Automatic creasing robot and method

Abstract

The application discloses an automatic line folding robot and method, and relates to the technical field of wire folding forming processing. The automatic line folding robot comprises a movable base and a horizontally rotatable body, and line outlet mechanical arms and line folding mechanical arms are respectively arranged on the two sides of the body. The line outlet mechanical arms are integrated with wire conveying, straightening, clamping and shearing functions, the line folding mechanical arms are provided with folding wheel discs capable of being adjusted in multiple degrees of freedom at the tail ends, the actions of the two mechanical arms are coordinated through a control module, and a two-stage folding control strategy is adopted. The method comprises the steps of feeding the wire through the line outlet mechanical arms, clamping the wire through the clamping mechanical hands and clamping modules, adjusting the poses of the folding wheel discs, and folding the wire in stages. The application realizes on-site folding and loading of the metering box wire, overcomes the disadvantages of traditional fixed equipment, such as pre-processing and secondary transportation, can adapt to complex three-dimensional wiring requirements, reduces the damage of the insulating layer, improves the folding precision and wiring efficiency, and simultaneously has remote control and intelligent operation capabilities.

Description

Technical Field

[0001] This invention belongs to the field of wire bending and forming technology, specifically relating to a wire bending robot and method. Background Technology

[0002] During the installation and maintenance of metering boxes, the bending and shaping of internal wires is a crucial step in ensuring reliable electrical connections and neat wiring. Traditional methods typically rely on manual bending of wires one by one using tools such as pliers. This is not only labor-intensive and inefficient, but also prone to damaging the wire insulation due to inconsistent force applied, thus affecting the yield rate.

[0003] To improve the efficiency of wire bending operations, those skilled in the art have proposed mechanized wire bending equipment. For example, Chinese invention patent application CN114523050A discloses an automatic wire bending system for meter boxes. This system controls the wire extension length through a cutting component, clamps the wire at a set position by a clamping component, and cuts off the tail end using a second cutting component. Subsequently, the clamping component transfers the wire to the bending station, where the bending component completes the rapid forming process, thereby achieving a certain degree of automated bending operations and reducing the degree of manual intervention.

[0004] However, such devices still have limitations: on the one hand, most devices are fixed structures, requiring on-site measurement of bending dimensions and processing in the workshop before the bent wires are transported to the installation site, making it difficult to achieve on-site bending and installation, which affects the overall wiring efficiency; on the other hand, existing systems can usually only achieve bending in a two-dimensional plane. When faced with the more complex three-dimensional wiring requirements in the metering box, it is often necessary to manually adjust the wire posture or perform secondary processing, which not only increases the complexity of operation and poses safety hazards, but also makes it difficult to guarantee the consistency and accuracy of the bending shape. Summary of the Invention

[0005] This invention proposes an automatic bending robot and method, the purpose of which is to overcome the problems of prior measurement and processing and difficulty in folding and assembling in the prior art, and to complete bending and forming in complex three-dimensional space, avoiding the operational risks and quality inconsistencies caused by manual adjustment.

[0006] The technical solution of this invention is as follows:

[0007] An automated line-folding robot includes:

[0008] A transmission mechanism used to transmit wires;

[0009] Straightening mechanism, used to straighten conductors;

[0010] A cutting module for cutting wires;

[0011] Clamping module for clamping wires;

[0012] Bending mechanism, used for bending wires;

[0013] It also includes a movable base and a body mounted on the movable base; the body can rotate horizontally relative to the movable base; an interactive module is provided on the front side of the body, the interactive module includes a shooting module and / or a display module; a communication module and a control module are provided inside the body, the control module is electrically connected to the communication module and the interactive module respectively;

[0014] The machine body is equipped with a wire-out robotic arm and a wire-folding robotic arm on its two sides respectively; the transmission mechanism, straightening mechanism, shearing module and clamping module are all mounted on the wire-out robotic arm; the bending mechanism is a bending wheel mounted at the end of the wire-folding robotic arm.

[0015] The control module is used to control the coordinated movement of the outgoing line robotic arm and the zigzag line robotic arm to complete the zigzag line operation.

[0016] As a further improvement to the automated line-folding robot: the line-leading robotic arm includes a first upper arm and a first lower arm;

[0017] The root of the first large arm is connected to the side of the machine body through a rotary joint to realize the pitch rotation of the outgoing robotic arm relative to the machine body;

[0018] The root of the first forearm is connected to the end of the first upper arm through a rotary joint, so as to realize the rotation of the first forearm relative to the first upper arm about the central axis of the length direction of the first upper arm;

[0019] The transmission mechanism, straightening mechanism, shearing module, and clamping module are all installed on the inside of the first forearm.

[0020] As a further improvement to the automatic zigzag robot: the transmission mechanism includes a driven transmission wheel and an active transmission wheel located on both sides of the wire, and the driven transmission wheel is mounted on the first forearm through a linear movement mechanism to realize the distance adjustment between the driven transmission wheel and the active transmission wheel;

[0021] The straightening mechanism is located behind the transmission mechanism and includes multiple first straightening rollers and multiple second straightening rollers located on both sides of the conductor. The first straightening rollers are mounted on the first forearm via a linear movement mechanism to adjust the distance between the first straightening rollers and the second straightening rollers.

[0022] The shearing module is located on the front side of the transmission mechanism;

[0023] The clamping module is located on the front side of the shearing module.

[0024] As a further improvement to the automatic zigzag robot: the shearing module is installed on the first forearm by a detachable snap-fit ​​method; the inner end of the shearing module is provided with a first contact point, which is used to contact and cooperate with a second contact point on the first forearm; the second contact point is electrically connected to the control module, and the control module controls the shearing module through a conductive circuit.

[0025] As a further improvement to the automated line-folding robot: the line-folding robotic arm includes a rotating base, a second large arm, and a second small arm;

[0026] One end of the rotating base is connected to the side of the machine body via a rotary joint to realize the pitch rotation of the zigzag robotic arm relative to the machine body;

[0027] The root of the second main arm is connected to the other end of the rotating seat via a rotary joint to enable the second main arm to rotate horizontally relative to the rotating seat.

[0028] The second arm is a telescopic arm;

[0029] The root of the second forearm is connected to the end of the second upper arm via a rotary joint to enable horizontal rotation of the second forearm relative to the second upper arm.

[0030] The end of the second forearm is equipped with a gripping manipulator and the bending wheel; a bending center shaft is provided at the center of the rotating part of the bending wheel, and a bending eccentric wheel is also installed on the rotating part through a moving mechanism. The moving mechanism is used to adjust the distance between the bending eccentric wheel and the bending center shaft.

[0031] As a further improvement to the automated bending robot: the bending wheel is mounted on the second forearm via a first telescopic joint and an auxiliary arm;

[0032] The root of the first telescopic joint is installed at the end of the auxiliary arm, and the bending wheel is installed at the end of the first telescopic joint.

[0033] As a further improvement to the automatic folding robot: the root of the first telescopic joint is connected to the end of the auxiliary arm through a rotary joint, so as to realize the pitch rotation of the first telescopic joint and the bending wheel relative to the auxiliary arm.

[0034] A rotary joint is provided between the root of the auxiliary arm and the second forearm to enable the auxiliary arm to pitch and rotate relative to the second forearm.

[0035] As a further improvement to the automated zigzag robot: the root of the auxiliary arm is mounted on the second forearm in sequence via a second telescopic joint and a rotary joint.

[0036] As a further improvement to the automated line-folding robot: the gripping manipulator includes a base mounted on the end of the second forearm via a rotary joint to achieve horizontal rotation relative to the second forearm, and also includes two sets of symmetrically arranged gear rods, gripping rods and intermediate connecting rods;

[0037] The roots of both gear rods are rotatably connected to the base, and the gears at the roots of the two gear rods mesh with each other. The ends of the gear rods are rotatably connected to the corresponding clamping rods.

[0038] Each intermediate connecting rod is parallel to and of equal length to its corresponding gear rod, with its root rotatably connected to the base and its end rotatably connected to its corresponding clamping rod.

[0039] This invention also discloses an automatic line-folding method based on the aforementioned automatic line-folding robot; the mobile base of the automatic line-folding robot moves to the work location, and then controls the line-leading robotic arm and the line-folding robotic arm of the automatic line-folding robot to work together to complete the line-folding action according to the line-folding requirements:

[0040] Step 1: The second upper arm of the zigzag robotic arm extends, and the second upper arm and the second lower arm rotate so that the gripping robotic hand is located directly in front of the end of the first lower arm.

[0041] Step 2: When the wire extension length meets the folding line requirement, the clamping robot and clamping module clamp the wire;

[0042] Step 3: According to the requirements of the fold line, adjust the initial position and direction of the bending wheel by rotating the auxiliary arm relative to the second forearm, extending and retracting the second telescopic joint, rotating the first telescopic joint relative to the auxiliary arm, and extending and retracting itself. At this time, the axis of the bending wheel is perpendicular to the guide wire.

[0043] Step 4: The first telescopic joint extends, allowing the wire to enter the gap between the bending center shaft and the bending eccentric wheel. Then, the rotating part of the bending wheel rotates to bend the wire.

[0044] The bending process is divided into two stages: In the first stage, the second telescopic joint shortens by a certain distance, while the bending eccentric wheel moves away from the bending center axis by a certain distance to reduce the stress at the bend of the conductor; In the second stage, the second telescopic joint extends by a certain distance, while the bending eccentric wheel moves closer to the bending center axis, and the conductor is shaped at the bend by bending and clamping at the same time.

[0045] Step 5: The first telescopic joint shortens, allowing the wire to be withdrawn from the gap between the bending center shaft and the bending eccentric wheel;

[0046] Step 6: Determine if there are any other bending operations to be completed on the current wire. If so, proceed to step 7; otherwise, proceed to step 8.

[0047] Step 7: The gripping robot and gripping module are released, the wire output robot continues to output wires, and the process jumps to step 2;

[0048] Step 8: The clamping robot and clamping module are released. After the wire output robot arm outputs the wire to the designated position according to the wire length requirement, the clamping module clamps the wire, the cutting module moves to cut the wire, and the wire breaking operation is completed.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] 1. This invention, by setting a movable base and a horizontally rotatable body, enables the automatic wire bending robot to move flexibly to the metering box installation site, realizing wire bending and installation on-site. This effectively overcomes the inefficiency problem caused by the need for pre-measurement, workshop processing and transfer of traditional fixed equipment, and significantly improves the overall efficiency of wiring operations.

[0051] 2. This invention adopts a collaborative working structure of a wire-exiting robotic arm and a wire-folding robotic arm. The control module coordinates the actions of the two, and with the bending wheel at the end of the wire-folding robotic arm having multi-degree-of-freedom adjustment capability, it can complete the bending and forming of complex shapes in three-dimensional space, avoiding the operational risks and quality inconsistencies caused by manual adjustment, and adapting to the actual needs of complex wiring in the metering box.

[0052] 3. The bending wheel is installed at the end of the second forearm through structures such as the auxiliary arm, the second telescopic joint and the first telescopic joint. This allows for precise adjustment of the bending wheel around the conductor in multiple positions and postures, ensuring that its axis is always perpendicular to the conductor. This enables bending operations to be completed in any plane passing through the conductor, improving the adaptability and accuracy of bending processing.

[0053] 4. The bending process adopts a two-stage control strategy: In the first stage, the stress on the conductor is appropriately released by the contraction of the second telescopic joint and the outward movement of the bending eccentric wheel, so that the initial stage of bending is carried out under low constraint; in the second stage, the bending and clamping are achieved simultaneously by the extension of the second telescopic joint and the inward movement of the bending eccentric wheel. This method reduces the risk of damage to the conductor insulation layer and ensures the accuracy and consistency of the bending shape.

[0054] 5. The clamping robot adopts a symmetrical gear linkage mechanism, which realizes the synchronous opening and closing of the two clamping rods through gear meshing. It not only has stable and reliable clamping, but also has the ability to adapt to different wire diameters, further ensuring the positioning accuracy and operational safety of the wire during bending.

[0055] 6. The shearing module adopts a detachable snap-fit ​​installation method and is equipped with a contact conductive circuit, which not only facilitates quick replacement of worn blades, but also achieves a reliable electrical connection with the control module, improving the convenience of equipment maintenance and the continuity of operation.

[0056] 7. The device is equipped with an interactive module that integrates shooting and / or display functions, and combined with a communication module and a control module, it supports multiple working modes such as program import, remote operation and autonomous planning, thereby improving the intelligence level of device operation and the efficiency of human-machine collaboration. Attached Figure Description

[0057] Figure 1 This is one of the structural schematic diagrams of an automated line-cutting robot;

[0058] Figure 2 for Figure 1 A magnified view of part A in the middle;

[0059] Figure 3 for Figure 1 A magnified view of part B in the middle section;

[0060] Figure 4 This is the second structural schematic diagram of an automated line-cutting robot;

[0061] Figure 5 This is a partial schematic diagram of the cable storage area;

[0062] Figure 6 A schematic diagram showing the structure for the bending wheel of the wire bending robot to move the bending wheel to its initial position in the XY plane.

[0063] Figure 7 The diagram shows the structure for the bending wheel to be moved to its initial position by the bending robot arm, and is prepared for bending the wire in the YZ plane.

[0064] Figure 8 This is a schematic diagram of the structure of the zigzag robotic arm when the bending wheel is moved to the rear and is in a standby state.

[0065] The reference numerals in the figures include:

[0066] 1. Movable base; 2. Main body; 3. Cable exit robotic arm; 4. Warning module; 5. Interaction module; 6. Cable compartment; 7. Cable bending robotic arm; 301. First large arm; 302. First small arm; 303. First straightening roller; 304. Second straightening roller; 305. Linear movement mechanism; 306. Driven transmission wheel; 307. Active transmission wheel; 308. Clamping module; 309. Cutting module; 310. Insulation layer storage box ; 601, Cable reel; 602, Cable outlet; 701, Rotating seat; 702, Second upper arm; 703, Second lower arm; 704, Clamping manipulator; 7041, Base; 7042, Gear rod; 7043, Clamping rod; 7044, Intermediate connecting rod; 705, Auxiliary arm; 706, First telescopic joint; 707, Bending wheel; 7071, Bending center shaft; 7072, Bending eccentric wheel; 708, Second telescopic joint. Detailed Implementation

[0067] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0068] like Figure 1 and Figure 4 An automated line-folding robot includes a movable base 1 and a body 2 mounted on the movable base 1. The body 2 can rotate horizontally relative to the movable base 1, thereby adjusting the working position of the entire machine. An interaction module 5 is located on the front of the body 2. This interaction module 5 includes a camera module and / or a display module for image acquisition, status display, or human-machine interaction. A communication module and a control module are located inside the body 2. The control module is electrically connected to both the communication module and the interaction module 5, enabling coordinated control and information exchange of various parts of the device. An alarm module 4 is also installed on the top of the body 2 to provide audible and visual alerts during operation, improving operational safety.

[0069] The machine body 2 has a wire-exiting robotic arm 3 and a wire-folding robotic arm 7 installed on its two sides. The wire-exiting robotic arm 3 is used for conveying, straightening, clamping, and cutting the wire, while the wire-folding robotic arm 7 is used for bending and shaping the wire. The control module is used to control the coordinated action of the wire-exiting robotic arm 3 and the wire-folding robotic arm 7 to complete the wire-folding operation.

[0070] Specifically, such as Figure 2 The cable-exiting robotic arm 3 includes a first upper arm 301 and a first lower arm 302. The root of the first upper arm 301 is connected to the side of the machine body 2 via a rotary joint, enabling the cable-exiting robotic arm 3 to pitch and rotate relative to the machine body 2. The root of the first lower arm 302 is connected to the end of the first upper arm 301 via a rotary joint, allowing the first lower arm 302 to rotate around the central axis along the length of the first upper arm 301. The cable-exiting robotic arm 3 is equipped with a transmission mechanism, a straightening mechanism, a shearing module 309, and a clamping module 308. Preferably, these components are all located inside the first lower arm 302.

[0071] Furthermore, the transmission mechanism includes a driven transmission wheel 306 and a driven transmission wheel 307 located on both sides of the conductor. The driven transmission wheel 306 is mounted on the first forearm 302 via a linear movement mechanism 305, and its distance from the driven transmission wheel 307 can be adjusted to accommodate conductors of different diameters. The straightening mechanism is located behind the transmission mechanism and includes multiple first straightening rollers 303 and multiple second straightening rollers 304 located on both sides of the conductor. The first straightening rollers 303 are mounted via another set of linear movement mechanisms 305, and their distance from the second straightening rollers 304 can be adjusted according to the conductor diameter to straighten the conductor. The shearing module 309 is located in front of the transmission mechanism and is used to cut the conductor after bending. The clamping module 308 is located in front of the shearing module 309 and is used to clamp and fix the conductor during bending. An insulation layer storage box 310 is also mounted on the first forearm 302, located below the shearing module 309, and is used to collect insulation layer debris generated during the shearing process.

[0072] like Figure 5 The machine body 2 is also equipped with a cable compartment 6, which contains a cable reel 601. The wires are led out from the cable reel 601 and transported to the first forearm 302 through the cable outlet 602 on the machine body 2.

[0073] Furthermore, such as Figure 2 The shearing module 309 is installed on the first forearm 302 by a detachable snap-fit ​​method. Its inner end is provided with a first contact, which cooperates with the second contact on the first forearm 302 to form a conductive circuit. The second contact is electrically connected to the control module, thereby realizing the electrical control and signal feedback of the module.

[0074] like Figure 3 The zigzag robotic arm 7 includes a rotating base 701, a second large arm 702, and a second small arm 703. One end of the rotating base 701 is connected to the side of the body 2 via a rotary joint, allowing the zigzag robotic arm 7 to pitch relative to the body 2. The root of the second large arm 702 is connected to the other end of the rotating base 701 via a rotary joint, enabling horizontal rotation. The second large arm 702 is a telescopic arm structure, allowing its length to be adjusted. The root of the second small arm 703 is connected to the end of the second large arm 702 via a rotary joint, also enabling horizontal rotation.

[0075] like Figure 3 , Figure 6 and Figure 7 The end of the second forearm 703 is equipped with a gripping manipulator 704 and a bending wheel 707. The center of the rotating part of the bending wheel 707 is provided with a bending center shaft 7071, and a bending eccentric wheel 7072 is also installed on the rotating part through a moving mechanism. The moving mechanism is used to adjust the distance between the bending eccentric wheel 7072 and the bending center shaft 7071.

[0076] The bending wheel 707 is mounted on the second forearm 703 via a first telescopic joint 706 and an auxiliary arm 705. The root of the first telescopic joint 706 is connected to the end of the auxiliary arm 705 via a rotary joint, allowing the first telescopic joint 706 and the bending wheel 707 to pitch relative to the auxiliary arm 705. A rotary joint is provided between the root of the auxiliary arm 705 and the second forearm 703, enabling the auxiliary arm 705 to pitch relative to the second forearm 703. Furthermore, the root of the auxiliary arm 705 is sequentially mounted on the second forearm 703 via a second telescopic joint 708 and a rotary joint to provide more degrees of freedom.

[0077] The gripping robot 704 includes a base 7041 mounted to the end of the second forearm 703 via a rotary joint, enabling horizontal rotation. It also includes two sets of symmetrically arranged gear rods 7042, gripping rods 7043, and intermediate connecting rods 7044. The roots of the two gear rods 7042 are rotatably connected to the base 7041, with the gears at their roots meshing with each other. The ends of the gear rods 7042 are rotatably connected to the corresponding gripping rods 7043. Each intermediate connecting rod 7044 is parallel to and of equal length to the corresponding gear rod 7042, with its root rotatably connected to the base 7041 and its end rotatably connected to the corresponding gripping rod 7043. This structure achieves synchronous translational opening and closing of the two gripping rods 7043 through gear meshing and a parallelogram mechanism, adapting to the gripping requirements of wires with different diameters.

[0078] It should be noted that the various motion functions of this automated wire bending robot rely on mature industrial drive technology. Specifically, the rotational movements of each rotary joint are achieved through a combination of servo motors and precision reducers. The servo motors provide precise angular displacement and torque output, while the reducers increase the output torque and improve motion accuracy, ensuring that each component of the robotic arm can move stably and accurately to the required position. The rotating part of the bending wheel 707 is also driven by an independent servo motor. This motor drives the turntable and its bending center shaft 7071 and bending eccentric wheel 7072 to perform precise rotational movements through a built-in reduction mechanism, thereby completing the bending operation of the wire. The linear extension and retraction movements of each telescopic joint, including the telescopic part of the second arm 702, the first telescopic joint 706, and the second telescopic joint 708, are preferably achieved using electric actuators. The electric actuators convert the rotational motion of the motor into the linear motion of the actuator, featuring precise control, fast response speed, and large thrust, which can meet the precise control requirements of position and force during the bending process. Furthermore, the adjustment of the distance between the bending eccentric wheel 7072 and the bending center shaft 7071 can also be achieved by using a miniature electric push rod or a stepper motor-driven lead screw and nut mechanism to ensure adjustable distance and accurate positioning. All these drive units are electrically connected to the control module, receiving control commands and feeding back position signals, forming a complete closed-loop or open-loop motion control system, thereby ensuring that the entire piecewise linear robot completes all predetermined actions collaboratively, efficiently, and accurately.

[0079] The working process of this automated line-cutting robot is as follows:

[0080] The mobile base 1 is first moved to the work location at the metering box installation site. The robot body 2 can rotate horizontally relative to the base to adjust the overall orientation of the robot, allowing its lead-out robotic arm 3 and zigzag robotic arm 7 to be better aligned with the work area. Then, the lead-out robotic arm 3 and zigzag robotic arm 7 work together to perform the following operations:

[0081] Step 1: The wire-folding robotic arm 7 begins its operation. Specifically, the second large arm 702 extends, while the second large arm 702 and the second small arm 703 rotate via rotary joints at their roots. These movements are driven by servo motors and reducers, ultimately moving and positioning the gripping manipulator 704, mounted at the end of the second small arm 703, precisely in front of the wire-exiting end of the first small arm 302 of the wire-exiting robotic arm 3, preparing it for gripping the wire.

[0082] Step 2: The transmission mechanism (drive drive wheel 307 and driven drive wheel 306) within the wire-exiting robotic arm 3 continuously feeds the wire. The control module monitors the wire's extension length in real time. When the length meets the current bending requirement, the control module issues a command to simultaneously activate the clamping robot 704 and the clamping module 308 at the front end of the wire-exiting robotic arm 3, firmly clamping the wire. The clamping robot 704 achieves stable and adaptive clamping through its symmetrical gear-linkage mechanism to accommodate different wire diameters.

[0083] Step 3: Based on the spatial requirements of the current bending shape (e.g., horizontal or vertical bending), the bending robot arm 7 performs multi-degree-of-freedom coordinated adjustments. The auxiliary arm 705 rotates relative to the second forearm 703 via its root rotary joint; the second telescopic joint 708 (essentially an electric actuator) extends and retracts; the first telescopic joint 706 (also an electric actuator) pitches and rotates relative to the rotary joint at the end of the auxiliary arm 705, and also extends and retracts itself. Through these adjustments, the bending wheel 707, installed at the end of the first telescopic joint 706, is precisely positioned to the predetermined initial position and orientation, ensuring that the axis of the bending wheel 707 is perpendicular to the conductor segment to be bent. Figure 6 As shown, this pose can be used for bending in the XY plane; as Figure 7 As shown, this pose can be used for bending in the YZ plane. If the required bending plane exceeds the direct adjustment range of the auxiliary arm 705, the first forearm 302 of the lead wire robotic arm 3 can be rotated around its axis to achieve full-angle bending capability in any plane passing through the conductor.

[0084] Step 4: The bending operation officially begins. First, the first telescopic joint 706 extends, pushing the bending wheel 707 forward, allowing the wire to enter the gap between the bending center shaft 7071 and the bending eccentric wheel 7072. Subsequently, the rotating part of the bending wheel 707 begins to rotate under the drive of its dedicated servo motor and reducer, bending the wire. The bending process is precisely divided into two stages of coordinated control: In the first stage, the second telescopic joint 708 shortens by a predetermined distance, while the bending eccentric wheel 7072 moves a distance away from the bending center axis 7071 under the drive of its moving mechanism (such as a miniature electric push rod). This is intended to slightly relax the clamping force on the conductor, effectively reduce the internal stress of the material at the beginning of the conductor bending, and prevent the insulation layer from being damaged due to excessive stress. In the second stage, the second telescopic joint 708 begins to extend, while the bending eccentric wheel 7072 moves closer to the bending center axis 7071. By gradually increasing the clamping force during the bending process, the final plastic deformation and shape shaping of the conductor at the bending point are achieved, thereby ensuring the consistency and accuracy of the bending angle and shape.

[0085] Step 5: After completing the current bending operation, the first telescopic joint 706 shortens, driving the bending wheel 707 to move backward, so that the formed wire can be smoothly removed from the gap between the bending center shaft 7071 and the bending eccentric wheel 7072.

[0086] Step 6: The control module determines whether there are any other bending operations to be completed on the current wire based on the preset processing program. If yes, proceed to step 7; if no, proceed to step 8.

[0087] Step 7: The clamping robot 704 and clamping module 308 simultaneously release the wire. Subsequently, the transmission mechanism of the wire-output robot arm 3 continues to operate, outputting a wire of the predetermined length. After wire delivery is complete, the process jumps back to step 2 to begin the next bending cycle.

[0088] Step 8: If all bending operations are completed, the clamping robot 704 and clamping module 308 release the wire. The output robot arm 3 outputs the wire to the designated position according to the final required total wire length. Subsequently, the clamping module 308 clamps the wire again, providing it with stable support. Next, the shearing module 309 operates, and its internal shearing blades, driven by a drive device (such as an electromagnet or a micro motor), cut the wire, completing the bending operation of the entire wire. The insulation debris generated during shearing falls into the insulation storage box 310 directly below for centralized processing.

[0089] Throughout the process, the camera module in interaction module 5 can be used to monitor the bending environment in real time or verify the bending results, while the display module can show the current processing program, bending parameters, or system status. The communication module supports receiving remote control commands or importing pre-planned bending programs. The warning module 4 emits audible and visual signals when the robot moves or performs critical actions to ensure the safety of on-site personnel. All actions are coordinated and controlled by the control module, ensuring the efficiency, accuracy, and automation of the entire bending process.

[0090] When no bending operation is performed, such as Figure 8 The auxiliary arm 705 can be rotated to a rearward position, so that the bending wheel 707 is away from the end of the bending robot arm 7, so as to avoid affecting the gripping robot arm 704 to perform other operations.

[0091] It should be noted that, as will be apparent to those skilled in the art, the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics thereof. The scope of the present invention is defined by the claims rather than the foregoing description.

Claims

1. An automated polyline method, the method being based on an automated polyline robot, the automated polyline robot comprising: A transmission mechanism used to transmit wires; Straightening mechanism, used to straighten conductors; Cutting module (309) for cutting wires; Clamping module (308) is used to clamp wires; Bending mechanism, used for bending wires; The automatic zigzag robot is characterized by the following features: it further includes a mobile base (1) and a body (2) mounted on the mobile base (1); the body (2) can rotate horizontally relative to the mobile base (1); an interaction module (5) is provided on the front side of the body (2), the interaction module (5) includes a shooting module and / or a display module; a communication module and a control module are provided inside the body (2), and the control module is electrically connected to the communication module and the interaction module (5) respectively; The machine body (2) is equipped with a wire-exiting robotic arm (3) and a wire-folding robotic arm (7) on its two sides respectively; the transmission mechanism, straightening mechanism, shearing module (309) and clamping module (308) are all installed on the wire-exiting robotic arm (3); the bending mechanism is a bending wheel (707) installed at the end of the wire-folding robotic arm (7). The control module is used to control the outgoing line robotic arm (3) and the folding line robotic arm (7) to work together to complete the folding line operation; The outgoing robotic arm (3) includes a first large arm (301) and a first small arm (302); The root of the first large arm (301) is connected to the side of the body (2) through a rotary joint to realize the pitch rotation of the wire-exiting robotic arm (3) relative to the body (2); The root of the first forearm (302) is connected to the end of the first upper arm (301) through a rotary joint, so as to realize the rotation of the first forearm (302) relative to the first upper arm (301) around the central axis of the length direction of the first upper arm (301); The transmission mechanism, straightening mechanism, shearing module (309) and clamping module (308) are all installed on the inner side of the first forearm (302); The zigzag robotic arm (7) includes a rotating base (701), a second large arm (702), and a second small arm (703); One end of the rotating seat (701) is connected to the side of the body (2) via a rotating joint to realize the pitch rotation of the zigzag robotic arm (7) relative to the body (2); The root of the second upper arm (702) is connected to the other end of the rotating seat (701) via a rotary joint to enable the second upper arm (702) to rotate horizontally relative to the rotating seat (701); The second boom (702) is a telescopic boom; The root of the second forearm (703) is connected to the end of the second upper arm (702) via a rotary joint to enable the second forearm (703) to rotate horizontally relative to the second upper arm (702); The end of the second forearm (703) is equipped with a gripping manipulator (704) and the bending wheel (707); a bending center shaft (7071) is provided at the center of the rotating part of the bending wheel (707), and a bending eccentric wheel (7072) is also installed on the rotating part through a moving mechanism. The moving mechanism is used to adjust the distance between the bending eccentric wheel (7072) and the bending center shaft (7071); The bending wheel (707) is mounted on the second forearm (703) via the first telescopic joint (706) and the auxiliary arm (705); The root of the first telescopic joint (706) is installed at the end of the auxiliary arm (705), and the bending wheel (707) is installed at the end of the first telescopic joint (706); the root of the first telescopic joint (706) is connected to the end of the auxiliary arm (705) through a rotary joint, so as to realize the pitch rotation of the first telescopic joint (706) and the bending wheel (707) relative to the auxiliary arm (705); A rotary joint is provided between the root of the auxiliary arm (705) and the second forearm (703) to enable the auxiliary arm (705) to pitch and rotate relative to the second forearm (703); The root of the auxiliary arm (705) is mounted on the second forearm (703) in sequence via the second telescopic joint (708) and the rotary joint; The automatic polyline method specifically includes: The mobile base (1) of the automatic folding robot moves to the work site, and then controls the line-leading robotic arm (3) and the folding robotic arm (7) of the automatic folding robot to work together to complete the folding action according to the folding requirements: Step 1: The second upper arm (702) of the folding robot arm (7) extends, and the second upper arm (702) and the second lower arm (703) rotate so that the gripping robot hand (704) is located directly in front of the wire-out end of the first lower arm (302); Step 2: When the wire extension length meets the current fold line requirement, the clamping robot (704) and clamping module (308) clamp the wire; Step 3: According to the requirements of the fold line, the initial position and direction of the bending wheel (707) are adjusted by the rotation of the auxiliary arm (705) relative to the second forearm (703), the extension and retraction of the second telescopic joint (708), the rotation of the first telescopic joint (706) relative to the auxiliary arm (705), and its own extension and retraction. At this time, the axis of the bending wheel (707) is perpendicular to the guide wire. Step 4: The first telescopic joint (706) extends, allowing the wire to enter the gap between the bending center shaft (7071) and the bending eccentric wheel (7072). Then, the rotating part of the bending wheel (707) rotates to bend the wire. The bending process is divided into two stages: In the first stage, the second telescopic joint (708) shortens by a certain distance, while the bending eccentric wheel (7072) moves away from the bending center axis (7071) by a certain distance to reduce the stress at the bend of the conductor; In the second stage, the second telescopic joint (708) extends by a certain distance, while the bending eccentric wheel (7072) moves closer to the bending center axis (7071), and the conductor is shaped at the bend by bending and clamping at the same time. Step 5: The first telescopic joint (706) shortens, allowing the wire to be withdrawn from the gap between the bending center shaft (7071) and the bending eccentric wheel (7072); Step 6: Determine if there are any other bending operations to be completed on the current wire. If so, proceed to step 7; otherwise, proceed to step 8. Step 7: The clamping robot (704) and clamping module (308) are released, the wire output robot (3) continues to output wires, and jumps to step 2; Step 8: The clamping robot (704) and clamping module (308) are released. After the wire output robot (3) outputs the wire to the designated position according to the wire length requirement, the clamping module (308) clamps the wire, and the cutting module (309) cuts the wire, thus completing the wire breaking operation.

2. The automatic polyline method as described in claim 1, characterized in that: The transmission mechanism includes a driven transmission wheel (306) and a driven transmission wheel (307) located on both sides of the conductor. The driven transmission wheel (306) is mounted on the first forearm (302) via a linear movement mechanism (305) to adjust the distance between the driven transmission wheel (306) and the driven transmission wheel (307). The straightening mechanism is located behind the transmission mechanism and includes multiple first straightening rollers (303) and multiple second straightening rollers (304) located on both sides of the conductor. The first straightening rollers (303) are mounted on the first forearm (302) through a linear movement mechanism (305) to adjust the distance between the first straightening rollers (303) and the second straightening rollers (304). The shearing module (309) is located on the front side of the transmission mechanism; The clamping module (308) is located in front of the shearing module (309).

3. The automatic polyline method as described in claim 2, characterized in that: The shearing module (309) is installed on the first forearm (302) by a detachable snap-fit ​​method; the inner end of the shearing module (309) is provided with a first contact, which is used to contact and cooperate with a second contact on the first forearm (302). The second contact is electrically connected to the control module, and the control module controls the shearing module (309) through a conductive circuit.

4. The automatic polyline method as described in claim 1, characterized in that: The gripping manipulator (704) includes a base (7041) mounted on the end of the second forearm (703) via a rotary joint to achieve horizontal rotation relative to the second forearm (703), and also includes two sets of symmetrically arranged gear rods (7042), gripping rods (7043) and intermediate connecting rods (7044). The roots of both gear rods (7042) are rotatably connected to the base (7041), and the gears at the roots of the two gear rods (7042) mesh with each other. The ends of the gear rods (7042) are rotatably connected to the corresponding clamping rods (7043). Each intermediate connecting rod (7044) is parallel to and of equal length to the corresponding gear rod (7042), with its root rotatably connected to the base (7041) and its end rotatably connected to the corresponding clamping rod (7043).

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