Wire automatic stranding machine for industrial robot cable

Abstract

The invention discloses an automatic wire stranding machine for an industrial robot cable, which is characterized in that a first support frame, a second support frame, a third support frame and a fourth support frame are arranged on an equipment base at intervals, a wire supply turntable is rotatably mounted on the first support frame, a wire stranding turntable is rotatably mounted on the second support frame, and a wire stranding and leading mechanism is mounted on the third support frame; the fourth supporting frame is rotatably provided with a take-up rotating disc, the wire supply rotating disc and the wire twisting rotating disc are fixedly installed at the two ends of the twisting main shaft, the twisting driving device drives the twisting main shaft to rotate, the take-up driving device drives the take-up rotating disc to rotate and take up wires, and the wire guiding material disc and the elastic wire material disc are installed on the wire supply rotating disc. A wire and an elastic wire led out from the wire tray and the elastic wire tray correspondingly penetrate through wire passing holes in the wire twisting rotary disc and then enter wire leading grooves of an upper wire leading wheel and a lower wire leading wheel of the wire twisting and leading mechanism in a twisting state to be wound on a wire winding rotary disc. According to the wire twisting machine, high-efficiency, high-quality and intelligent wire twisting for industrial robot cables is achieved.

Description

Technical Field

[0001] The present invention relates to an auxiliary device for wire production, and particularly to an automatic wire stranding machine for industrial robot cables. Background Art

[0002] Since industrial robot cables need to move back and forth frequently during use, it is required that industrial robot cables have high bending resistance. In order to improve their bending resistance, elastic filaments need to be added to the wires, and several wires and several elastic filaments are evenly stranded together to form a wire with bending resistance.

[0003] The current wire stranding machine has a simple structure and cannot be adjusted intelligently. It is mainly used for stranding multiple wires. When elastic filaments need to be added to the wires and the existing stranding machine is used for stranding, since the elastic filaments are elastic, it is very easy for the wire to be bent and deformed after stranding, and it is difficult to ensure the stranding quality. Moreover, common stranding machines are difficult to achieve high-quality and high-efficiency intelligent wire stranding. Summary of the Invention

[0004] In order to overcome the above defects, the present invention provides an automatic wire stranding machine for industrial robot cables, which can achieve high-efficiency, high-quality and intelligent stranding of wires for industrial robot cables.

[0005] The technical solution adopted by the present invention to solve its technical problems is: an automatic wire stranding machine for industrial robot cables, including an equipment base, a stranding main shaft, a stranding drive device, a wire supply turntable, a wire spool, an elastic wire spool, a stranding turntable, a stranding lead-in mechanism, a take-up turntable, a take-up drive device and a control system. The equipment base is sequentially provided with a first support frame, a second support frame, a third support frame and a fourth support frame. The wire supply turntable and the stranding turntable are respectively coaxially rotatably installed on the first support frame and the second support frame. The stranding lead-in mechanism is fixedly installed on the third support frame. The take-up turntable is rotatably installed on the fourth support frame. The take-up drive device drives the first turntable to rotate for taking up the wire. The wire supply turntable and the stranding turntable are respectively fixedly installed at both ends of the stranding main shaft. The stranding drive device drives the stranding main shaft to rotate. A plurality of wire spools and elastic wire spools are evenly spaced along the circumferential direction of the stranding main shaft and rotatably installed on the wire supply turntable. The wire spools and the elastic wire spools are also provided with damping devices to provide resistance for their rotation. The stranding turntable is provided with a plurality of wire passing holes evenly spaced along the circumferential direction of the main shaft. The wire passing holes are arranged in one-to-one correspondence with the wire spools and the elastic wire spools. And wire guiding wheels are rotatably arranged in the wire passing holes. The stranding lead-in mechanism includes a stranding lead-in support frame, an upper lead-in wheel, a lower lead-in wheel, a lead-in slider and an elastic member. The stranding lead-in support frame is fixedly installed on the third support frame. The lower lead-in wheel is rotatably installed on the stranding lead-in support frame. The lead-in slider is slidably installed on the stranding lead-in support frame up and down. The upper lead-in wheel is rotatably installed on the lead-in slider. Opposite lead-in grooves are provided on the circumferential outer surfaces of the upper lead-in wheel and the lower lead-in wheel. The elastic member provides a downward elastic force for the lead-in slider. The wires and elastic wires led out from the wire spools and the elastic wire spools respectively pass through the wire passing holes on the stranding turntable in one-to-one correspondence and are gathered towards the center of the stranding main shaft after passing around the wire guiding wheels for stranding. The stranded wires are wound around the take-up turntable through the lead-in grooves of the upper lead-in wheel and the lower lead-in wheel of the stranding lead-in mechanism. The control system controls the stranding drive device and the take-up drive device to rotate synchronously according to the designed speed ratio.

[0006] As a further improvement of the present invention, a cylinder is also provided on the stranding lead-in support frame of the stranding lead-in mechanism. The lead-in slider is installed at the end of the piston rod of the cylinder so as to be able to move up and down a set distance. The cylinder can drive the lead-in slider to move up and down. The elastic member is arranged between the end of the piston rod of the cylinder and the lead-in slider to provide a downward elastic force for the lead-in slider.

[0007] As a further improvement of the present invention, a number of wire supply chutes extending radially along the wire supply turntable are provided at equal angles. A wire supply slider is slidably installed in each wire supply chute. A number of wire tension adjustment driving devices are also provided on the wire supply turntable. The wire tension adjustment driving device can drive each wire supply slider to slide along the wire supply chute. Each wire guide reel and elastic wire reel are respectively installed on the wire supply slider in a one-to-one correspondence. A number of wire tension detection sensors are also provided. Each wire tension detection sensor can detect the wire tension led out from each wire guide reel and elastic wire reel. Each wire tension detection sensor communicates with the control system to transmit the tension data of each wire in real time. The control system controls the start, stop, forward and reverse operation of each wire tension adjustment driving device.

[0008] As a further improvement of the present invention, the wire tension adjustment driving device includes a motor and a lead screw-nut mechanism. The motor drives the lead screw of the lead screw-nut mechanism to rotate. The nut of the lead screw-nut mechanism is fixedly connected to the wire supply slider.

[0009] As a further improvement of the present invention, the wire take-up turntable includes a winding roller and a wire retaining plate. The two wire retaining plates can be respectively detachably fixed and sleeved on the outer sides of the two axial ends of the winding roller. A space for accommodating the wire is formed between the two wire retaining plates. The wire can be wound around the outer circumference of the winding roller. The equipment base is also provided with a fifth support frame between the third support frame and the fourth support frame. A wire arranging slider capable of reciprocatingly sliding along a slide rail parallel to the axis of the winding roller is provided on the fifth support frame. A wire through hole is provided on the wire arranging slider. The wire led out from the stranding lead wire mechanism passes through the wire through hole and is finally wound around the winding roller. A wire arranging driving device is also provided on the fifth support frame. The wire arranging driving device drives the wire arranging slider to reciprocatingly slide so that the wire is reciprocatingly wound and arranged at equal intervals along the axis of the winding roller.

[0010] As a further improvement of the present invention, a length meter and a stranding wire cutting device are also provided. The length meter can measure the length of the stranding wire. A sixth support frame is also provided between the third support frame and the fifth support frame. The stranding wire cutting device is fixedly installed on the sixth support frame. The stranding wire cutting device can cut the stranding wire that is about to be wound around the winding roller.

[0011] As a further improvement of the present invention, a single-wire cutting assembly is also provided, which includes a cutting disc, a cutting knife, and a cutting driving device. The cutting disc is fixedly sleeved on the stranding main shaft between the wire supply turntable and the stranding turntable. A number of cutting holes corresponding one by one to the wire passing holes on the stranding turntable are provided on the cutting disc. A cutting knife groove is formed on one side wall of the cutting hole, and a cutting knife receiving groove is provided on the other side wall of the cutting hole. The cutting knife can be received in the cutting knife receiving groove, and the cutting knife can extend along the cutting knife receiving groove towards the cutting knife groove to cut the wire passing through the cutting hole. The cutting driving device drives each cutting knife to perform synchronous telescopic movement, and the control system can control the start and stop of the cutting driving device.

[0012] As a further improvement of the present invention, a fixed wire clamp and a movable wire clamp are also provided in the wire passing hole. The movable wire clamp can slide radially along the stranding turntable. The movable wire clamp and the fixed wire clamp can clamp the wire in the wire passing hole or loosen the wire in the wire passing hole. A wire clamping driving device is also provided on the stranding turntable. The wire clamping driving device drives the movable wire clamp to move, and the control system controls the start and stop of the wire clamping driving device.

[0013] As a further improvement of the present invention, both the cutting driving device and the wire clamping driving device include a cylinder fixedly installed in the stranding main shaft. A frustum is fixedly installed on the piston rod of the cylinder. A number of avoidance holes corresponding one by one to the cutting holes and the wire passing holes are provided on the side wall of the stranding main shaft. A number of radial sliding grooves corresponding one by one to the cutting holes and the wire passing holes are respectively provided on the cutting disc and the stranding turntable. A driving rod that can slide in the radial sliding groove is provided. One end of the driving rod is fixedly connected to the cutting knife and the movable wire clamp, and the other end of the driving rod is closely attached to the outer circumferential surface of the frustum. The cutting driving device and the wire clamping driving device also include a spring, and the spring provides an elastic force for the driving rod to keep in close contact with the frustum. The telescopic movement of the piston rod of the cylinder can drive each driving rod to slide synchronously along the radial sliding groove, so that each cutting knife and the movable wire clamp can synchronously clamp the wire and synchronously cut the wire.

[0014] As a further improvement of the present invention, two groups of wire guiding wheels are provided at intervals along the extending direction of the wire in the wire passing hole. Each group of wire guiding wheels consists of two arranged at intervals radially along the stranding turntable. Arc-shaped concave rings for the wire to pass through are correspondingly provided on the outer circumferential walls of the respective wire guiding wheels.

[0015] The beneficial effects of the present invention are as follows: The present invention supplies wires and elastic wires through wire spools and elastic wire spools evenly spaced on a wire supply turntable. The wires and elastic wires converge together through the wire passing holes on the stranding turntable and are stranded together as the stranding main shaft rotates. The stranded wire forms a stranded wire through the stranding lead mechanism, and the stranding lead mechanism corrects and guides the stranded wire to form a stranded wire in a natural straight state, and finally winds it on the take-up turntable for wire taking-up. The above mechanism realizes the stranding of multiple wire materials. Before stranding, the tension of each wire material is automatically adjusted, and after stranding, it is automatically corrected, so that the stranded wire material will not be bent or deformed, ensuring the stranding quality. The present invention can also evenly wind the wire layer by layer on the take-up turntable, ensuring the convenience of the final coiling and subsequent use of the stranded wire. The present invention can also automatically measure the length of the stranded wire materials, so that the coiled stranded wire is a wire material of a fixed length, forming a standard wire coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional view of the wire stranding mechanism of the present invention;

[0017] Figure 2 It is a three-dimensional view of the wire take-up mechanism of the present invention;

[0018] Figure 3 It is a schematic diagram of the wire tension adjustment principle of the present invention;

[0019] Figure 4 It is a three-dimensional view of the stranding lead mechanism of the present invention;

[0020] Figure 5 It is a three-dimensional view of the stranding turntable lead principle of the present invention;

[0021] Figure 6 It is a three-dimensional view of the structure principle of the single-wire cutting component of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] Embodiment: An automatic wire stranding machine for industrial robot cables, comprising an equipment base 1, a stranding main shaft 2, a stranding driving device 3, a wire supply turntable 4, a wire spool 5, an elastic wire spool 6, a stranding turntable 7, a stranding lead-in mechanism 8, a wire take-up turntable 9, a wire take-up driving device 10 and a control system. A first support frame 11, a second support frame 12, a third support frame 13 and a fourth support frame 14 are sequentially arranged on the equipment base 1. The wire supply turntable 4 and the stranding turntable 7 are coaxially rotatably installed on the first support frame 11 and the second support frame 12 respectively. The stranding lead-in mechanism 8 is fixedly installed on the third support frame 13. The wire take-up turntable 9 is rotatably installed on the fourth support frame 14. The wire take-up driving device 10 drives the first turntable to rotate for taking up the wire. The wire supply turntable 4 and the stranding turntable 7 are respectively fixedly installed at both ends of the stranding main shaft 2. The stranding driving device 3 drives the stranding main shaft 2 to rotate. A plurality of wire spools 5 and elastic wire spools 6 are evenly spaced along the circumferential direction of the stranding main shaft 2 and rotatably installed on the wire supply turntable 4. A damping device for providing resistance to the rotation thereof is further provided on the wire spools 5 and the elastic wire spools 6. A plurality of wire passing holes 14 are evenly spaced along the circumferential direction of the stranding main shaft on the stranding turntable 7. The wire passing holes 14 are arranged in one-to-one correspondence with the wire spools 5 and the elastic wire spools 6. A wire guiding wheel 15 is rotatably provided in the wire passing holes 14. The stranding lead-in mechanism 8 comprises a stranding lead-in support frame 16, an upper lead-in wheel 17, a lower lead-in wheel 18, a lead-in slider 19 and an elastic member 20. The stranding lead-in support frame 16 is fixedly installed on the third support frame 13. The lower lead-in wheel 18 is rotatably installed on the stranding lead-in support frame 16. The lead-in slider 19 is slidably installed up and down on the stranding lead-in support frame 16. The upper lead-in wheel 17 is rotatably installed on the lead-in slider 19. Opposite lead-in grooves 21 are provided on the outer circumferential surfaces of the upper lead-in wheel 17 and the lower lead-in wheel 18. The elastic member 20 provides a downward elastic force to the lead-in slider 19. The wires and elastic wires led out from the wire spools 5 and the elastic wire spools 6 respectively pass through the wire passing holes 14 on the stranding turntable 7 in one-to-one correspondence and are gathered towards the center direction of the stranding main shaft 2 for stranding after passing around the wire guiding wheels 15. The stranded wires are wound around the wire take-up turntable 9 through the lead-in grooves 21 of the upper lead-in wheel 17 and the lower lead-in wheel 18 of the stranding lead-in mechanism 8. The control system controls the stranding driving device 3 and the wire take-up driving device 10 to rotate synchronously according to the designed speed ratio.

[0023] First, install the wire spool 5 and the elastic wire spool 6 on the wire supply turntable 4. Then, lead the wire and the elastic wire out from the wire spool 5 and the elastic wire spool 6 and pass them through each wire passing hole 14 of the stranding turntable 7. After all the wires and elastic wires pass through the wire passing holes 14 of the stranding turntable 7, they converge and enter the stranding lead mechanism 8. The stranded wire from the stranding lead mechanism 8 is wound on the take-up turntable 9, and the take-up turntable 9 is driven to rotate by the take-up driving device 10 to realize the traction of the wire material. When starting to strand the wire material, the stranding main shaft 2 starts to rotate. The stranding main shaft 2 drives the wire supply turntable 4 and the stranding turntable 7 to rotate synchronously. Then, along with the forward stretching of the wire material, each wire and elastic wire are stranded together to form a stranded wire. The stranded wire is finally all wound on the take-up turntable 9 for take-up. Before the stranded wire is taken up, it is corrected by the wire guiding grooves 21 on the upper wire guiding wheel 17 and the lower wire guiding wheel 18 of the stranding lead mechanism 8 to avoid complete deformation of the stranded wire. The damping devices of the wire spool 5 and the elastic wire spool 6 can ensure that a certain tension is maintained when the wire and the elastic wire are being pulled.

[0024] A first cylinder 22 is further provided on the stranding lead bracket 16 of the stranding lead mechanism 8. The lead slider 19 is installed at the end of the piston rod of the first cylinder 22 so as to be able to move up and down by a set distance. The first cylinder 22 can drive the lead slider 19 to move up and down. The elastic member 20 is arranged between the end of the piston rod of the first cylinder 22 and the lead slider 19 to provide a downward elastic force for the sliding of the lead. The air drives the lead slider 19 to slide up and down through the first cylinder 22 to realize the switching between the normal traction correction state and the wire threading state of the wire.

[0025] A number of wire supply chutes extending radially along it are equiangularly provided on the wire supply turntable 4. Wire supply sliders are slidably installed in each wire supply chute. A number of wire material tension adjustment driving devices 23 are also provided on the wire supply turntable 4. The wire material tension adjustment driving devices 23 can drive each wire supply slider to slide along the wire supply chute. Each wire spool 5 and elastic wire spool 6 are respectively and correspondingly installed on the wire supply sliders. A number of wire material tension detection sensors are also provided. Each wire material tension detection sensor can detect the tension of the wire material led out from each wire spool 5 and elastic wire spool 6. Each wire material tension detection sensor communicates with the control system to transmit the tension data of each wire material in real time. The control system controls the start, stop and forward and reverse operation of each wire material tension adjustment driving device 23. To reduce the tension fluctuation, during the stranding process, when the tension of the wire and the elastic wire suddenly changes, the wire supply slider will move on the wire supply turntable 4, playing a role in dynamically adjusting the tension of the wire and the elastic wire.

[0026] The wire material tension adjustment driving device 23 includes a motor and a lead screw nut mechanism. The motor drives the lead screw of the lead screw nut mechanism to rotate. The nut of the lead screw nut mechanism is fixedly connected to the wire supply slider.

[0027] The take-up turntable 9 includes a winding roller and baffle plates. The two baffle plates are respectively detachably fixed and sleeved on the outer sides of the two axial ends of the winding roller. A space for accommodating the wire is formed between the two baffle plates. The wire can be wound around the outer circumference of the winding roller. Between the third support frame 13 and the fourth support frame 14 of the equipment base 1, there is also a fifth support frame 24. On the fifth support frame, there is a wire arranging slider 25 that can reciprocally slide along a slide rail parallel to the axis of the winding roller. A wire through-hole 26 is provided on the wire arranging slider 25. The wire led out from the stranding lead mechanism 8 passes through the wire through-hole 26 and is finally wound around the winding roller. A wire arranging driving device 27 is also provided on the fifth support frame. The wire arranging driving device 27 drives the wire arranging slider 25 to reciprocally slide, so that the wire is reciprocally wound and arranged at uniform intervals along the axial direction of the winding roller.

[0028] Before the stranded wire enters the take-up turntable 9, it first passes through the wire through-hole 26 on the wire arranging slider 25. The stranded wire reciprocally translates along the axial direction of the winding roller while the wire arranging slider 25, and at the same time, it is wound around the outer circumference of the winding roller. This mechanism realizes the layer-by-layer winding of the stranded wire on the winding roller, and finally forms a wire coil. After the stranded wire is wound around the winding roller to form a wire coil, by first removing the baffle plates and then removing the wire coil from the winding roller, the blanking of the wire coil can be facilitated. The wire coil after blanking can be stored by winding with a tape.

[0029] There is also a length counter and a stranded wire cutting device 36. The length counter can measure the length of the stranded wire. Between the third support frame 13 and the fifth support frame 24, there is also a sixth support frame 37. The stranded wire cutting device 36 is fixedly installed on the sixth support frame 37. The stranded wire cutting device 36 can cut the stranded wire that is about to be wound around the winding roller. During the process that the wire and the elastic wire are wound around the take-up turntable 9 after stranding, the length counter calculates the length of the completed stranded wire. When its length reaches the design requirement, the take-up turntable 9 and the stranding main shaft 2 stop rotating, and the stranded wire cutting device 36 cuts the stranded wire, thereby realizing fixed-length take-up. The stranded wire cutting device 36 can be cut by a scissor mechanism or can be cut by a cutting tool mechanism.

[0030] There is also a single-wire cutting assembly, including a cutting disk 28, a cutting knife 29 and a cutting driving device. The cutting disk 28 is fixedly sleeved on the stranding main shaft 2 between the wire supply turntable 4 and the stranding turntable. A number of cutting holes 30 corresponding to the wire passing holes 14 on the stranding turntable are provided on the cutting disk 28. A cutting knife groove 38 is formed on one side wall of the cutting hole 30, and a cutting knife accommodating groove is provided on the other side wall of the cutting hole 30. The cutting knife 29 can be accommodated in the cutting knife accommodating groove, and the cutting knife 29 can extend along the cutting knife accommodating groove towards the cutting knife groove 38 to cut the wire passing through the cutting hole 30. The cutting driving device drives each cutting knife 29 to synchronously expand and contract, and the control system can control the start and stop of the cutting driving device.

[0031] When the wire stranding is completed and it is necessary to remove the wire spool 5 and the elastic wire spool 6, it is necessary to cut each wire and elastic wire. When cutting the wire and elastic wire, start the tangent drive device, and the tangent knife 29 extends to cooperate with the cutter groove 38 to cut the wire and elastic wire.

[0032] A fixed wire clamp 31 and a movable wire clamp 32 are further arranged in the wire passing hole 14. The movable wire clamp 32 can slide radially along the radial direction of the stranding turntable 7. The movable wire clamp 32 and the fixed wire clamp 31 can clamp the wire in the wire passing hole 14 or loosen the wire in the wire passing hole 14. A wire clamping drive device is further arranged on the stranding turntable 7. The wire clamping drive device drives the movable wire clamp 32 to move, and the control system controls the start and stop of the wire clamping drive device. Preferably, when cutting the wire and elastic wire, the wire is clamped and fixed by the fixed wire clamp 31 and the movable wire clamp 32 in the wire passing hole 14 to ensure the smooth cutting of the wire and elastic wire.

[0033] Both the tangent drive device and the wire clamping drive device include a second cylinder 35 fixedly installed in the stranding main shaft 2. A frustum 39 is fixedly installed on the piston rod of the second cylinder 35. A plurality of avoidance holes are provided on the side wall of the stranding main shaft 2, which are respectively opposite to the tangent holes 30 and the wire passing holes 14. A plurality of radial slideways respectively opposite to the tangent holes 30 and the wire passing holes 14 and communicating with them are provided on the tangent disc 28 and the stranding turntable 7. A driving rod 33 capable of sliding is arranged in the radial slideway. One end of the driving rod 33 is fixedly connected to the tangent knife 29 and the movable wire clamp 32, and the other end of the driving rod 33 is closely attached to the outer circumferential surface of the frustum 39. The tangent drive device and the wire clamping drive device further include a spring 34. The spring 34 provides an elastic force for the driving rod 33 to keep in close contact with the frustum 39. The telescopic movement of the piston rod of the second cylinder 35 can drive each driving rod 33 to slide synchronously along the radial slideway, so that each tangent knife 29 and the movable wire clamp 32 synchronously clamp the wire and synchronously cut the wire. By driving the frustum 39 to move axially by the second cylinder 35 hidden in the stranding main shaft 2, the telescopic movement of each driving rod 33 is realized, and then the telescopic movement of the tangent knife 29 and the movable wire clamp 32 is realized. This mechanism can ensure that all the tangent knives 29 and all the movable wire clamps 32 act synchronously. Preferably, when cutting the wire and elastic wire, first let the movable wire clamp 32 move in place to clamp the wire and elastic wire, and then make the tangent knife 29 extend to cut the wire and elastic wire.

[0034] Two groups of wire guiding wheels 15 are arranged at intervals along the extending direction of the wire in the wire passing hole 14. Each group of wire guiding wheels 15 consists of two arranged at intervals along the radial direction of the stranding turntable 7. Arc-shaped concave rings for the wire to pass through are correspondingly arranged on the outer circumferential side walls of the respective wire guiding wheels 15. This structure can prevent the wire and elastic wire from being stuck and broken in the wire passing hole 14.

Claims

1. An automatic wire twisting machine for industrial robot cables, characterized in that: The invention comprises an equipment base (1), a twisting spindle (2), a twisting drive device (3), a wire supply turntable (4), a wire material turntable (5), an elastic wire material turntable (6), a twisting turntable (7), a twisting wire lead mechanism (8), a wire take-up turntable (9), a wire take-up drive device (10) and a control system. A first support frame (11), a second support frame (12), a third support frame (13) and a fourth support frame (14) are sequentially arranged on the equipment base. The wire supply turntable and the twisting turntable are respectively coaxially rotatably mounted on the first support frame and the second support frame. The wire mechanism is fixedly mounted on the third support frame, and the wire take-up turntable is rotatably mounted on the fourth support frame. The wire take-up drive device drives the turntable to rotate and take up the wire. The wire supply turntable and the wire twisting turntable are respectively fixedly mounted on both ends of the twisting spindle. The twisting drive device drives the twisting spindle to rotate. A plurality of wire material disks and elastic wire material disks are evenly spaced and rotatably mounted on the wire supply turntable along the circumferential direction of the twisting spindle. The wire material disk and the elastic wire material disk are also provided with a damping device that provides resistance to their rotation. The wire twisting turntable is provided with a plurality of evenly spaced and arranged along the circumferential direction of the twisting spindle. The invention relates to a wire hole (14), wherein the wire hole is arranged in one-to-one correspondence with the wire material disk and the elastic wire material disk, and a wire guide wheel (15) is rotatably arranged in the wire hole, and the twisted wire lead mechanism comprises a twisted wire lead bracket (16), an upper wire lead wheel (17), a lower wire lead wheel (18), a lead slider (19) and an elastic member (20), wherein the twisted wire lead bracket is fixedly mounted on the third support frame, the lower wire lead wheel is rotatably mounted on the twisted wire lead bracket, the lead slider is slidably mounted on the twisted wire lead bracket, and the upper wire lead wheel is rotatably mounted on the lead slider. The upper and lower lead wheels are provided with facing lead grooves (21) on the outer circumferential surfaces of the upper and lower lead wheels, and the elastic member provides a downward elastic force to the lead slider. The wires and elastic wires led out from the wire material disk and the elastic wire material disk can respectively pass through the wire holes on the twisting turntable one by one and are gathered and twisted in the center direction of the twisting main shaft after passing through the wire guide wheel. The twisted wires are wound on the take-up turntable through the lead grooves of the upper and lower lead wheels of the twisting lead mechanism. The control system controls the twisting drive device and the take-up drive device to rotate synchronously according to the designed speed ratio.

2. The automatic wire twisting machine for industrial robot cables according to claim 1, characterized in that: The twisted lead support of the twisted lead mechanism is also provided with a cylinder (22), the lead slider is capable of moving up and down a set distance and is installed at the end of a piston rod of the cylinder, the cylinder can drive the lead slider to move up and down, and the elastic member is arranged between the end of the piston rod of the cylinder and the lead slider to provide downward elastic force for the lead to slide.

3. The automatic wire twisting machine for industrial robot cables according to claim 1, characterized in that: The wire feed turntable is provided with a plurality of wire feed slideways extending radially thereof at equal angles, each wire feed slideway being provided with a wire feed slider slidably installed therein, and the wire feed turntable is also provided with a plurality of wire tension adjustment drive devices (23), the wire tension adjustment drive devices being able to drive each wire feed slider to slide along the wire feed slideway, each wire material disc and elastic wire material disc being respectively and correspondingly installed on the wire feed slider, and a plurality of wire tension detection sensors being also provided, each wire tension detection sensor being able to detect the tension of the wires drawn out from each wire material disc and elastic wire material disc, each wire tension detection sensor communicating with the control system to transmit the tension data of each wire in real time, and the control system controlling each wire tension adjustment drive device to start, stop, and run forward and reversely.

4. The automatic wire twisting machine for industrial robot cables according to claim 3, characterized in that: The wire tension adjustment drive device comprises a motor and a screw-nut mechanism, wherein the motor drives the screw of the screw-nut mechanism to rotate, and the nut of the screw-nut mechanism is fixedly connected to the wire supply slider.

5. The automatic wire twisting machine for industrial robot cables according to claim 4, characterized in that: The wire-receiving turntable comprises a winding roller and a wire baffle plate, wherein the two wire baffle plates are respectively detachably fixedly sleeved on the outer sides of the two axial ends of the winding roller, and a space for accommodating the wire is formed between the two wire baffle plates, and the wire can be wound around the outer side of the circumference of the winding roller. The equipment base is also provided with a fifth support frame (24) between the third support frame and the fourth support frame, and the fifth support frame is provided with a wire arrangement slider (25) that can slide back and forth along a slide rail parallel to the axis of the winding roller, and the wire arrangement slider is provided with a wire through hole (26). The wire drawn out of the twisted wire lead mechanism passes through the wire through hole and is finally wound around the winding roller. The fifth support frame is also provided with a wire arrangement drive device (27), and the wire arrangement drive device drives the wire arrangement slider to slide back and forth so that the wire is arranged in a reciprocating manner with uniform intervals along the axial direction of the winding roller.

6. The automatic wire twisting machine for industrial robot cables according to claim 1, characterized in that: A meter counter and a twisted wire cutting device (36) are also provided. The meter counter can measure the length of the twisted wire. A sixth support frame (37) is provided between the third support frame and the fifth support frame. The twisted wire cutting device is fixedly mounted on the sixth support frame. The twisted wire cutting device can cut the twisted wire that is about to be wound on the winding roller.

7. The automatic wire twisting machine for industrial robot cables according to claim 1, characterized in that: A single-wire cutting assembly is also provided, comprising a wire cutting disc (28), a wire cutting knife (29) and a wire cutting drive device. The wire cutting disc is fixedly sleeved on the stranding spindle between the wire supply turntable and the stranding turntable. The wire cutting disc is provided with a plurality of wire cutting holes (30) corresponding to the wire passing holes on the stranding turntable. A wire cutting knife groove (38) is formed on one side wall of the wire cutting hole. A wire cutting knife receiving groove is provided on the other side wall of the wire cutting hole. The wire cutting knife can be received in the wire cutting knife receiving groove. The wire cutting knife can extend along the wire cutting knife receiving groove toward the wire cutting knife groove to cut the wire material passing through the wire cutting hole. The wire cutting drive device drives the wire cutting knives to move synchronously. The control system can control the start and stop of the wire cutting drive device.

8. The automatic wire twisting machine for industrial robot cables according to claim 7, characterized in that: A fixed wire clamp (31) and a movable wire clamp (32) are also provided in the wire passing hole. The movable wire clamp can slide radially along the radial direction of the wire twisting turntable. The movable wire clamp and the fixed wire clamp can clamp the wire in the wire passing hole or loosen the wire in the wire passing hole. A wire clamping drive device is also provided on the wire twisting turntable. The wire clamping drive device drives the movable wire clamp to move, and a control system controls the start and stop of the wire clamping drive device.

9. The automatic wire twisting machine for industrial robot cables according to claim 8, characterized in that: The tangent drive device and the wire clamping drive device both include a cylinder (35) fixedly installed in the twisting spindle, a cone (39) fixedly installed on the piston rod of the cylinder, a plurality of avoidance holes directly opposite to the tangent hole and the wire passing hole are provided on the side wall of the twisting spindle, the tangent disk and the twisting turntable are respectively provided with a plurality of radial slideways directly opposite to the tangent hole and the wire passing hole, a driving rod (33) is slidably provided in the radial slideway, one end of the driving rod is fixedly connected to the tangent knife and the movable wire clamp, and the other end of the driving rod is tightly attached to the outer surface of the cone, the tangent drive device and the wire clamping drive device also include a spring (34), the spring provides the driving rod with elastic force to keep it in close contact with the cone, the telescopic movement of the piston rod of the cylinder can drive each driving rod to slide synchronously along the radial slideway, so that each tangent knife and the movable wire clamp synchronously clamp the wire and synchronously cut the wire.

10. The automatic wire twisting machine for industrial robot cables according to claim 1, characterized in that: Two groups of wire guide wheels are arranged in the wire hole at intervals along the extension direction of the wire. Each group of wire guide wheels consists of two wire guide wheels arranged at intervals along the radial direction of the twisting turntable. The outer side wall of each wire guide wheel is correspondingly provided with an arc-shaped concave ring for the wire to pass through.

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