Wire sorting device and wire sorting method

Abstract

The present application relates to the technical field of electric wire sorting, and discloses an electric wire sorting device and an electric wire sorting method, which comprise a mechanical arm, an electric wire clamp, a visual camera and a conveying line for placing electric wires; the conveying line is provided with the visual camera above, and is arranged at the side of the mechanical arm; the electric wire clamp comprises a clamp base and at least three groups of clamping jaw mechanisms; the clamp base is arranged at the end of the mechanical arm; the clamping jaw mechanism comprises a clamping jaw assembly, a clamping jaw track and a driving assembly; the clamping jaw track is arranged on the clamp base and extends along the radial direction of the clamp base; a plurality of clamping jaw tracks are arranged at equal intervals along the circumferential direction of the clamp base; the clamping jaw assembly is movably arranged on the clamping jaw track; the driving assembly is arranged on the clamp base and connected with the clamping jaw assembly; the driving assembly is used for driving the clamping jaw assembly to move along the clamping jaw track; the clamping jaw assembly has a clamping part for clamping electric wires; and the clamping part is arranged in a direction away from the clamp base along the radial direction of the clamp base. The present application 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, with rated voltages generally ranging from 0.01kV to 1kV. These wires are widely used in power transmission and distribution systems, and their cores are typically 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 power construction and support work such as distribution network construction, 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) of various specifications need to be stored. 2 )Low-voltage wires to meet the needs of different occasions.

[0004] These wires are usually wrapped in film in the form of 100 meters per roll and stored in warehouse shelves according to a certain number of layers and stacks. However, in actual warehousing operations, the needs of scattered entry and exit of low-voltage wires and pallet replacement often lead to traditional operations requiring multiple people to carry them, which is inefficient and has high labor costs. 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 robotic arm, a wire clamp, a visual camera, and a conveyor line for placing wires; the visual camera is provided above the conveyor line, and the conveyor line is provided on the side of the robotic arm;

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

[0009] The clamp rail is provided on the clamp base and extends radially along the clamp base. A plurality of the clamp rails are arranged at equal intervals along the circumference of the clamp base. The clamp assembly is movable on the clamp rail. The drive assembly is provided on the clamp base and connected to the clamp assembly. The drive assembly is used to drive the clamp assembly to move along the clamp rail. 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 further includes a protective cover, which is arranged on the second side surface 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 multiple 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 provided 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] Further, the driving assembly comprises a driving cylinder arranged on the clamp base and extending along the extension direction of the clamp jaw track, and a power output end of the driving cylinder is connected with the clamp jaw assembly.

[0015] Further, the mixed placement seat for placing multiple specifications of electric wires and at least two conveying lines for placing electric wires of different specifications are included, and the two conveying lines extend along the front-rear direction and are arranged on the left and right sides of the mechanical arm respectively, and the mixed placement seat is arranged between the two conveying lines and located on the front side of the mechanical arm.

[0016] Further, the mechanical arm is a six-axis mechanical arm.

[0017] The application also provides an electric wire sorting method for the electric wire sorting device, and the method comprises the following steps:

[0018] S1. According to the required types and quantities of electric wires to be delivered, the stacking positions of the electric wires on the mixed placement seat are simulated and combined.

[0019] S2. The mechanical arm moves to the corresponding electric wire position according to the simulation and combination result, and the electric wire clamp is controlled to sort the electric wires.

[0020] Further, the specific steps of S2 for controlling the electric wire clamp to sort the electric wires are as follows:

[0021] According to the required electric wire specification to be gripped, the corresponding control loop is selected to be connected with the driving assembly, so as to control each driving cylinder to extend or retract to the set position of the corresponding electric wire specification, thereby achieving the gripping and releasing of the electric wire.

[0022] Compared with the prior art, the electric wire sorting device and the electric wire sorting method have the following beneficial effects:

[0023] The electric wire sorting device can solve the storage operation requirements of electric wires of different specifications through a set of universal electric wire clamp, including various business requirements such as delivery sorting, warehouse replacement, and scattered group disc, and can improve the efficiency and stability of electric wire sorting, reduce labor cost and operation risk, and meet the requirements of modern electric power material storage. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structure diagram of the electric wire sorting device of the embodiment of the application Figure 1 ;

[0025] Figure 2 is a structure diagram of the electric wire sorting device of the embodiment of the application Figure 2 ;

[0026] Figure 3is the axial view of the wire clamp in the wire sorting device of the embodiment of the present application Figure 1 ;

[0027] Figure 4 is the axial view of the wire clamp in the wire sorting device of the embodiment of the present application Figure 2 ;

[0028] Figure 5 is the axial view of the wire clamp in the wire sorting device of the embodiment of the present application

[0029] Figure 6 is the structure schematic view of the jaw body and the buffer pad in the wire sorting device of the embodiment of the present application

[0030] Figure 7 is the top view of the single jaw body and the buffer pad in the wire sorting device of the embodiment of the present application

[0031] Figure 8 is the structure schematic view of the wire clamp when clamping the large wire diameter wire in the wire sorting device of the embodiment of the present application

[0032] Figure 9 is the structure schematic view of the wire clamp when clamping the small wire diameter wire in the wire sorting device of the embodiment of the present application

[0033] Figure 10 is the top view of the wire clamp in the initial state in the wire sorting device of the embodiment of the present application

[0034] Figure 11 is the top view of the wire clamp when clamping the large wire diameter wire in the wire sorting device of the embodiment of the present application

[0035] Figure 12 is the structure schematic view of the wire clamp when clamping the small wire diameter wire in the wire sorting device of the embodiment of the present application

[0036] Figure 13 is the axial view of the wire clamp in the wire sorting device of the another embodiment of the present application Figure 1 ;

[0037] Figure 14 is the axial view of the wire clamp in the wire sorting device of the another embodiment of the present application Figure 2 ;

[0038] Figure 15 is the front view of the wire clamp in the wire sorting device of the another embodiment of the present application

[0039] Figure 16 is the driving circuit structure schematic view of the wire sorting device of the embodiment of the present application

[0040] Figure 17is a structural schematic diagram of the wire sorting device of the embodiment of the present application for sorting same-specification wires;

[0041] Figure 18 is a structural schematic diagram of the wire sorting device of the embodiment of the present application for sorting different-specification wires Figure 1 ;

[0042] Figure 19 is a structural schematic diagram of the wire sorting device of the embodiment of the present application for sorting different-specification wires 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, clamping jaw mechanism; 31, clamping jaw assembly; 311, clamping part; 312, clamping jaw base; 313, clamping jaw body; 314, buffer pad; 3141, buffer sub-pad; 315, synchronous rack; 32, clamping jaw track; 33, drive assembly; 331, drive cylinder; 4, protective cover; 51, air source; 52, reversing circuit; 53, control circuit; 531, first electromagnetic valve; 532, manual pressure regulating valve; 533, second electromagnetic valve; 54, execution circuit; 541, first one-way throttle valve; 542, second one-way throttle valve; 6, mechanical arm; 7, wire clamp; 81, visual camera; 82, visual support; 83, moving hanging rod; 9, conveying line; 10, mixed placement seat. DETAILED DESCRIPTION

[0044] The specific embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0045] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like in the present application are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0046] In the description of the present invention, it should be understood that the terms "connected," "connected," "fixed," etc. used in the present invention should be interpreted broadly. For example, the terms may be fixedly connected, detachably connected, or integrated; may be mechanically connected or welded; may be directly connected or indirectly connected through an intermediate medium; may be internal communication between two elements or an interactive relationship between two elements, unless otherwise clearly defined. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

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

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

[0049] The wire clamp 7 includes a clamp base 1 and at least three sets of clamping mechanisms 3. The clamp base 1 is provided at the end of the robotic arm 6. The clamping mechanisms 3 include a clamping assembly 31, a clamping 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 movable 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 the wire. The clamping portion 311 is arranged along the radial direction of the clamp base 1 in a direction away from the clamp base 1.

[0051] By combining the robotic arm 6 with the visual camera 81, wires of different specifications can be quickly identified and located; based on the principle that three points define a plane, the clamping mechanism 3 is provided with at least three groups, which work together to ensure the stability of the center of gravity plane of the clamped wire roll. In a specific embodiment of the present application, the clamping mechanism 3 is provided in three groups, wherein the corresponding three clamping parts 311 are radially oriented away from the central axis of the clamp base 1. The movement 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 wires. 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 winding of the wire, 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, incoming 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 Figures 3 to 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 robotic 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 the substrate, making the overall structure of the wire clamp 7 more compact, reducing its occupied space, and helping to reduce volume and weight, avoiding excessive burden on the robotic 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 Figures 14 to 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 drive components 33. The protective cover 4 can effectively prevent mechanical damage, electric shock, or other potential hazards in the external environment from affecting the internal components, reduce the failure rate due to accidental collisions 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 further includes a synchronous belt 21, which 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, the multiple jaw assemblies 31 can achieve synchronous movement, thereby ensuring that each 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 jaw assemblies 31 and ensure the positional accuracy of each jaw assembly 31 during execution. While maintaining the center of the circle enclosed by the multiple jaw assemblies 31 consistent with the center of the wire coil, it also greatly enhances the coordination between the jaw assemblies 31, effectively reducing the phenomenon of unstable clamping caused by external vibration or impact, and improving 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 mechanism 3, and the synchronization components include a synchronization belt 21 wheel and a synchronization gear 23. The clamping 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 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 pulleys and the synchronous belt 21 are both located on the second side 12 of the clamp base 1. The synchronous belt 21 is sleeved onto each synchronous belt 21 pulley. The clamp base 1 also has multiple bearing supports, through which a synchronous shaft is mounted. Each synchronous gear 23 and each synchronous belt 21 pulley are mounted on either side of the synchronous shaft in a one-to-one correspondence, allowing the synchronous gears 23 and the synchronous belt 21 pulleys to rotate synchronously. The synchronous rack 315 is located on the clamp assembly 31. When the synchronous rack 315 moves linearly along the clamp track 32 with the clamp assembly 31, it engages with the synchronous gear 23, driving the synchronous gear 23 to rotate. The rotation of the synchronous gear 23 on the first side 11 drives the synchronous belt 21 pulley located on the second side 12 of the clamp base 1 to rotate. Each synchronous belt 21 pulley engages with the synchronous belt 21 to ensure that the rotation angle of each synchronous gear 23 is consistent, thereby ensuring that the movement stroke of the clamp assembly 31 remains consistent at all times.

[0060] In some improved schemes of the present application, the driving assembly 33 comprises a driving cylinder 331 arranged on the clamp base 1 and extending along the extension direction of the clamp jaw track 32, and the power output end of the driving cylinder 331 is connected with the clamp jaw assembly 31.

[0061] The movement of the driving cylinder 331 forms a flexible adjustment and can provide strong power, so that the clamp jaw assembly 31 can clamp the wire with sufficient force and ensure that the wire does not loosen or slip during clamping. Referring to Figures 6 to 9 , specifically, the clamp jaw assembly 31 comprises a clamp jaw base 312, a clamp jaw body 313 and a buffer pad 314, the clamp jaw base 312 is movably arranged on the clamp jaw track 32 and connected with the driving assembly 33, the clamp jaw body 313 is protrudingly arranged on the side of the clamp jaw base 312 away from the clamp jaw track 32, the clamp jaw body 313 defines a clamping portion 311 along the radial direction of the clamp base 1 away from one side of the clamp base 1, and the buffer pad 314 is arranged on the clamping portion 311. A synchronous rack 315 is arranged on the clamp jaw base 312 and extends along the extension direction of the clamp jaw track 32, and through the synchronous rack 315 and the synchronous gear 23, the synchronous belt 21 wheel is in driving connection with the clamp jaw base 312 in the clamp jaw assembly 31. When the plurality of driving cylinders 331 respectively drive the plurality of clamp jaw bases 312 to move on the clamp jaw track 32, the synchronous belt 21 is in driving connection with the plurality of clamp jaw bases 312 through the synchronous belt 21 wheel, so that the moving extension lengths of the plurality of clamp jaw bases 312 are consistent, which is beneficial to keep the circle centers of the plurality of clamp jaw bodies 313 controlled by the plurality of driving cylinders 331 unchanged, so that the clamping forces of the plurality of clamp jaw bodies 313 on the wire coil are consistent, and the failure of clamping caused by that some of the clamp jaw bodies 313 do not clamp the wire is prevented.

[0062] In some improved schemes of the present application, a servo motor can also be used as the driving assembly 33 for synchronous processing, but the volume of the servo motor is larger than that of the driving cylinder 331, which has certain influence on the movement of the mechanical arm 6, and the cost is also higher.

[0063] In some improved schemes of the present application, the buffer pad 314 comprises a plurality of buffer sub-pads 3141 arranged from outside to inside along the radial direction of the clamp base 1, and the hardness of the buffer sub-pad 3141 on the outside is smaller than that of the buffer sub-pad 3141 on the inside. Specifically, the buffer sub-pads 3141 can be respectively made of polyurethane with different hardnesses, and the buffer sub-pads 3141 are arranged and stacked in layers with the hardness gradually decreasing from inside to outside to facilitate the deformation of the buffer sub-pads 3141 with different hardnesses when clamping wires with different diameters.

[0064] Specifically, because wires are usually rolled up in 100-meter rolls, large-diameter wires are heavier than small-diameter wires of the same length, and require greater clamping force. When clamping large-diameter wires, the buffer pad 314 can ensure that it has more contact surface with the wires in the vertical direction because the outer buffer sub-pad 3141 has lower hardness and greater deformation. It can also provide a certain support effect. Compared with relying solely on friction, it is beneficial to reduce the clamping force and further prevent the outer insulation layer of the wire from being damaged. When clamping small-diameter wires, due to the low hardness of the outer buffer sub-pad 3141, 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 solutions 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. The two 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. The mixed placement seat 10 is arranged between the two conveyor lines 9 and is located on the front side of the robot arm 6. The mixed placement seat 10 is specifically 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 of 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 more efficient. The mixed placement seat 10 can specifically place the wire piles that need to be replaced, and can also 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 process, 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 support 82, on which is mounted a movable hanging rod 83 extending left and right along the robotic arm 6. The movable hanging rod 83 is movable along the front and rear directions of the robotic arm 6 on the visual support 82 and combines with the visual support 82 to form a visual frame. A visual camera 81 is mounted on the movable hanging rod 83. Specifically, three visual cameras 81 can be provided, located above the two conveyor lines 9 and above the robotic arm 6, i.e., at the left, center, and right positions in the center of the entire wire sorting system, to ensure that all three positions of the entire depalletizing and stacking system can be identified.

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

[0069] The wire clamp 7 and the six-axis robotic arm 6 constitute the sorting mechanism of this 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 robotic arm 6 provides the sorting system with the ability to move after successful clamping.

[0070] Reference Figures 10 to 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, and 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, and 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 control circuits 53. The specific number of control circuits 53 can be set according to actual needs. In the specific embodiment of the present application, it is set as three control circuits 53, and each 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. The first solenoid valve 531 and the second solenoid valve 533 are used to prevent the harm of reverse airflow from the pressure regulating valves in other circuits, prevent the normal operation of the pressure regulating valves due to incorrect gas flow direction, and reduce the risk of damage to the pressure regulating valves. Through the control of the upper-level system, the first solenoid valve 531 and the second solenoid valve 533 in series on the control circuit 53 actually required are both 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 due to clamping wires of different sizes, 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 plurality of driving cylinders 331 is sufficient to clamp the wire, and the wire does not fall off during movement and does not damage the insulation layer of the wire. The actual adjustment can be made by measuring the wire rolls of different wire diameters on site, and wire rolls with similar wire diameters and weights can be grouped into one group, and the same control circuit 53 is used for clamping. Therefore, before operation, all specifications of wires need to be classified and counted, and similar specifications are set as one circuit. If there are several similar specifications, several control circuits 53 need to be set.

[0073] By controlling the direction of the reversing circuit 52, the extension or contraction of the driving cylinder 331 is controlled, so that the opening and closing of the wire clamp are achieved. The execution circuit 54 is used to execute the action, and by controlling the first one-way throttle valve 541 and the second one-way throttle valve 542, the speed of the driving cylinder 331 can also be controlled to prevent the driving cylinder 331 from moving too fast and damaging the insulation layer of the wire.

[0074] Referring to Figures 17 to 19 The preferred embodiment of the application provides a wire sorting method for the wire sorting device, which comprises the following steps:

[0075] S1. According to the types and quantities of wires required for delivery, the stacking positions of wires on the mixed stacking seat 10 are simulated and combined.

[0076] S2. The mechanical arm 6 moves to the corresponding wire position according to the simulation and combination result, and manipulates the wire clamp 7 to sort the wires.

[0077] Before S1, the shapes and weights of all wires need to be measured and then stored respectively.

[0078] In some improved schemes of the application, the specific steps of manipulating the wire clamp 7 to sort the wires in S2 are as follows:

[0079] According to the wire specifications required for clamping, the corresponding control circuit 53 is selected to communicate with the driving assembly 33, so as to control the extension or contraction of each driving cylinder 331 to the set position of the corresponding wire specification, so as to clamp and release the wire.

[0080] In summary, the embodiment of the application provides a wire sorting device and a wire sorting method, which has the following advantages:

[0081] 1) By using a simple device and control principle, the wire storage operation demand of more than 100 kg large wire diameter specification can be solved, and the operation demand of the smallest specification can also be met, which is low in cost and excellent in effect;

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

[0083] 3) By driving the cylinder 331, the movement stroke of the clamping jaw assembly 31 is flexibly adjusted, thereby increasing its stroke adjustment range and thus 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 shipment, increase the vehicle's capacity, effectively reduce transportation costs, and contribute 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 provided above the conveyor line, and the conveyor line is provided on the side of the robotic arm; The wire clamp includes a clamp base and at least three sets of clamping mechanisms, the clamp base is arranged at the end of the robotic arm, and the clamping mechanism includes a clamping assembly, a clamping track and a driving assembly; The clamping rail is provided on the clamp base and extends radially along the clamp base, a plurality of the clamping rails are arranged at equal intervals along the circumference of the clamp base, the clamping assembly is movably provided on the clamping rail, the driving assembly is provided on the clamp base and connected to the clamping assembly, the driving assembly is used to drive the clamping assembly to move along the clamping rail, the clamping assembly has a clamping portion for clamping the wire, and the clamping portion is provided along the radial direction of the clamp base in a direction away from the clamp base; The clamp base has a first side surface and a second side surface that are 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 provided on the first side surface, the clamp assembly is protruded on a side of the clamp track that is away from the clamp base, and the drive assembly is provided on the second side surface of the clamp base; The wire clamp further includes a protective cover, which is disposed on the second side and covers each of the driving components; The wire clamp further comprises a synchronous belt, which is arranged on the second side surface, and the plurality of clamping jaw assemblies are connected to each other through the synchronous belt transmission; The wire clamp also includes the same number of synchronization components as the clamping jaw mechanism, and the synchronization components include synchronization pulleys and synchronization gears. 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 provided 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.

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

3. The wire sorting device according to claim 1, wherein: 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.

4. The electric wire sorting device according to any one of claims 1 to 3, characterized in that: The robotic arm is a six-axis robotic arm.

5. A wire sorting method, used in the wire sorting device according to any one of claims 1 to 4, 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; The S2 robotic arm moves to the corresponding wire positions in sequence according to the results of the simulated permutations and combinations, and manipulates the wire clamps to sort the wires.

6. The wire sorting method according to claim 5, 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 connect with the drive assembly, thereby controlling each drive cylinder to extend or retract to the set position corresponding to the wire specifications, thereby achieving the clamping and release of the wires.

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