movement stroke of the clamping jaw assembly 31 at any time.

[0060] In some improved schemes of the present application, the driving assembly 33 includes a driving cylinder 331, which is arranged on the clamp base 1 and extends along the extension direction of the clamp rail 32, and the power output end of the driving cylinder 331 is connected to the clamp assembly 31.

[0061] The movement of the driving cylinder 331 can be flexibly adjusted and can provide strong power, so that the clamping jaw assembly 31 can clamp the wire with sufficient force to ensure that the wire will not loosen or slip during the clamping process. Figure 6 to Figure 9 Specifically, the jaw assembly 31 includes a jaw base 312, a jaw body 313 and a buffer pad 314. The jaw base 312 is movably arranged on the jaw track 32 and is connected to the driving assembly 33. The jaw body 313 is protruded on the side of the jaw base 312 away from the jaw track 32. The jaw body 313 is defined along a side of the clamp base 1 radially away from the clamp base 1 to form a clamping portion 311, and the buffer pad 314 is laid on the clamping portion 311. The synchronous rack 315 is arranged on the clamping jaw base 312 and extends along the extension direction of the clamping jaw track 32. The synchronous rack 315 and the synchronous gear 23 are used to realize the transmission connection with the clamping jaw base 312 in the clamping jaw assembly 31. When multiple driving cylinders 331 respectively drive each clamping jaw base 312 to move telescopically on the clamping jaw track 32, the synchronous belt 21 is used to make the synchronous belt 21 transmission connected with each clamping jaw base 312, so that the moving and retracting lengths can be kept consistent, which is beneficial to ensure that the center of the circle formed by the multiple clamping jaw bodies 313 respectively controlled by the multiple driving cylinders 331 remains unchanged, so that the clamping force of the multiple groups of clamping jaw bodies 313 on the wire roll is consistent, thereby preventing the clamping failure caused by a certain clamping jaw body 313 not clamping the wire.

[0062] In some other improvement schemes of the present application, a servo motor can also be used as the driving component 33 for synchronous processing, but its volume is larger than that of the driving cylinder 331, which has a certain impact on the movement of the robot arm 6, and the cost is also relatively high.

[0063] In some improved solutions of the present application, the buffer pad 314 includes a plurality of buffers 3141 sequentially arranged from outside to inside along the radial direction of the clamp base 1, and in two adjacent buffer pads 3141: the hardness of the buffer pad 3141 located on the outside is less than the hardness of the buffer pad 3141 located on the inside. Specifically, the buffer pads 3141 can be made of polyurethanes of different hardness, and the buffer pads 314 are stacked in a manner of gradually decreasing hardness from inside to outside to form the buffer pad 314, so that when clamping wires of different diameters, the buffer pads 3141 of different hardness produce different deformations.

[0064] Specifically, because the wires are usually rolled up in 100-meter rolls, wires with larger wire diameters are heavier than wires with smaller wire diameters at the same length, and require greater clamping force. When clamping wires with larger wire diameters, the buffer pad 314 can ensure that it has more contact surface with the wires in the vertical direction because the buffer sub-pad 3141 on the outside has lower hardness and greater deformation, and can also provide a certain support effect. Compared with relying solely on friction, it is helpful to reduce the clamping force and further prevent the outer insulation layer of the wire from being damaged. When clamping wires with smaller wire diameters, due to the low hardness of the buffer sub-pad 3141 on the outside, it can be compressed more and basically achieve complete contact with the outer peripheral wall of the wire roll. At the same time, it can also deform vertically to fill the gap to increase the contact area, while providing a certain vertical support force.

[0065] In some improved schemes of the present application, a mixed placement seat 10 for placing wires of various specifications and at least two conveyor lines 9 for placing wires of different specifications are included, both conveyor lines 9 extend in the front-to-back direction and are respectively arranged on the left and right sides of the robot arm 6, and the mixed placement seat 10 is arranged between the two conveyor lines 9 and is located at the front side of the robot arm 6. The mixed placement seat 10 is specially used to place wire rolls of different specifications, which can effectively manage and organize various wires, so that the operation of the robot arm 6 remains orderly and compact.

[0066] The two conveyor lines 9 are respectively arranged on the left and right sides of the robot arm 6, which is convenient for docking the conveyor line 9 at the rear section. The purpose of this configuration is to be able to quickly replace different wire piles, which can make the entire conveyor line 9 system more flexible and efficient. The mixed placement seat 10 can be used to place the wire piles that need to be replaced, and can also be used to place the wire piles that need to be shipped out of the warehouse, depending on the specific task. By placing mixed pallets using the mixed placement seat 10, wires of different specifications can be sorted into the same pallet during the sorting operation, and shipped out of the warehouse, reducing the use of shipping pallets, saving logistics costs, and reducing carbon emissions.

[0067] In a specific embodiment of the present application, the wire sorting device is further provided with a visual bracket 82, on which a movable hanging rod 83 extending in the left-right direction of the robot arm 6 is provided, and the movable hanging rod 83 can move in the front-back direction of the robot arm 6 on the visual bracket 82 and is combined with the visual bracket 82 to form a visual frame. The visual camera 81 is hung on the movable hanging rod 83. Specifically, the visual camera 81 can be set to three, which are respectively located above the two conveyor lines 9 and above the robot arm 6, that is, respectively located at the left, middle and right positions in the middle of the entire wire sorting system, so as to ensure that the three positions of the entire depalletizing system can be identified.

[0068] In some improved solutions of the present application, the robot arm 6 is a six-axis robot arm 6. The six-axis robot arm 6 has high flexibility and accuracy, and can realize complex motion trajectories in three-dimensional space. Its multi-degree-of-freedom design enables it to operate in the narrow space between two conveyor lines 9, adapting to complex tasks such as sorting and handling in warehousing operations, and improving work efficiency.

[0069] The wire clamp 7 and the six-axis robot arm 6 constitute the sorting mechanism of the wire sorting device. The wire clamp 7 is the core component of the sorting device, providing the sorting system with the ability to stably clamp the wire roll, while the six-axis robot arm 6 provides the sorting system with the ability to move after successful clamping.

[0070] Reference Figure 10 to Figure 13 In some improved schemes of the present application, it also includes an air source 51, a reversing circuit 52, at least two groups of control circuits 53 and the same number of execution circuits 54 as the clamping mechanism 3. The air source 51 is connected to the reversing circuit 52 through each of the control circuits 53. The control circuit 53 is connected in series with a first solenoid valve 531, a manual pressure regulating valve 532 and a second solenoid valve 533 in sequence. The reversing circuit 52 is connected to each of the execution circuits 54 respectively. Each of the driving cylinders 331 is connected to each of the execution circuits 54 in a one-to-one correspondence. The execution circuit 54 is connected in series with a first one-way throttle valve 541 and a second one-way throttle valve 542. The driving cylinder 331 is connected between the first one-way throttle valve 541 and the second one-way throttle valve 542.

[0071] After the high-pressure gas source 51 is connected, it is divided into multiple groups of control loops 53. The specific number of control loops 53 can be set according to actual needs. In the specific embodiment of the present application, it is set to 3 control loops 53, and each control loop 53 is connected in series with a first solenoid valve 531, a manual pressure regulating valve 532 and a second solenoid valve 533. The first solenoid valve 531 and the second solenoid valve 533 are used to ensure the harm of reverse airflow of the pressure regulating valve in other loops, avoid the normal operation of the pressure regulating valve due to the wrong flow direction of the gas, and reduce the risk of damage to the pressure regulating valve. Through the control of the upper system, the first solenoid valve 531 and the second solenoid valve 533 in series on the control loop 53 that is actually needed are opened to ensure smooth gas flow and achieve the control purpose.

[0072] Since the moving stroke and clamping force required by the driving cylinder 331 are different for clamping wires of different wire diameters, the manual pressure regulating valve 532 is used to adjust the air pressure according to the stroke and clamping force, so that the sum of the forces output by the multiple driving cylinders 331 is sufficient to clamp the wires and keep them from falling off during the movement and damaging the insulation layer of the voltage wires. Specifically, the actual adjustment can be made by measuring the wire reels of different wire diameters on site, wherein wire reels of similar wire diameters and weights can be grouped together and the same control loop 53 is used for clamping. Therefore, before operation, it is necessary to classify and count the wires of all specifications, and set similar specifications as one loop. If there are several similar specifications, several control loops 53 need to be set.

[0073] By controlling the direction of the reversing circuit 52, the extension or retraction of the driving cylinder 331 is controlled to achieve the opening and closing of the wire clamp. The execution circuit 54 is responsible for executing the action. At the same time, by controlling the first one-way throttle valve 541 and the second one-way throttle valve 542, the speed of the extension and retraction of the driving cylinder 331 can be controlled to prevent the driving cylinder 331 from moving too fast and causing impact on the wire and damaging the insulation layer of the wire.

[0074] Reference Figure 17 to Figure 19 The preferred embodiment of the present application is a wire sorting method, which is used in the above-mentioned wire sorting device, comprising the following steps:

[0075] S1 simulates the arrangement and combination of the stacking positions of the wires on the mixed placement seat 10 according to the types and quantities of the wires that need to be shipped out of the warehouse;

[0076] The S2 robot arm 6 moves to the corresponding wire positions in sequence according to the results of the simulated arrangement and combination, and manipulates the wire clamp 7 to sort the wires.

[0077] Prior to S1, all wires needed to be measured in terms of shape and weight before being put into storage.

[0078] In some improved solutions of the present application, the specific steps of operating the wire clamp 7 to sort the wires in S2 are:

[0079] According to the specification of the wire to be clamped, the corresponding control circuit 53 is selected to be connected to the drive assembly 33, so as to control each drive cylinder 331 to extend or retract to the set position corresponding to the specification of the wire, so as to realize the clamping and release of the wire.

[0080] In summary, the embodiments of the present invention provide a wire sorting device and a wire sorting method, which have the following advantages:

[0081] 1) Through simple devices and control principles, it can not only solve the storage operation needs of wires with large wire diameters exceeding 100kg, but also take into account the operation needs of wires with the smallest specifications, with low cost and excellent effect;

[0082] 2) The original two-claw clamping is improved to three-claw or even multi-claw clamping, and a synchronous belt 21 is set to achieve the synchronous movement effect, so as to ensure the accurate position of each clamping jaw assembly 31, ensure that the center of the circle of the clamping jaw assembly 31 is consistent with the center of the circle of the wire roll, so that the center of gravity of the wire roll can move smoothly, prevent the wire from falling and being damaged, and improve the stability and reliability of the wire clamp 7;

[0083] 3) The flexible adjustment of the movement stroke of the clamping jaw assembly 31 is achieved by driving the air cylinder 331, thereby increasing the stroke adjustment range thereof, thereby increasing the range of wire diameters that can be clamped;

[0084] 4) Designing a mixed placement seat 10 can reduce the number of pallets and stacks shipped out of the warehouse through mixed grouping, reduce the occupied area of ​​the vehicle compartment during delivery, increase the vehicle capacity, effectively reduce transportation costs, and be beneficial to energy conservation and emission reduction and reduce carbon emissions.

[0085] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A wire sorting device, characterized in that: include: A robotic arm, a wire clamp, a visual camera and a conveyor line for placing wires; the visual camera is arranged above the conveyor line, and the conveyor line is arranged on the side of the robotic arm; The wire clamp comprises a clamp base and at least three sets of clamp mechanisms, wherein the clamp base is arranged at the end of the mechanical arm, and the clamp mechanism comprises a clamp assembly, a clamp track and a driving assembly; The clamp track is arranged on the clamp base and extends radially along the clamp base. A plurality of the clamp tracks are arranged at equal intervals along the circumference of the clamp base. The clamp assembly is movably arranged on the clamp track. The driving assembly is arranged on the clamp base and connected to the clamp assembly. The driving assembly is used to drive the clamp assembly to move along the clamp track. The clamp assembly has a clamping portion for clamping the wire, and the clamping portion is arranged along the radial direction of the clamp base in a direction away from the clamp base.

2. The wire sorting device according to claim 1, characterized in that: The clamp base has a first side surface and a second side surface that are arranged opposite to each other, the end of the robotic arm is connected to the second side surface of the clamp base, the clamp track is arranged on the first side surface, the clamp assembly is protruded on the side of the clamp track away from the clamp base, and the drive assembly is arranged on the second side surface of the clamp base.

3. The wire sorting device according to claim 2, characterized in that: The wire clamp further comprises a protective cover, which is arranged on the second side surface and covers each of the driving components.

4. The wire sorting device according to claim 2, characterized in that: The wire clamp also includes a synchronous belt, which is arranged on the second side surface, and the plurality of clamping jaw assemblies are connected through the synchronous belt transmission.

5. The wire sorting device according to claim 4, characterized in that: The wire clamp also includes a synchronization component with the same number as the clamping jaw mechanism, and the synchronization component includes a synchronization pulley and a synchronization gear. The clamping jaw assembly is provided with a synchronization rack adapted to the synchronization gear, and the synchronization rack extends along the extension direction of the clamping jaw track. The synchronization gear is rotatably arranged on the clamp base and is transmission-connected to the synchronization rack. The synchronization pulley is coaxially connected to the synchronization gear, and each of the synchronization pulleys is transmission-connected via the synchronization belt.

6. The wire sorting device according to claim 1, characterized in that: The driving assembly comprises a driving cylinder, which is arranged on the clamp base and extends along the extension direction of the clamp track, and a power output end of the driving cylinder is connected to the clamp assembly.

7. The wire sorting device according to claim 1, characterized in that: It includes a mixed placement seat for placing wires of various specifications and at least two conveyor lines for placing wires of different specifications. The two conveyor lines extend in the front-to-back direction and are respectively arranged on the left and right sides of the robotic arm. The mixed placement seat is arranged between the two conveyor lines and is located on the front side of the robotic arm.

8. The electric wire sorting device according to any one of claims 1 to 7, characterized in that: The robotic arm is a six-axis robotic arm.

9. A wire sorting method, used in the wire sorting device according to claims 1 to 8, characterized in that: The following steps are involved: S1 simulates the arrangement and combination of the stacking positions of the wires on the mixed placement seat according to the types and quantities of wires that need to be shipped out of the warehouse; The S2 robot moves to the corresponding wire positions in sequence according to the results of the simulated arrangement and combination, and manipulates the wire clamps to sort the wires.

10. The wire sorting method according to claim 9, characterized in that: The specific steps of operating the wire clamp to sort the wires in S2 are: According to the specifications of the wires to be clamped, the corresponding control circuit is selected to be connected to the drive component, so as to control each drive cylinder to extend or retract to the set position corresponding to the specifications of the wires, thereby realizing the clamping and release of the wires.

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