Cable bending equipment

Abstract

The invention belongs to the technical field of cable processing machinery, and particularly relates to cable bending equipment which comprises a rack, a cable conveying device, a cable pulling device and a cable bending and fixing device. The cable conveying device is arranged on the rack, the cable conveying device comprises an output end, and the output end is provided with a cutting mechanism; the wire drawing device comprises a first translation mechanism, a rotating mechanism and a first wire clamp; the first translation mechanism comprises a moving end, the rotating mechanism is arranged at the moving end, the rotating mechanism comprises a downward rotating end, the rotating end is provided with a rotating arm, and the first wire clamp is arranged at one end of the rotating arm; the cable bending and fixing device comprises a second translation mechanism, a moving seat, second cable clamps and limiting clamps, the second translation mechanism is arranged on the rack, the moving seat is connected with the second translation mechanism, the two second cable clamps and the two limiting clamps are distributed on the moving seat in a rectangular shape, and the second cable clamps are closer to the cable conveying device.

Description

Technical Field

[0001] The invention belongs to the technical field of cable processing, and in particular relates to a cable bending device. Background Art

[0002] Cables are widely used in electrical equipment, electronic communications, new energy vehicles, and other fields. In actual applications, cables are equipped with connectors or terminals at both ends to facilitate the connection of the cable to other units.

[0003] The cable processing steps include cutting the cable to length, removing the outer insulation, shielding, and core insulation at both ends to expose the core conductor, and finally riveting terminals or connectors on both ends of the cable.

[0004] For example, the Chinese invention patent application document with publication number CN117424047A discloses a device for automatically assembling positive and negative connectors at both ends of a cable, including a workbench, the workbench is provided with a first translational wire clamping mechanism, a first fixed wire clamping mechanism corresponding to the first translational wire clamping mechanism, a second translational wire clamping mechanism whose front end is connected and matched with the rear end of the first translational wire clamping mechanism, a second fixed wire clamping mechanism corresponding to the second translational wire clamping mechanism, and a cable guide plate, a wire feeding mechanism, a wire cutting mechanism, a head end alignment and stripping mechanism, a head end secondary alignment mechanism, a head end terminal crimping machine, a head end terminal dispensing machine, and a head end terminal welding machine arranged in sequence along the cable processing direction. Machine, head end welding detection mechanism, head end connector insertion mechanism, head end nut tightening mechanism, head end connector gap detection mechanism, short line U-turn mechanism, short line claw changing mechanism, tail end alignment mechanism, tail end alignment stripping mechanism, tail end secondary alignment mechanism, tail end terminal crimping machine, tail end terminal dispensing machine, tail end terminal welding machine, tail end welding detection mechanism, tail end connector insertion mechanism, tail end nut tightening mechanism and tail end connector gap detection mechanism, the tangent mechanism is connected with the long line swing U mechanism, the first translation wire clamping mechanism and the second translation wire clamping mechanism are both used for translational transmission of cables, the first fixed wire clamping mechanism and the second fixed wire clamping mechanism are both used for transferring and fixing cables during cable processing.The cables are guided by the cable guide disk in turn, the wire feeding mechanism transports the cables, the wire cutting mechanism cuts them into short cables, the head end alignment and stripping mechanism aligns the head end of the short cable and strips it, the head end secondary alignment mechanism aligns the head end of the short cable, the head end terminal crimping machine crimps the terminal to the head end of the short cable, the head end terminal dispensing machine dispenses glue and fixes it at the terminal crimping point, the head end terminal welding machine welds and fixes it at the terminal crimping point, the head end welding detection mechanism detects whether the welding meets the standards, the head end insertion connector mechanism plugs the connector and the head end terminal into one, the head end nut tightening mechanism tightens the nut of the connector, the head end connector gap detection mechanism detects whether the gap between the connector and the nut meets the standards, and then the short line U-turn mechanism turns the head end of the cable to the tail end for tail end processing, and the short line claw changing mechanism cooperates with the second translation clamping mechanism to enable the short cable to correspond to the subsequent tail end processing station, and then the tail end of the short cable passes through the tail end alignment mechanism Align the tail end of the short cable, and then use the tail end alignment and stripping mechanism, the tail end secondary alignment mechanism, the tail end terminal crimping machine, the tail end terminal dispensing machine, the tail end terminal welding machine, the tail end welding detection mechanism, the tail end connector insertion mechanism, the tail end nut tightening mechanism and the tail end connector gap detection mechanism to repeat the above operations on the head end of the short cable to complete the automatic assembly of the positive and negative connectors at both ends of the short cable; if processing long cables, there is no need to use the short line U-turn mechanism and the short line claw changing mechanism, but a long line swing U mechanism is required to bend the long cable into a U shape before cutting the cable, and then use the first translation wire clamping mechanism and the first fixed wire clamping mechanism to cooperate with each other, the second translation wire clamping mechanism and the second fixed wire clamping mechanism to cooperate with each other, and the second translation wire clamping mechanism and the first translation wire clamping mechanism to connect and cooperate, so as to flexibly transport the cable to the corresponding workstation for processing, to avoid the cable being too long and difficult to clamp during processing.

[0005] The long-line pendulum U mechanism includes a pendulum U motor base connected to a tangent support plate, a pendulum U servo reduction motor connected to the pendulum U motor base, a pendulum U rotating base connected to the output end of the pendulum U servo reduction motor, and a pendulum U wire clamping cylinder connected to the pendulum U rotating base. The pendulum U servo reduction motor is used to drive the pendulum U rotating base to swing back and forth 180 degrees. Using the above technical solution, when producing long cable connectors, the cable passes through the tangent mechanism from the wire feeding mechanism, and is then clamped by the pendulum U wire clamping cylinder. Then, driven by the pendulum U servo reduction motor, the pendulum U rotating base and the pendulum U wire clamping cylinder swing 180 degrees together, bending the cable into a U shape, thereby preventing the long cable from being too long and affecting the processing effect. When tangent is required, the first tangent cylinder drives the first tangent knife seat, while the second tangent cylinder drives the second tangent knife seat, so that the first tangent knife seat and the second tangent knife seat clamp the cable together until the cable is cut.

[0006] The aforementioned patent document discloses a method for bending a cable into a U-shape and securing it to two clamps, thereby completing the processing of both ends of the cable. However, the swing amplitude of the long-wire U-shaped mechanism is fixed, and therefore the length of the U-shaped cable is also fixed, making it unable to accommodate cables of varying lengths. Summary of the Invention

[0007] The object of the present invention is to provide a cable bending device, which solves the problem that the existing swing U mechanism for bending a cable into a U shape can only be used to bend a cable of one length into a U shape.

[0008] To achieve the above-mentioned object, an embodiment of the present invention provides a cable bending device, comprising a frame, a cable conveying device, a wire pulling device, and a cable bending and fixing device; the cable conveying device is arranged on the frame, the cable conveying device includes an output end, and the output end is provided with a cutting mechanism;

[0009] The wire pulling device includes a first translation mechanism, a rotation mechanism and a first wire clamp; the first translation mechanism includes a moving end, the rotation mechanism is provided at the moving end, the rotation mechanism includes a downward rotating end, the rotating end is provided with a rotating arm, and the first wire clamp is provided at one end of the rotating arm;

[0010] The cable bending and fixing device includes a second translation mechanism, a movable seat, a second wire clamp and a limit clamp. The second translation mechanism is arranged on the frame, and the movable seat is connected to the second translation mechanism. The two second wire clamps and the two limit clamps are arranged in a rectangular shape on the movable seat, and the second wire clamp is arranged closer to the cable conveying device; two upward extending limit plates are provided on the movable seat, and a limit groove is formed between the two limit plates.

[0011] Furthermore, the first translation mechanism is provided on the top side of the cable conveying device, and the first wire clamp is located at the front end of the output end.

[0012] Furthermore, the cable bending and fixing device also includes two sets of adjustment mechanisms, the two sets of adjustment mechanisms are arranged on the movable seat, and the two second wire clamps are respectively connected to the corresponding adjustment mechanisms.

[0013] Furthermore, the movable seat includes a base plate and a support cover, the base plate is connected to the second translation mechanism, the second wire clamp is arranged on the base plate, the support cover is arranged on the base plate, the support cover is provided with a clearance groove for avoiding the second wire clamp and the limit clamp, and an induction switch is provided on the side wall of the clearance groove near the cable conveying device, and the induction switch is used to detect whether the second wire clamp clamps the cable.

[0014] Furthermore, it also includes a cable winding device, a mobile manipulator and a tape wrapping machine;

[0015] The cable winding device includes a cable guiding mechanism, a third translation mechanism, a wire end clamping member, a winding mechanism and a shearing mechanism; the cable guiding mechanism includes a guide support assembly, and the guide support assembly is used for guiding and supporting the cable; the third translation mechanism is arranged on the frame, and the wire end clamping member is arranged on the third translation mechanism; the winding mechanism includes a rotary driving member, a rotating seat, a winding positioning member, and a third wire clamp; the rotary driving member is arranged on the frame, the rotating seat is arranged at the rotating end of the rotary driving member, the wire winding positioning member is arranged on the rotating seat, and the two third wire clamps are respectively arranged on both sides of the same end of the rotating seat; the shearing mechanism is arranged on the side of the wire end clamping member away from the cable guiding mechanism;

[0016] The mobile manipulator is used to clamp the cable on the cable winding device and move it to the tape winding machine; the mobile manipulator includes a translation support frame, a translation drive member, a first lifting mechanism and a clamping assembly; the translation support frame is arranged on the frame, the translation drive member is arranged on the translation support frame, the first lifting mechanism is connected to the translation drive member, and the clamping assembly includes a first mounting plate provided at the bottom end of the first lifting mechanism, a fourth wire clamp provided on both sides of the same end of the first mounting plate, and an auxiliary clamp provided on both sides of the other end, the auxiliary clamp including two supporting claws, and the bottom ends of the two supporting claws extend with supporting parts opposite to each other;

[0017] The tape wrapping machine includes a tape wrapping device and a positioning clamp. The positioning clamp includes four groups of fifth wire clamps distributed in a rectangular shape. The fifth wire clamps are arranged on the frame.

[0018] Furthermore, the wire end clamping mechanism includes a first lifting drive member and a sixth wire clamp, the first lifting drive member is arranged at the moving end of the third translation mechanism, the sixth wire clamp is arranged at the lifting end of the first lifting drive member, and the sixth wire clamp includes a downward clamping end; the shearing mechanism is arranged on the side of the sixth wire clamp away from the cable guiding mechanism.

[0019] Furthermore, the cable guiding mechanism includes a lifting mechanism for lifting the output cable upward; the lifting mechanism includes a support seat, a second lifting drive member, a lifting seat and a conveying roller group; the second lifting drive member is arranged on the support seat, the lifting seat is connected to the second lifting drive member, the conveying roller group is arranged on the lifting seat, and the free end of the cable passes through the conveying roller group.

[0020] Furthermore, the winding mechanism also includes a second adjusting mechanism, which includes an adjusting screw and two adjusting seats, and the two adjusting seats are slidably arranged on the rotating seat; mounting parts are provided at both ends of the rotating seat, and the adjusting screw is rotatably connected to the two mounting parts; the two ends of the adjusting screw are respectively provided with left-handed threads and right-handed threads, and are respectively connected to one of the adjusting seats; the winding positioning member includes two limit members, and each adjusting seat is provided with one limit member, and the limit member includes a side wall extending downward, and a support plate extends outward from the bottom end of the side wall.

[0021] Furthermore, support members are provided on both sides of the rotating seat, and the upper ends of the support members are provided with laterally extending support rods.

[0022] Furthermore, the mobile manipulator also includes a second lifting mechanism and a steering assembly, the second lifting mechanism is connected to the translation drive component, the steering assembly is arranged at the bottom end of the second lifting mechanism, and the clamping assembly is provided on the bottom side of the steering mechanism.

[0023] The above one or more technical solutions in the cable bending equipment provided by the embodiment of the present invention have at least the following technical effects:

[0024] The free end of the cable is output from the output end of the cable conveying device, and the first wire clamp clamps but does not tighten the free end of the cable, and extends a certain length from the output end, and the rotating mechanism drives the first wire clamp to swing 180°, and the free end of the cable turns 180° and is located in the clamping position of one of the second wire clamps, and the free end of the cable is clamped by the second wire clamp, and the first translation mechanism drives the first wire clamp to translate, and under the action of the first wire clamp supporting the cable, the cable is guided and straightened to a limit clamp position away from the cable conveying device, and the cable is limited by the limit clamp, and then the rotating mechanism drives the first wire clamp to rotate to the same straight line position as the output end, thereby guiding the cable to swing to another limit clamp, and the cable is limited by the limit clamp, and the first translation mechanism then drives the first wire clamp to return to its original position, so that the cable passes through another second wire clamp, and the second wire clamp clamps the cable, and finally the cable is cut off by the cutting mechanism, so that the cable is fixed in a U shape on the cable bending and fixing device. The first translation mechanism is used to drive the rotation mechanism and the first wire clamp to move, and the second translation mechanism is used to drive the movable seat and the second wire clamp on the movable seat to move and adjust the position, so that cables of different lengths can be bent into a U shape, and the second wire clamp and the limit clamp are used to position the cable bent into the U shape, which is convenient for the robot to pick up the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a structural diagram of a cable winding device provided in an embodiment of the present invention.

[0027] Figure 2 This is a structural diagram of the other side of the cable winding device provided by an embodiment of the present invention.

[0028] Figure 3 This is a structural diagram of the cable bending and fixing device portion of the cable winding device provided by an embodiment of the present invention.

[0029] Figure 4 This is a diagram of the internal structure of the cable bending and fixing device of the cable winding device provided by an embodiment of the present invention.

[0030] Figure 5 This is a structural diagram of the first wire clamp portion of the cable winding device provided by an embodiment of the present invention.

[0031] Figure 6 A structural diagram of a cable winding device provided in an embodiment of the present invention.

[0032] Figure 7 A structural diagram of a cable guiding mechanism of a cable winding device provided in an embodiment of the present invention.

[0033] Figure 8 This is a structural diagram of the third translation mechanism portion of the cable winding device provided in an embodiment of the present invention.

[0034] Figure 9 A structural diagram of a mobile manipulator of a cable winding device provided in an embodiment of the present invention.

[0035] Figure 10 This is a structural diagram of the tape wrapping mechanism of the cable winding device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0037] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0039] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0040] In one embodiment of the cable bending device of the present invention, specifically, referring to Figures 1 to 3 The cable bending device includes a frame 100, a cable conveying device 200, a wire pulling device 300, and a cable bending and fixing device 400. The cable conveying device 200 is mounted on the frame 100 and is used for cable conveying. The cable conveying device 200 includes an output end 201, which is provided with a cutting mechanism 210 for cutting the output cable. Specifically, in this embodiment, the cable conveying device 200 and the cutting mechanism 210 are conventional in the art and are not described in detail in this embodiment.

[0041] Reference Figure 3 and Figure 5The wire pulling device 300 includes a first translation mechanism 310, a rotation mechanism 320, and a first wire clamp 330. The first translation mechanism 310 includes a moving end. Specifically, the first translation mechanism 310 is an electric screw linear module. The rotation mechanism 320 is located at the moving end and includes a downward-facing rotating end. The rotating end is provided with a rotating arm 321, and the first wire clamp 330 is located at one end of the rotating arm 321. Specifically, the rotation mechanism 320 includes a rotating motor fixedly mounted on the moving end of the first translation mechanism 310. Preferably, the first translation mechanism 310 is located on the top side of the cable conveying device 200, and the first wire clamp 330 is located at the front end of the output end. Specifically, the moving end of the first translation mechanism 310 is provided with a mounting seat 322 that extends out of the cable conveying device 200, and the rotation motor is mounted on the mounting seat 322. The first wire clamp 330 includes a lifting cylinder 331 and a parallel clamp 332, which is preferably a pneumatic parallel clamp. The lifting cylinder 331 is connected to the free end of the rotating arm 321, and the parallel clamp 332 is connected to the lifting cylinder 331. The parallel clamp 332 is equipped with two supporting clamps 333. When clamping a cable, the lifting cylinder 331 drives the parallel clamp 332 downward, so that the clamping position formed by the two supporting clamps 333 is located at the output end 201 to support the cable being output.

[0042] Reference Figure 3 and Figure 4 The cable winding and fixing device 400 includes a second translation mechanism 410, a movable base 420, a second wire clamp 430, and a limiting clamp 440. The second translation mechanism 410 is mounted on the frame 100, and the movable base 420 is connected to the second translation mechanism 410. Two second wire clamps 430 and two limiting clamps 440 are arranged in a rectangular pattern on the movable base 420, with the second wire clamps 430 being positioned closer to the cable conveying device 200. Specifically, the second translation mechanism 410 includes an electric linear module, preferably an electric lead screw module, mounted on the frame 100. The second wire clamp 430 includes a pneumatic parallel clamp 431 and a second clamping block 432 mounted on the pneumatic parallel clamp 431. The limiting clamp 440 includes a pneumatic clamp 441 and two limiting rods 442 provided on the pneumatic clamp 441. When the pneumatic clamp 441 drives the two limiting rods 442 to clamp each other, the two limiting rods 442 form a clamping groove, which limits the cable but does not clamp the cable.

[0043] In the cable bending device of this embodiment, the free end of the cable is output from the output end 201 of the cable conveying device 200 and extends a certain length from the output end 201. The first wire clamp 330 clamps but does not tighten the free end of the cable. The rotating mechanism 320 drives the rotating arm 321 to rotate, causing the first wire clamp 330 to swing 180°, and the free end of the cable turns 180°, so that the free end of the cable faces the cable conveying device 200 and is located in the clamping position of one of the second wire clamps 430, and the free end of the cable is clamped by the second wire clamp 430. The first translation mechanism 310 drives the first clamp 330 to translate. With the first clamp 330 supporting the cable, the cable is guided and straightened to the position of one of the limiting clamps 440, where the cable is restrained. The rotation mechanism 320 then drives the first clamp 330 to rotate, aligning the first clamp 330 with the output end 201. This guides the cable to bend and swing to the clamping position of the other limiting clamp 440, where the cable is restrained. The first translation mechanism 310 then drives the first clamp 330 back to its original position, allowing the cable to pass through the second clamp 430, which clamps the cable. Finally, the cutting mechanism 210 cuts the cable. The cable is then fixed in a U-shape on the cable bending and fixing device 400. The cable bending device of this embodiment utilizes a first translation mechanism 310 to drive the rotation mechanism 320 and the first wire clamp 330 to move, and a second translation mechanism 410 to drive the movable base 420 and the second wire clamp 430 on the movable base 420 to move and adjust their positions. This allows cables of varying lengths to be bent into a U-shape, and the second wire clamp 430 and the limiting clamp 440 to position the U-shaped cable, facilitating material removal by a robotic arm. Preferably, the movable base 420 is provided with two upwardly extending limiting plates 421, with a limiting groove 422 formed between the two limiting plates 421. The cable is bent into a U-shape, with the second wire clamp 430 clamping the two free ends of the cable. The two limiting plates 421 can then limit the cable within the limiting groove 422.

[0044] Further, refer to Figure 4 The cable bending and fixing device 400 also includes two sets of adjustment mechanisms 450, and the two sets of adjustment mechanisms 450 are arranged on the movable seat 420. The two second wire clamps 430 are respectively connected to the corresponding adjustment mechanisms 450. Preferably, the adjustment mechanism 450 includes an electric screw mechanism and a connecting seat 451. The connecting seat 451 is slidably connected to the movable seat 420 and the electric screw mechanism. The second wire clamp 430 is connected to the connecting seat 45. And the two sets of adjustment mechanisms 450 can be adjusted independently of each other. Specifically, the distance between the second wire clamp 430 and the limit clamp 440 is adjusted by the adjustment mechanism 450, so that cables of different lengths can be bent into a U shape, and the two ends of the cable can be clamped to position the cable. In addition, when the cable is cut off, the second wire clamp 430 located at the front end of the output end 201 can be moved to a position closer to the output end 201 to avoid the problem of the free end of the cable drooping after the cable is cut off.

[0045] Further, refer to Figure 3 and Figure 4 The movable base 420 includes a base plate 423 and a support cover 424. The base plate 423 is connected to the second translation mechanism 410, and the second cable clamp 430 is mounted on the base plate 423. The support cover 424 is mounted on the base plate 423 and has a clearance groove for the second cable clamp 430. The limit plate 423 is mounted on the support cover 424. A sensor switch 460 is installed on the side wall of the clearance groove near the cable conveyor 200. The sensor switch 460 detects whether the second cable clamp 430 is holding a cable. If the second cable clamp 430 is detected to be holding a cable, the next cable cannot be bent.

[0046] Furthermore, refer to Figure 1 and Figure 2 The cable winding device can also complete the winding of longer cables, prevent the cables from becoming loose, and facilitate the subsequent transportation and processing of the cables. Specifically, it also includes a cable winding device 500, a mobile manipulator 600, and a tape wrapping machine 700.

[0047] Reference Figure 1 、 Figure 2 、 Figure 6 and Figure 7The cable winding device 500 includes a cable guiding mechanism 510, a third translation mechanism 520, a wire end clamping member 530, a winding mechanism 540, and a shearing mechanism 550. The cable guiding mechanism 510 includes a guide support assembly 511, which is used to guide and support the cable. Specifically, the guide support assembly 511 includes a plurality of guide wheels. The third translation mechanism 520 is provided on the frame 100, and the wire end clamping member 530 is provided on the third translation mechanism 530. The winding mechanism 540 includes a rotary drive member 541, a rotating seat 542, a winding positioning member 543, and a third wire clamp 544. The rotary drive member 541 is provided on the frame 100, the rotating seat 542 is provided at the rotating end of the rotary drive member 541, the wire winding positioning member 543 is provided on the rotating seat 542, and two third wire clamps 544 are provided on both sides of the same end of the rotating seat 542. The shearing mechanism 550 is located on the side of the cable clamp 530 away from the cable guide mechanism 510. This embodiment allows for the collection of long, coiled cables. Specifically, the free end of the cable extends from the guide support assembly 511, the cable clamp 530 clamps the end of the cable, and the third translation mechanism 520 drives the cable clamp 530 to translate, thereby pulling the cable out. Furthermore, the rotary drive 541 drives the rotating seat 542 to rotate, moving the third cable clamp 544 away from the cable clamp 530. The third translation mechanism 520 drives the cable clamp 530 to move the cable to a position where the third cable clamp 544 clamps the cable, causing the cable head to face outward from the rotating seat 542. The rotary drive 541 then drives the rotating base 542 to rotate, causing the cable to be wound around the winding positioning member 543. When the cable is wound to a certain length and the free end of the cable is facing the cable guide mechanism 510, the shear mechanism 550 cuts the cable, completing the winding and cutting process. In this embodiment, the third translation mechanism 520 includes an electric linear module, and the rotary drive 541 includes a rotary motor, which drives the rotating base 542 to rotate.

[0048] Reference Figure 1 、 Figure 2 and Figure 9The mobile manipulator 600 is used to clamp the cable on the cable winding device 500 and move it to the tape wrapping machine 700, which wraps tape around the bent cable to fix the cable and prevent it from becoming loose. Specifically, the mobile manipulator 600 includes a translation support frame 610, a translation drive member 620, a first lifting mechanism 630, and a clamping assembly 640. The translation support frame 610 is arranged on the frame 100, the translation drive member 620 is arranged on the translation support frame 610, and the first lifting mechanism 630 is connected to the translation drive member 620. The clamping assembly 640 includes a first mounting plate 641 arranged at the bottom end of the first lifting mechanism 630, a fourth wire clamp 642 arranged on both sides of the same end of the first mounting plate 641, and an auxiliary clamp 643 arranged on both sides of the other end, the auxiliary clamp 643 including two support claws 644, and the bottom ends of the two support claws 634 extend with support portions 635 opposite to each other. In this embodiment, the translation drive 620 drives the first lifting mechanism 630 to translate to the top of the cable winding device 500, and the first lifting mechanism 630 drives the fourth wire clamp 632 and the auxiliary clamp 633 to descend. The fourth wire clamp 632 clamps the cable, and the support part 635 of the support claw 634 of the auxiliary clamp 633 supports the cable, and then the translation drive 620 drives the first lifting mechanism 630 and the cable to move to the tape winding machine 700.

[0049] Reference Figure 10 The tape wrapping machine 700 includes a tape wrapping device 710 and positioning clamps. The positioning clamps include four sets of fifth clamps 720 arranged in a rectangular pattern. The fifth clamps 720 are mounted on the frame 100. During wrapping, the first lifting drive mechanism 630 drives the wound cable to be placed on the fifth clamps 720. The fifth clamps 720 clamp the cable, and the tape wrapping device 710 then wraps the tape around the twisted cable. The tape wrapping device 710 is conventional in the art and will not be described in detail in this example.

[0050] Further, refer to Figure 8 The cable end clamping mechanism 530 includes a first lifting drive 531 and a sixth cable clamp 532. The first lifting drive 531 is located at the movable end of the third translation mechanism 520, and the sixth cable clamp 532 is located at the lifting end of the first lifting drive 531. The sixth cable clamp 532 includes a downward-facing clamping end. The shearing mechanism 550 is located on the side of the fourth cable clamp 532 away from the cable guide mechanism 510. In this embodiment, after the sixth cable clamp 532 clamps the free end of the cable, the first lifting drive 531 drives the sixth cable clamp 532 upward, allowing it to move past the third cable clamp 544 to the front of the third cable clamp 544, thereby placing the cable in the clamping position of the third cable clamp 544.

[0051] Further, refer to Figure 7The cable guide mechanism 510 further includes a lifting mechanism 560 for lifting the outputted cable upward. The lifting mechanism 560 includes a support base 561, a second lifting drive member 562, a lifting base 563, and a conveying roller assembly 564. The support base 561 is mounted on the frame 100, the second lifting drive member 562 is mounted on the support base 561, the lifting base 563 is connected to the second lifting drive member 562, and the conveying roller assembly 564 is mounted on the lifting base 563. The free end of the cable passes through the conveying roller assembly 564. In this embodiment, when the cable is wound around the winding positioning member 543, the second lifting drive 562 can drive the lifting seat 563 to gradually rise, and the lifting seat 563 can also drive the cable to rise, so that the cables can be wound around the winding positioning member 543 in an overlapping manner. When the third wire clamp 544 needs to clamp the cable, the second lifting drive 562 drives the lifting seat 563 to lift the cable upward, so that the cable clears the third wire clamp 544, and then lowers the cable to the clamping position of the third wire clamp 544, and the cable is clamped by the third wire clamp 544. In this embodiment, the second lifting drive 562 is an electric screw module.

[0052] Further, refer to Figure 6 The winding mechanism 540 also includes a second adjusting mechanism 570, which includes an adjusting screw 571 and two adjusting seats 572. The two adjusting seats 572 are slidably arranged on the rotating seat 542. Mounting parts 545 are provided at both ends of the rotating seat 542, and the adjusting screw 571 is rotatably connected to the two mounting parts 545. The two ends of the adjusting screw 571 are respectively provided with a left-handed thread and a right-handed thread, and are respectively connected to an adjusting seat 572. The winding positioning member 543 includes two limit members, and each adjusting seat 572 is provided with a limit member. The limit member includes a side wall extending downward, and a support plate extending outward from the bottom end of the side wall. In this embodiment, the distance between the two limit members can be adjusted by adjusting the screw 571, thereby adjusting the size of the coil of the cable wound around the winding positioning member 543. Preferably, the second adjustment mechanism 570 further includes a hollow motor 573 , and the adjustment screw 571 passes through the hollow motor 573 . The adjustment screw 571 is driven by the hollow motor 573 to rotate, thereby adjusting the distance between the two adjustment seats 572 to achieve electric adjustment.

[0053] Further, refer to Figure 6 Support members 546 are provided on both sides of the rotating base 542. Laterally extending support rods are provided at the upper ends of the support members 546. When the cable is wound around the winding positioning member 543, the support members 546 provide support for the middle of the cable, preventing the cable from sagging and becoming tangled.

[0054] Further, refer to Figure 9The mobile manipulator 600 further includes a second lifting mechanism 650 and a steering assembly 660. The second lifting mechanism 650 is connected to the translation drive 620. The steering assembly 660 is disposed at the bottom end of the second lifting mechanism 650. A set of clamping assemblies 640 are disposed on the bottom side of the steering mechanism 660. Specifically, the steering assembly 660 includes a motor 661 and a base plate 662. The motor is connected to the second lifting mechanism 650, and the base plate 662 is connected to the rotating shaft of the motor 661. In this embodiment, after the cable on the fifth wire clamp 720 is twisted, the clamping assembly 640 at the bottom end of the second lifting mechanism 650 can clamp the cable, and the steering assembly 660 can drive the clamping assembly 640 to rotate 180°, changing the direction of the cable end.

[0055] Further, refer to Figure 9 The translation drive 620 can be a linear motor or two sets of independent synchronous mechanisms. The first lifting mechanism 630 and the second lifting mechanism 650 are respectively connected to a set of synchronous belt mechanisms. This can drive the first lifting mechanism 630 and the second lifting mechanism 650 to move independently of each other.

[0056] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cable bending device, characterized in that: It includes a frame, a cable conveying device, a wire pulling device and a cable bending and fixing device; the cable conveying device is arranged on the frame, the cable conveying device includes an output end, and the output end is provided with a cutting mechanism; The wire pulling device includes a first translation mechanism, a rotation mechanism and a first wire clamp; the first translation mechanism includes a moving end, the rotation mechanism is provided at the moving end, the rotation mechanism includes a downward rotating end, the rotating end is provided with a rotating arm, and the first wire clamp is provided at one end of the rotating arm; The cable bending and fixing device includes a second translation mechanism, a movable seat, a second wire clamp and a limit clamp. The second translation mechanism is arranged on the frame, the movable seat is connected to the second translation mechanism, two second wire clamps and two limit clamps are arranged in a rectangular shape on the movable seat, and the second wire clamp is arranged closer to the cable conveying device.

2. The cable bending device according to claim 1, characterized in that: The first translation mechanism is arranged on the top side of the cable conveying device, and the first wire clamp is located at the front end of the output end.

3. The cable bending device according to claim 1, characterized in that: The cable bending and fixing device further includes two groups of adjustment mechanisms, the two groups of adjustment mechanisms are arranged on the movable seat, and the two second wire clamps are respectively connected to the corresponding adjustment mechanisms.

4. The cable bending device according to claim 1, characterized in that: The movable seat includes a base plate and a support cover, the base plate is connected to the second translation mechanism, the second wire clamp is arranged on the base plate, the support cover is arranged on the base plate, the support cover is provided with a clearance groove for avoiding the second wire clamp and the limit clamp, and an induction switch is provided on the side wall of the clearance groove near the cable conveying device, and the induction switch is used to detect whether the second wire clamp clamps the cable.

5. The cable bending device according to any one of claims 1 to 4, characterized in that: It also includes a cable winding device, a mobile manipulator and a tape wrapping machine; The cable winding device includes a cable guiding mechanism, a third translation mechanism, a wire end clamping member, a winding mechanism and a shearing mechanism; the cable guiding mechanism includes a guide support assembly, and the guide support assembly is used for guiding and supporting the cable; the third translation mechanism is arranged on the frame, and the wire end clamping member is arranged on the third translation mechanism; the winding mechanism includes a rotary driving member, a rotating seat, a winding positioning member, and a third wire clamp; the rotary driving member is arranged on the frame, the rotating seat is arranged at the rotating end of the rotary driving member, the wire winding positioning member is arranged on the rotating seat, and the two third wire clamps are respectively arranged on both sides of the same end of the rotating seat; the shearing mechanism is arranged on the side of the wire end clamping member away from the cable guiding mechanism; The mobile manipulator is used to clamp the cable on the cable winding device and move it to the tape winding machine; the mobile manipulator includes a translation support frame, a translation drive member, a first lifting mechanism and a clamping assembly; the translation support frame is arranged on the frame, the translation drive member is arranged on the translation support frame, the first lifting mechanism is connected to the translation drive member, and the clamping assembly includes a first mounting plate provided at the bottom end of the first lifting mechanism, a fourth wire clamp provided on both sides of the same end of the first mounting plate, and an auxiliary clamp provided on both sides of the other end, the auxiliary clamp including two supporting claws, and the bottom ends of the two supporting claws extend with supporting parts opposite to each other; The tape wrapping machine includes a tape wrapping device and a positioning clamp. The positioning clamp includes four groups of fifth wire clamps distributed in a rectangular shape. The fifth wire clamps are arranged on the frame.

6. The cable bending device according to claim 5, characterized in that: The wire end clamping mechanism includes a first lifting drive member and a sixth wire clamp, the first lifting drive member is arranged at the moving end of the third translation mechanism, the sixth wire clamp is arranged at the lifting end of the first lifting drive member, and the sixth wire clamp includes a downward clamping end; the shearing mechanism is arranged on the side of the sixth wire clamp away from the cable guiding mechanism.

7. The cable bending device according to claim 5, characterized in that: The cable guiding mechanism includes a lifting mechanism for lifting the output cable upward; the lifting mechanism includes a support base, a second lifting drive member, a lifting base and a conveying roller group; the second lifting drive member is arranged on the support base, the lifting base is connected to the second lifting drive member, the conveying roller group is arranged on the lifting base, and the free end of the cable passes through the conveying roller group.

8. The cable bending device according to claim 5, characterized in that: The winding mechanism also includes a second adjusting mechanism, which includes an adjusting screw and two adjusting seats, and the two adjusting seats are slidably arranged on the rotating seat; mounting parts are provided at both ends of the rotating seat, and the adjusting screw is rotatably connected to the two mounting parts; the two ends of the adjusting screw are respectively provided with a left-handed thread and a right-handed thread, and are respectively connected to one of the adjusting seats; the winding positioning member includes two limit members, and each adjusting seat is provided with one limit member, and the limit member includes a side wall extending downward, and a support plate extends outward from the bottom end of the side wall.

9. The cable bending device according to claim 6, characterized in that: Support members are provided on both sides of the rotating seat, and the upper ends of the support members are provided with support rods extending laterally.

10. The cable bending device according to claim 5, characterized in that: The mobile manipulator further includes a second lifting mechanism and a steering assembly, wherein the second lifting mechanism is connected to the translation drive component, the steering assembly is arranged at the bottom end of the second lifting mechanism, and the clamping assembly is provided on the bottom side of the steering mechanism.

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