Cable coil automatic stacking equipment and cable coil production line

Abstract

The invention discloses cable coil automatic stacking equipment and a cable coil production line. The cable coil automatic stacking equipment comprises a mechanical arm, an outer side clamping assembly and an inner side clamping assembly. A clamping motor is mounted at the tail end part of the mechanical arm; the outer side clamping assembly comprises two outer side clamping jaws which are symmetrically arranged with the rotating axis of the clamping motor as the reference. The inner side clamping assembly comprises two inner side clamping jaws which are symmetrically arranged with the rotation axis as the reference. After the outer side clamping jaw is driven to move in the direction close to the rotation axis and abut against the outer wall of the cable coil, the inner side clamping jaw is driven to move in the direction away from the rotation axis and abut against the inner wall of the cable coil. The outer side clamping assembly drives an outer side clamping jaw through a clamping motor, the outer side clamping jaw makes contact with the outer wall of the cable coil firstly, preliminary supporting and positioning are provided, an inner side clamping jaw of the inner side clamping assembly is further unfolded and makes contact with the inner wall of the cable coil, additional clamping force is provided, the problem that local stress is too large is avoided, and the clamping efficiency is improved. Therefore, the clamping efficiency and the stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable coil handling structures, and particularly to an automatic palletizing device for cable coils and a cable coil production line. Background Art

[0002] The handling of cable coils is a key link in industrial production and logistics, involving the transfer, stacking, and storage of cable coils, which directly affects production efficiency and logistics accuracy. Currently, conventional handling methods mostly use outer clamping mechanisms, that is, the cable coils are clamped by mechanical jaws from the outer edge of the cable coils for handling; however, the single outer clamping method is easily affected by the center of gravity shift or external force interference during the clamping process, resulting in the coil slipping or falling off.

[0003] In order to overcome the limitations of outer clamping in terms of stability, those skilled in the art have proposed an inner support clamping technical solution, that is, the jaws extend into the inner ring part of the cable coil and expand outward to fix the cable coil from the inside. It can provide better center of gravity control when clamping larger-sized cable coils, but when clamping from the inside, the contact area is smaller than that on the outside. Under the same clamping force, the corresponding local stress is larger, resulting in the cable coil being easily deformed. To this end, it is usually necessary to additionally set pressure sensors and monitor the pressure in real time to prevent the cable coil from deforming, thereby ensuring stability. It requires cooperation with precise pressure sensors and system control, correspondingly resulting in a reduction in clamping efficiency.

[0004] Therefore, it is necessary to develop a new cable coil handling structure to solve the technical problem that it is difficult to improve the clamping stability of the existing cable coil handling structure while maintaining the clamping efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic palletizing device for cable coils and a cable coil production line, so as to solve the technical problem that it is difficult to improve the clamping stability of the existing cable coil handling structure while maintaining the clamping efficiency.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: An automatic palletizing device for cable coils, comprising: A robotic arm, with a clamping motor installed at the end of the robotic arm; An outer clamping assembly, the outer clamping assembly includes two outer jaws symmetrically arranged with respect to the rotation axis of the clamping motor, and the outer jaws can be driven by the clamping motor to move in a direction close to or away from the rotation axis; An inner clamping assembly, the inner clamping assembly includes two inner jaws symmetrically arranged with respect to the rotation axis, and the inner jaws can be driven by the clamping motor to move in a direction away from or close to the rotation axis; Wherein, the outer clamping jaws are driven to move in a direction close to the rotation axis, and after abutting against the outer wall of the cable coil, the inner clamping jaws are driven to move in a direction away from the rotation axis and abut against the inner wall of the cable coil.

[0007] Optionally, a clamping base surrounding the clamping motor is further installed at the end of the robotic arm, and a rotating shaft member is installed on the rotating end of the clamping motor; The outer clamping assembly includes an outer driving gear rotatably connected to the clamping base. Two racks are respectively meshed on both sides of the outer driving gear, and the racks are respectively fixedly connected to the corresponding outer clamping jaws. The two racks move towards or away from each other.

[0008] Optionally, the clamping base is further fixedly connected with a plurality of connecting columns parallel to the rotation axis. The ends of the connecting columns are installed with clamping end plates; between the clamping end plates and the clamping base, an inner intermediate plate is fixedly connected to the connecting columns, and the rotating shaft member passes through the inner intermediate plate; The inner clamping assembly includes a first bevel gear rotatably connected to the inner intermediate plate. The rotating shaft member passes through the shaft hole of the first bevel gear and is fixedly connected to the first bevel gear; The inner clamping assembly further includes a fixed seat installed on the inner intermediate plate and located between the first bevel gear and the inner clamping jaws. A lead screw is passed through the fixed seat; one end of the lead screw is meshed with the first bevel gear through a second bevel gear; the lead screw is threadedly connected with a ball slider. The ball slider is slidably connected to the fixed seat and is fixedly connected to the inner clamping jaws; The number of the fixed seats matches the number of the inner clamping jaws and is arranged in one-to-one correspondence.

[0009] Optionally, a limiting seat is installed at a position corresponding to the rack on the clamping base. The limiting seat is provided with a limiting groove, and the rack is slidably connected in the limiting groove; A roller is installed on a groove wall of the limiting groove close to the driving motor, and a ball unit is installed on a groove wall of the limiting groove away from the driving motor. A first annular groove is opened at a position corresponding to the roller on the outer driving gear, and a second annular groove is opened at a position corresponding to the ball unit; Wherein, the roller is in surface contact with the first annular groove, and the ball unit is in point contact with the second annular groove.

[0010] Optionally, the first transmission ratio between the rotary shaft member and the outer clamping jaws is smaller than the second transmission ratio between the rotary shaft member and the inner clamping jaws; a damping bearing is installed between the rotary shaft member and the first bevel gear. The inner ring of the damping bearing is sleeved outside the rotary shaft member and fixedly connected to the rotary shaft member. The outer ring of the damping bearing is sleeved in the shaft hole of the first bevel gear and fixedly connected to the first bevel gear.

[0011] Optionally, the outer clamping jaws are provided with strip-shaped grooves, and the inner clamping jaws pass through the regions formed between the strip-shaped grooves and the rotary shaft member.

[0012] Optionally, the inner clamping assembly further includes a support ring sleeved outside the rotary shaft member, and a bearing groove is provided on the outer ring surface of the support ring; One end of the lead screw is further installed with a rolling bearing, and the side surface of the bearing of the rolling bearing abuts against the groove wall of the bearing groove.

[0013] Optionally, the ball slider is fixedly connected with a connecting rod, a sliding groove is arranged at the position of the fixed seat corresponding to the connecting rod, and the connecting rod is slidably connected with the sliding groove; An elastic groove is provided at the position of the inner clamping jaw corresponding to the connecting rod, a spring is installed in the elastic groove, the end of the connecting rod is inserted into the elastic groove, one end of the spring is fixedly connected with the bottom wall of the elastic groove, and the other end of the spring is fixedly connected with the end of the connecting rod.

[0014] Optionally, the number of the inner intermediate plates is multiple and they are arranged in sequence along the rotation axis.

[0015] A cable coil production line includes the cable coil automatic palletizing equipment as described above.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The automatic palletizing equipment for cable coils and the cable coil production line provided by the present invention have an outer clamping assembly that drives the outer jaws through a clamping motor. First, it contacts the outer wall of the cable coil, providing a preliminary support and positioning. At this time, the outer jaws provide a large contact area, which can effectively reduce the shaking of the cable coil and avoid the instability caused by external interference, thus completing the preliminary positioning of the cable coil. When the outer clamping stabilizes the cable coil, the inner jaws of the inner clamping assembly further expand and contact the inner wall of the cable coil, providing additional clamping force, avoiding the tilting or sliding phenomenon caused by insufficient outer clamping force. And due to the combined action of the inner and outer clamping, the clamping force is more evenly distributed, avoiding the problem of excessive local stress, being able to maintain the shape of the cable coil under clamping, reducing the requirement for control accuracy, thereby ensuring the clamping efficiency and improving the clamping stability by using double-sided clamping. Therefore, this application has the advantages of high clamping efficiency and high clamping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] The structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the cable coil production line provided by the embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the automatic palletizing equipment for cable coils provided by the embodiment of the present invention; Figure 3 It is Figure 1 a schematic cross-sectional structure diagram at A; Figure 4 It is Figure 1 a schematic cross-sectional structure diagram at B; Figure 5 It is a schematic diagram of the first principle structure of the automatic palletizing equipment for cable coils provided by the embodiment of the present invention; Figure 6This is the second schematic diagram of the principle structure of the automatic palletizing equipment for cable coils provided by the embodiments of the present invention; Figure 7 This is the third schematic diagram of the principle structure of the automatic palletizing equipment for cable coils provided by the embodiments of the present invention; Illustration: 100, robotic arm; 101, clamping base; 102, rotating shaft member; 103, clamping end plate; 104, inner middle plate; 105, limiting seat; 1051, limiting groove; 200, outer clamping assembly; 201, outer clamping jaw; 2011, strip-shaped groove; 202, outer driving gear; 2021, first annular groove; 2022, second annular groove; 203, rack; 204, roller; 205, ball unit; 300, inner clamping assembly; 301, inner clamping jaw; 302, first bevel gear; 303, fixed seat; 304, lead screw; 305, second bevel gear; 306, ball screw slider; 307, support ring; 3071, bearing groove; 308, rolling bearing; 309, connecting rod; 400, conveying equipment; 500, detection equipment. Detailed implementation manners

[0020] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the 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 thus should not be construed as a limitation of the present invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component present at the same time.

[0022] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0023] Embodiment 1: The automatic palletizing equipment for cable coils provided by the embodiments of the present invention is mainly applied to the scenario of palletizing cable coils. The cable coils are formed by winding cables, with an overall spiral ring structure. In this embodiment, by improving the structure of the automatic palletizing equipment for cable coils, the clamping stability of the cable coils can be ensured, while reducing the requirement for control precision, ensuring the quality of the cable coils, and maintaining the palletizing efficiency.

[0024] As Figures 2 to 7 shown, the automatic palletizing equipment for cable coils in this embodiment includes a robotic arm 100, an outer clamping assembly 200, and an inner clamping assembly 300. Among them, a clamping motor (not shown in the figure) is installed at the end of the robotic arm 100. The robotic arm 100 is well-known to those skilled in the art and will not be specifically elaborated in this embodiment. A six-axis robotic arm, a seven-axis robotic arm, etc. can be selected, and the type of the clamping motor is also not limited. A brushed motor, a brushless motor, etc. can be selected.

[0025] As Figure 2 and Figure 6 shown, the outer clamping assembly 200 includes two outer jaws 201 symmetrically arranged with respect to the rotation axis of the clamping motor. The outer jaws 201 can be driven by the clamping motor to move in a direction close to or away from the rotation axis; the inner clamping assembly 300 includes two inner jaws 301 symmetrically arranged with respect to the rotation axis. The inner jaws 301 can be driven by the clamping motor to move in a direction away from or close to the rotation axis; among them, when the outer jaws 201 are driven to move in a direction close to the rotation axis and abut against the outer wall of the cable coil, the inner jaws 301 are driven to move in a direction away from the rotation axis and abut against the inner wall of the cable coil. The rotation axis refers to the rotary axis of the rotor of the clamping motor. Based on this rotation axis, the outer jaws 201 and the inner jaws 301 are symmetrically arranged in this solution, which can improve the overall center of gravity stability.

[0026] It should be noted that in the conventional outer clamping scheme, since the outer clamping only depends on the contact with the outer wall of the cable coil, and the outer wall of the cable coil has a larger arc surface, it is difficult to stabilize the center of gravity and easily affects the clamping stability; while in the conventional inner clamping scheme, although the inner wall has a smaller arc surface and can better stabilize the center of gravity, under the same clamping force, the local stress is larger. Therefore, more precise sensors need to be invested, and the jaws that are slowly pushed out are coordinated to achieve precise control of the pressure to prevent excessive pressure, which reduces the clamping efficiency. In contrast, in this solution, through the cooperation of the outer clamping assembly 200 and the inner clamping assembly 300, two-way clamping is used to maintain the center of gravity stability of the cable coil, which can reduce the requirement for the clamping force. In addition, with a larger contact area, the local stress is reduced, so the control of the pressure is more relaxed. This not only ensures the deformation of the cable coil during the clamping process but also reduces the control requirements for the clamping assembly, thereby improving the clamping efficiency.

[0027] Specifically, in the cable coil automatic palletizing device according to the embodiments of the present invention, the outer clamping assembly 200 on the outside drives the outer clamping jaws 201 through a clamping motor, first contacts the outer wall of the cable coil, and provides a preliminary support and positioning. At this time, the outer clamping jaws 201 provide a large contact area, which can effectively reduce the shaking of the cable coil, avoid the instability caused by external force interference, and complete the preliminary positioning of the cable coil. When the outer clamping assembly stabilizes the cable coil, the inner clamping jaws 301 of the inner clamping assembly 300 are further unfolded and contact the inner wall of the cable coil, providing additional clamping force, avoiding the tilting or sliding phenomenon caused by insufficient outer force clamping, and due to the combined action of the inner and outer clamping, the clamping force is more evenly distributed, avoiding the problem of excessive local stress, being able to maintain the shape of the cable coil under clamping, reducing the requirement for control accuracy, thereby ensuring the clamping efficiency, and improving the clamping stability by using double-sided clamping. Therefore, this cable coil automatic palletizing device has the advantages of high clamping efficiency and high clamping stability.

[0028] Furthermore, a clamping base 101 surrounding the clamping motor is also installed at the end of the robotic arm 100, and a rotating shaft member 102 is installed on the rotating end of the clamping motor; the outer clamping assembly 200 includes an outer driving gear 202 rotatably connected to the clamping base 101, and two racks 203 are respectively engaged on both sides of the outer driving gear 202, and the racks 203 are respectively fixedly connected to the corresponding outer clamping jaws 201, and the two racks 203 move towards each other or away from each other.

[0029] Furthermore, the clamping base 101 is also fixedly connected with a plurality of connecting columns parallel to the rotation axis, and a clamping end plate 103 is installed at the end of the connecting column; between the clamping end plate 103 and the clamping base 101, an inner intermediate plate 104 is fixedly connected to the connecting column, and the rotating shaft member 102 passes through the inner intermediate plate 104; the inner clamping assembly 300 includes a first bevel gear 302 rotatably connected to the inner intermediate plate 104, and the rotating shaft member 102 passes through the shaft hole of the first bevel gear 302 and is fixedly connected to the first bevel gear 302; the inner clamping assembly 300 also includes a fixed seat 303 installed on the inner intermediate plate 104 and located between the first bevel gear 302 and the inner clamping jaws 301, and a lead screw 304 passes through the fixed seat 303; one end of the lead screw 304 is meshed with the first bevel gear 302 through a second bevel gear 305; the lead screw 304 is threadedly connected with a ball slider 306, the ball slider 306 is slidably connected to the fixed seat 303 and is fixedly connected to the inner clamping jaws 301; the number of the fixed seats 303 matches the number of the inner clamping jaws 301 and is arranged in one-to-one correspondence.

[0030] First, the outer drive gear 202 rotates with the rotating shaft member 102. The outer drive gear 202 synchronously drives the movement of the outer clamping jaws 201 through the rack 203, enabling the two outer clamping jaws 201 to apply clamping force in a symmetric manner. This first ensures the uniform distribution of the outer clamping force. At the same time, through the preliminary contact of the outer clamping jaws 201, stable support and positioning are provided for the cable coil. During the preliminary positioning process, the outer clamping assembly 200 provides a large contact area, effectively dispersing the coil gravity and clamping stress, avoiding coil tilt or wobbling, and improving the clamping efficiency of the device. Next, the first bevel gear 302 rotates with the rotating shaft member 102, driving the second bevel gear 305 to rotate, thereby driving the lead screw 304 to rotate, and further driving the ball slider 306 to push out the inner clamping jaw 301. It can be understood that by restricting the transmission ratio and the position of the clamping jaws, the outer clamping jaws 201 can reach the outer wall of the cable coil before the inner clamping jaw 301 reaches the inner wall of the cable coil. With the above settings, the investment in motors can be reduced, the control cost and control requirements can be lowered, and most of the core transmission structures coincide along the rotation axis, making the overall structure compact.

[0031] Based on the above embodiment, a limit seat 105 is installed at the position corresponding to the rack 203 on the clamping base 101. The limit seat 105 is provided with a limit groove 1051. The rack 203 can be slidably connected to the limit groove 1051 through a slide rail structure (not shown in the figure). A roller 204 is installed on one groove wall of the limit groove 1051 close to the drive motor, and a ball unit 205 is installed on one groove wall of the limit groove 1051 far from the drive motor. The outer drive gear 202 is provided with a first annular groove 2021 at the position corresponding to the roller 204 and a second annular groove 2022 at the position corresponding to the ball unit 205. Among them, the roller 204 is in surface contact with the first annular groove 2021, and the ball unit 205 is in point contact with the second annular groove 2022.

[0032] It should be noted that when clamping the cable coil, under the action of the robotic arm 100, along the gravity direction, the roller 204, the outer drive gear 202, and the ball unit 205 should be arranged in sequence along the gravity direction. The point contact between the ball unit 205 and the second annular groove 2022 provides low-friction support during the movement of the outer drive gear 202 and the rack 203, and effectively disperses the load pressure received by the outer drive gear 202 and the rack 203 during the sliding process. In cooperation with the surface contact between the roller 204 and the first annular groove 2021, the movement trajectory of the rack 203 is further restricted, ensuring that it can maintain a stable linear movement during the sliding process and preventing the outer drive gear 202 and the rack 203 from experiencing lateral offset or jitter due to external forces, thereby improving the clamping efficiency.

[0033] Based on the above embodiments, the first transmission ratio between the rotating shaft member 102 and the outer clamping jaw 201 is smaller than the second transmission ratio between the rotating shaft member 102 and the inner clamping jaw 301; a damping bearing is installed between the rotating shaft member 102 and the first bevel gear 302. The inner ring of the damping bearing is sleeved outside the rotating shaft member 102 and fixedly connected to the rotating shaft member 102. The outer ring of the damping bearing is sleeved in the shaft hole of the first bevel gear 302 and fixedly connected to the first bevel gear 302.

[0034] It can be understood that the larger transmission ratio of the outer clamping jaw 201 means that the outer clamping jaw 201 moves faster and has a smaller clamping force, while the inner clamping jaw 301 moves slower and has a larger clamping force; and the outer clamping jaw 201 is used for preliminary positioning, which requires rapid positioning and low-load preliminary positioning. The above settings further improve the clamping efficiency. At the same time, during the process of the outer clamping jaw 201 moving inward and contacting the cable coil, the setting of the damping bearing enables the rotating shaft member 102 to idle relative to the first bevel gear 302 after the reaction force provided by the cable coil exceeds the damping force of the damping bearing, that is, the rotating shaft member 102 rotates while the first bevel gear 302 does not rotate, thereby preventing the outer clamping force from being too large. As another optional embodiment, a part of the rack 203 can be made into empty teeth to limit the minimum distance between the two outer clamping jaws 201 to prevent the outer clamping force from being too large.

[0035] Based on the above embodiments, the outer clamping jaw 201 is provided with a strip-shaped groove 2011, and the inner clamping jaw 301 passes through the area formed between the strip-shaped groove 2011 and the rotating shaft member 102. Among them, the setting of the strip-shaped groove 2011 avoids the area where the lead screw 304 is located from the outer clamping jaw 201, reduces direct impact, and further reduces the pressure concentration and local deformation caused by the overlap of the clamping jaws.

[0036] Furthermore, the inner clamping assembly 300 further includes a support ring 307 sleeved outside the rotating shaft member 102, and a bearing groove 3071 is provided on the outer ring surface of the support ring 307; one end of the lead screw 304 is further installed with a rolling bearing 308, and the bearing side surface of the rolling bearing 308 abuts against the groove wall of the bearing groove 3071. It can be understood that the introduction of the support ring 307 provides an additional support point for the lead screw 304, thereby reducing the possible offset or jitter phenomenon of the lead screw 304 during transmission; at the same time, the groove wall of the bearing groove 3071 is in close contact with the bearing side surface of the rolling bearing 308, which significantly reduces the friction force through rolling contact while providing support, making the rotation of the lead screw 304 smoother.

[0037] Further, a connecting rod 309 is fixedly connected to the ball slider 306. A sliding groove (not shown in the figure) is provided at the position of the fixed seat 303 corresponding to the connecting rod 309, and the connecting rod 309 is slidably connected to the sliding groove; an elastic groove is formed at the position of the inner clamping jaw 301 corresponding to the connecting rod 309, and a spring (not shown in the figure) is installed in the elastic groove. The end of the connecting rod 309 is inserted into the elastic groove. One end of the spring is fixedly connected to the bottom wall of the elastic groove, and the other end of the spring is fixedly connected to the end of the connecting rod 309. Among them, the spring in the elastic groove can absorb part of the impact force generated by the contact between the inner clamping jaw 301 and the inner wall of the cable coil through the cooperation with the end of the connecting rod 309 during the clamping process, effectively alleviating the damage that may be caused to the coil structure by the sudden change of the clamping force. While ensuring the stable clamping of the cable coil, it avoids the deformation of the coil caused by excessive clamping force.

[0038] On the basis of the above embodiment, the number of the inner intermediate plates 104 is multiple, and they are arranged in sequence along the rotation axis.

[0039] Embodiment 2: As Figure 1 shown, the cable coil production line provided in this embodiment includes the cable coil automatic palletizing equipment in Embodiment 1. The cable coil production line further includes a conveying device 400 and a detection device 500. The conveying device 400 inputs the cable coil to the detection device 500. After the detection device 500 detects the cable coil, the cable coil automatic palletizing equipment can palletize the cable coil. Among them, the conveying device 400 and the detection device 500 are both well-known devices to those skilled in the art, and no specific introduction is made in this embodiment.

[0040] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A cable coil automatic stacking device, characterized in that: include: A mechanical arm (100), wherein a clamping motor is installed at the end portion of the mechanical arm (100); An outer clamping assembly (200), the outer clamping assembly (200) comprising two outer clamping jaws (201) symmetrically arranged with the rotation axis of the clamping motor as a reference, the outer clamping jaws (201) being capable of being driven by the clamping motor to move in a direction approaching or moving away from the rotation axis; An inner clamping assembly (300), the inner clamping assembly (300) comprising two inner clamping jaws (301) symmetrically arranged with the rotation axis as a reference, the inner clamping jaws (301) being capable of being driven by the clamping motor to move in a direction away from or close to the rotation axis; Wherein, after the outer clamping jaw (201) is driven to move in a direction close to the rotation axis and abuts against the outer wall of the cable coil, the inner clamping jaw (301) is driven to move in a direction away from the rotation axis and abuts against the inner wall of the cable coil.

2. The cable coil automatic stacking equipment according to claim 1, characterized in that: The end portion of the mechanical arm (100) is also provided with a clamping base (101) arranged around the outside of the clamping motor, and a rotating shaft (102) is installed on the rotating end of the clamping motor; The outer clamping assembly (200) comprises an outer driving gear (202) rotatably connected to the clamping base (101), racks (203) are respectively meshed on both sides of the outer driving gear (202), and the racks (203) are respectively fixedly connected to the corresponding outer clamping jaws (201), and the two racks (203) move towards each other or away from each other.

3. The cable coil automatic stacking equipment according to claim 2, characterized in that: The clamping base (101) is also fixedly connected to a plurality of connection columns parallel to the rotation axis, and a clamping end plate (103) is installed at the end of the connection column; an inner middle plate (104) is fixedly connected to the connection column between the clamping end plate (103) and the clamping base (101), and the rotating shaft (102) passes through the inner middle plate (104); The inner clamping assembly (300) comprises a first bevel gear (302) rotatably connected to the inner intermediate plate (104); the rotating shaft (102) passes through an axial hole of the first bevel gear (302) and is fixedly connected to the first bevel gear (302); The inner clamping assembly (300) further comprises a fixing seat (303) mounted on the inner intermediate plate (104) and located between the first bevel gear (302) and the inner clamping jaw (301); a screw rod (304) is passed through the fixing seat (303); one end of the screw rod (304) is meshed with the first bevel gear (302) via a second bevel gear (305); a ball slider (306) is threadedly connected to the screw rod (304); the ball slider (306) is slidably connected to the fixing seat (303) and fixedly connected to the inner clamping jaw (301); The number of the fixing seats (303) matches the number of the inner clamping jaws (301) and are arranged in a one-to-one correspondence.

4. The cable coil automatic stacking equipment according to claim 3, characterized in that: A limit seat (105) is installed on the clamping base (101) at a position corresponding to the rack (203); the limit seat (105) is provided with a limit slot (1051), and the rack (203) is slidably connected to the limit slot (1051); A roller (204) is installed on a groove wall of the limiting groove (1051) close to the driving motor, a ball unit (205) is installed on a groove wall of the limiting groove (1051) away from the driving motor, and a first annular groove (2021) is provided on the external driving gear (202) at a position corresponding to the roller (204), and a second annular groove (2022) is provided at a position corresponding to the ball unit (205); The roller (204) is in surface contact with the first annular groove (2021), and the ball unit (205) is in point contact with the second annular groove (2022).

5. The cable coil automatic stacking equipment according to claim 3, characterized in that: A first transmission ratio between the rotating shaft (102) and the outer clamp (201) is smaller than a second transmission ratio between the rotating shaft (102) and the inner clamp (301); a damping bearing is installed between the rotating shaft (102) and the first bevel gear (302); an inner ring of the damping bearing is sleeved outside the rotating shaft (102) and fixedly connected to the rotating shaft (102); and an outer ring of the damping bearing is sleeved in an axial hole of the first bevel gear (302) and fixedly connected to the first bevel gear (302).

6. The cable coil automatic stacking equipment according to claim 3, characterized in that: The outer clamping jaw (201) is provided with a strip groove (2011), and the inner clamping jaw (301) passes through an area formed between the strip groove (2011) and the rotating shaft (102).

7. The cable coil automatic stacking equipment according to claim 3, characterized in that: The inner clamping assembly (300) further comprises a supporting ring (307) sleeved on the outside of the rotating shaft (102), and a bearing groove (3071) is provided on the outer ring surface of the supporting ring (307); A rolling bearing (308) is also mounted on one end of the screw rod (304), and a bearing side surface of the rolling bearing (308) abuts against a groove wall of the bearing groove (3071).

8. The cable coil automatic stacking equipment according to claim 3, characterized in that: The ball slider (306) is fixedly connected to a connecting rod (309), the fixed seat (303) is provided with a sliding groove at a position corresponding to the connecting rod (309), and the connecting rod (309) is slidably connected to the sliding groove; The inner clamping jaw (301) is provided with an elastic groove at a position corresponding to the connecting rod (309), a spring is installed in the elastic groove, an end of the connecting rod (309) is inserted into the elastic groove, one end of the spring is fixedly connected to the bottom wall of the elastic groove, and the other end of the spring is fixedly connected to the end of the connecting rod (309).

9. The cable coil automatic stacking equipment according to claim 3, characterized in that: The number of the inner intermediate plates (104) is plural and they are arranged in sequence along the rotation axis.

10. A cable coil production line, characterized in that: The invention comprises the automatic stacking device for cable coils as claimed in any one of claims 1 to 9.

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