Spring steel wire punching manipulator device and method
By designing a spring steel wire piercing robot, the problem of manual operation for steel wire coil replacement and winding on the take-up machine production line was solved, realizing fully automated steel wire coil bending and new I-beam winding, thus improving production efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-03-24
AI Technical Summary
In existing technologies, the replacement of wire coils and winding operations on the take-up machine production line require manual intervention, resulting in low efficiency and the inability to achieve full automation.
A spring steel wire piercing robot device was designed, including a wire clamping, wire feeding and unfeeding, and wire guiding mechanism, which is installed at the end of a six-axis robot. By clamping, rotating and guiding the steel wire, it realizes automated bending and winding operations, and combines an anti-collision and shock absorption mechanism to ensure stability.
It enables automated bending of steel wire coils and initial winding of new I-beams without manual intervention, saving labor costs and improving production efficiency.
Smart Images
Figure CN121715441A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a robotic arm, and more particularly to a device and method for a spring steel wire piercing robotic arm. Background Technology
[0002] On the take-up machine production line, after the I-beam reel is full of wire, it needs to be switched to an empty reel to start a new round of take-up. After the wire coil is fully wound, workers need to manually bend and knot the cut ends to prevent the wire coil from loosening during later transportation and affecting its quality. Then, a loading and unloading robot takes away the full reel and switches to a new empty reel. Before the empty reel is wound, workers also need to manually wind it a few times to fix the starting wire. Finally, the take-up machine is started to take up the wire. These operations result in low efficiency and cannot achieve fully automated operation. Summary of the Invention
[0003] To address the issues of low efficiency and inability to achieve full automation through manual operation, this invention provides a spring steel wire perforation robot device and method to solve the aforementioned problems.
[0004] This invention relates to a manipulator device for perforating spring steel wire, comprising a connecting plate. Below the connecting plate are sequentially arranged a wire clamping mechanism, a wire take-up and release mechanism, and a wire guide mechanism. The wire clamping mechanism includes a first opening / closing actuator and two first clamping plates installed at the opening / closing end of the first opening / closing actuator, with a first stop shaft between the two first clamping plates. The wire take-up and release mechanism includes a second opening / closing actuator and two second clamping plates installed at the opening / closing end of the second opening / closing actuator. One second clamping plate is fixedly connected to the first wire take-up and release actuator, and the other second clamping plate is fixedly connected to the second wire take-up and release actuator. The wire actuator includes a first rotary power device and a first roller located at the output end of the first rotary power device. The second wire take-up and unwinding actuator includes a second rotary power device and a second roller located at the output end of the second rotary power device. The wire guide mechanism includes a third opening and closing actuator and two transition clamps installed at the opening and closing end of the third opening and closing actuator. The inner sides of the two transition clamps are respectively provided with wire guide cylinders. Each wire guide cylinder has a semi-cylindrical cavity with a semi-circular cross-section. The two wire guide cylinders are used in conjunction. A second stop shaft is provided between the two transition clamps. The second stop shaft is located above the semi-cylindrical cavity.
[0005] Furthermore, specifically, it also includes an anti-collision and shock absorption mechanism, which includes a mounting plate, a guide rail, a slider, two tension springs, an origin slot-shaped switch and an origin plate mounted on the lower side of the mounting plate. The mounting plate has a guide rail on its lower side, and the slider is set inside the guide rail. The slider is fixedly connected to the upper surface of the connecting plate. The two tension springs are respectively located on both sides of the guide rail. One end of the tension spring is fixedly connected to the mounting plate, and the other end is mounted on the connecting plate. One end of the origin plate is mounted on the connecting plate, and the other end is located in the slot of the origin slot-shaped switch when not in operation.
[0006] Furthermore, the anti-collision and shock absorption mechanism also includes a front limiting plate and a rear limiting plate for restricting the slider from sliding out of the guide rail, and the front limiting plate and the rear limiting plate are disposed at both ends of the slider sliding direction.
[0007] To prevent the steel wire from slipping out between the first and second rollers, the outer periphery of the first roller and the outer periphery of the second roller have a matching concave-convex structure.
[0008] Method for using a spring wire perforation manipulator device.
[0009] The device is installed at the end of a six-axis robot. In its initial state, the wire clamping mechanism, wire take-up and release mechanism, and wire guide mechanism are all in the open position.
[0010] Full-line H-beam reel finishing thread piercing
[0011] First, driven by a six-axis robotic arm, the device waits at the wire take-up point on the wire laying mechanism. At this time, the first, second, and third wire clamping devices and the wire melting device on the wire laying mechanism are all in the closed state. One side of the wire feeding mechanism approaches the wire melting device to take the wire. At this time, the wire clamping mechanism, the wire feeding mechanism, and the wire feeding mechanism are all closed to clamp the wire. The wire melting device is energized to melt the wire, and the first wire clamping device and the wire melting device change from the closed state to the open state.
[0012] Then, the six-axis robot receives a signal and moves the device, clamping the wire, towards the preset position of the wire-receiving hole. It pauses briefly during the movement, the wire clamping mechanism opens, and the first and second rollers of the take-up and undo mechanism rotate in coordination, drawing the wire in until the end of the wire is inside the guide drum. The clamping mechanism then closes, and the robot moves to the preset position of the wire-receiving hole. At this point, the outlet of the guide drum is aligned with the preset position of the wire-receiving hole. The fully wound I-beam slowly rotates under the control of the servo motor, causing the wire-receiving hole on the I-beam to reach the preset position. The six-axis robot then moves the guide drum towards the wire-receiving hole. When the guide drum encounters resistance, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, and the origin plate on the connecting plate moves away from the origin slot switch. The origin slot switch sends a signal, and the six-axis robot stops moving forward with the guide drum. At this point, the wire clamping mechanism reopens, and the first and second rollers of the take-up and undo mechanism rotate in coordination, ejecting the wire from the guide drum into the wire-receiving hole.
[0013] The bending device at the other end of the wire threading point clamps the steel wire. Finally, the wire clamping mechanism, wire feeding mechanism and wire guide mechanism are opened again, and the six-axis robot brings the device to the wire threading point on the wire laying mechanism.
[0014] Hollow I-beam wheel through bottom line through hole
[0015] First, the device is ready at the wire feeding point on the wire laying mechanism. At this time, the second and third wire clamping devices on the wire laying mechanism are both closed. One side of the wire feeding mechanism approaches the second wire clamping device to pick up the wire. At this time, the wire clamping mechanism, the wire take-up and release mechanism, and the wire feeding mechanism are all closed to clamp the steel wire. The second and third wire clamping devices change from the closed state to the open state.
[0016] Then, the six-axis robot receives a signal and moves the device, clamping the wire, towards the preset position of the threading hole. It pauses briefly during the movement, the wire clamping mechanism opens, and the first and second rollers of the wire take-up and release mechanism rotate in coordination, drawing the wire in until the end of the wire is inside the guide tube. The clamping mechanism then closes, and the robot moves to the preset position of the threading hole. At this point, the outlet of the guide tube is aligned with the preset position of the threading hole. The empty I-beam wheel rotates slowly under the control of the servo motor, causing the threading hole on the I-beam wheel to reach the preset position. The six-axis robot then moves the guide tube towards the threading hole. When the guide tube encounters resistance, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, and the origin plate on the connecting plate moves away from the origin slot switch. The origin slot switch sends a signal, and the six-axis robot stops moving forward with the guide tube. At this point, the clamping mechanism reopens, and the first and second rollers of the wire take-up and release mechanism rotate in coordination, ejecting the wire from the guide tube into the threading hole.
[0017] The wire is ejected no longer than the diameter of the spool. The wire remains inside the spool. Finally, the wire clamping mechanism, wire feeding mechanism, and wire guiding mechanism are reopened. The six-axis robot then takes the device back to its origin to stand by. The above actions are repeated once the empty spool is fully wound with wire.
[0018] The advantages of the spring steel wire perforation robot device and method of the present invention are: the device successfully realizes the automated bending of the tail wire and the initial winding of the new I-beam reel without human intervention, saving labor costs and realizing the full automation of the production line, thus greatly improving efficiency. Attached Figure Description
[0019] Figure 1 This is a front view of the spring steel wire perforation robot device of the present invention.
[0020] Figure 2 yes Figure 1 Left view,
[0021] Figure 3 yes Figure 1 The bottom view,
[0022] Figure 4 This is a front view of the wire clamping mechanism of the spring steel wire perforation robot device of the present invention.
[0023] Figure 5 yes Figure 4 The right view,
[0024] Figure 6 yes Figure 4 The bottom view,
[0025] Figure 7 This is a front view of the wire feeding and taking-up mechanism of the spring steel wire perforation robot device of the present invention.
[0026] Figure 8 yes Figure 7 The right view,
[0027] Figure 9 yes Figure 7 The bottom view,
[0028] Figure 10 This is a front view of the wire guide mechanism of the spring steel wire perforation robot device of the present invention.
[0029] Figure 11 yes Figure 10 The right view,
[0030] Figure 12 yes Figure 10 The bottom view,
[0031] Figure 13This is a front view of the anti-collision and shock absorption mechanism of the spring steel wire perforation manipulator of the present invention.
[0032] Figure 14 yes Figure 13 The right view,
[0033] Figure 15 yes Figure 13 Top view,
[0034] Figure 16 This is a front view of the wire laying mechanism of the spring steel wire perforation robot device of the present invention.
[0035] Figure 17 This is a schematic diagram of the structure of the I-beam wheel of the spring steel wire perforation manipulator device of the present invention.
[0036] 1-Connecting plate, 2-Wire clamping mechanism, 3-Wire take-up and release mechanism, 4-Wire guide mechanism, 5-First opening and closing actuator, 6-First clamping plate, 7-First stop shaft, 8-Second opening and closing actuator, 9-Second clamping plate, 10-First rotary power device, 11-First roller, 12-Second rotary power device, 13-Second roller, 14-Third opening and closing actuator, 15-Transition clamping plate, 16-Wire guide cylinder, 17-Semi-cylindrical cavity, 18-Second stop shaft, 19-Mounting plate, 20-Guide rail, 21-Slider, 22-Tension spring, 23-Origin slotted switch, 24-Origin plate, 25-Front limiting plate, 26-Rear limiting plate, 27-Tail wire take-up point, 28-First wire clamping device 29-Second wire clamping device, 30-Third wire clamping device, 31-Wire melting device, 32-Tail wire piercing point, 33-Wire take-up point for thread thread, 34-Thread thread piercing point for thread thread. Detailed Implementation
[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0038] like Figure 1-17As shown, the spring steel wire piercing robot of the present invention includes a connecting plate 1. Below the connecting plate 1, a wire clamping mechanism 2, a wire take-up and release mechanism 3, and a wire guide mechanism 4 are sequentially arranged. The wire clamping mechanism 2 includes a first opening and closing actuator 5 and two first clamping plates 6 installed at the opening and closing ends of the first opening and closing actuator 5. A first stop shaft 7 is provided between the two first clamping plates 6. The wire take-up and release mechanism 3 includes a second opening and closing actuator 8 and two second clamping plates 9 installed at the opening and closing ends of the second opening and closing actuator 8. One second clamping plate 9 is fixedly connected to the first wire take-up and release actuator, and the other second clamping plate 9 is fixedly connected to the second wire take-up and release actuator. The first wire take-up and release actuator includes a first rotating... The first rotating power device 10 includes a first roller 11 located at the output end of the first rotating power device 10. The second take-up and unwinding actuator includes a second rotating power device 12 and a second roller 13 located at the output end of the second rotating power device 12. The wire guide mechanism includes a third opening and closing actuator 14 and two transition clamps 15 installed at the opening and closing ends of the third opening and closing actuator 14. The inner sides of the two transition clamps 15 are respectively provided with wire guide cylinders 16. Each wire guide cylinder 16 has a semi-cylindrical cavity 17 with a semi-circular cross section. The two wire guide cylinders 16 are used in cooperation. A second stop shaft 18 is provided between the two transition clamps 15. The second stop shaft 18 is located above the semi-cylindrical cavity 17.
[0039] It also includes an anti-collision and shock-absorbing mechanism, which includes a mounting plate 19, a guide rail 20, a slider 21, two tension springs 22, an origin slot switch 23 and an origin plate 24 mounted on the lower side of the mounting plate 19. The guide rail 20 is provided on the lower side of the mounting plate 19. The slider 21 is set in the guide rail 20 and is fixedly connected to the upper surface of the connecting plate 1. The two tension springs 22 are respectively located on both sides of the guide rail 20. One end of the tension spring 22 is fixedly connected to the mounting plate 19 and the other end is mounted on the connecting plate 1. One end of the origin plate 24 is mounted on the connecting plate 1, and the other end is located in the slot of the origin slot switch 23 when not in operation. The anti-collision and shock-absorbing mechanism also includes a front limiting plate 25 and a rear limiting plate 26 for limiting the slider from sliding out of the guide rail. The front limiting plate 25 and the rear limiting plate 26 are set at both ends of the slider 21 in the sliding direction.
[0040] The outer periphery of the first roller 11 and the outer periphery of the second roller 13 have a matching concave-convex structure.
[0041] Method for using a spring wire perforation manipulator device.
[0042] The device is installed at the end of a six-axis robot. In its initial state, the wire clamping mechanism 2, the wire take-up and release mechanism 3, and the wire guide mechanism 4 are all in the open position.
[0043] Full-line H-beam reel finishing thread piercing
[0044] First, driven by a six-axis robotic arm, the device is ready at the wire take-up point 27 on the wire laying mechanism. At this time, the first wire clamping device 28, the second wire clamping device 29, the third wire clamping device 30, and the wire melting device 31 on the wire laying mechanism are all in the closed state. One side of the wire feeding mechanism 4 approaches the wire melting device 31 to take the wire. At this time, the wire clamping mechanism 2, the wire take-up and release mechanism 3, and the wire feeding mechanism 4 are all closed to clamp the wire. The wire melting device 31 is energized to melt the wire, and the first wire clamping device 28 and the wire melting device 31 change from the closed state to the open state.
[0045] Then, the six-axis robot receives a signal and, carrying the device, clamps the steel wire and moves it towards the preset position of the wire-receiving point 32. During the movement, it pauses briefly, the wire clamping mechanism 2 opens, and the first roller 11 and the second roller 13 of the wire-receiving mechanism 3 rotate in coordination, drawing the steel wire inward until the end of the wire is drawn into the guide drum 16. The wire clamping mechanism then closes, and the robot moves to the preset position of the wire-receiving point 32. At this point, the outlet of the guide drum 16 is directly opposite the preset position of the wire-receiving point 32. The fully wound I-beam reel rotates slowly under the control of the servo motor, causing the wire to... When the wire guide spool 32 on the die reaches the preset position, the six-axis robotic arm micro-moves, carrying the wire guide spool 16 towards the wire guide spool 32. When the wire guide spool 16 encounters resistance, the tension spring 22 on the anti-collision and shock absorption mechanism is compressed, and the origin plate 24 on the connecting plate 1 moves away from the origin slot switch 23. The origin slot switch 23 gives a signal, and the six-axis robotic arm stops moving forward with the wire guide spool. At this time, the wire clamping mechanism 2 opens again, and the first roller 11 and the second roller 13 of the wire take-up and release mechanism 3 rotate in coordination, ejecting the wire from the wire guide spool into the wire guide spool 32.
[0046] The bending device at the other end of the wire-threading point 32 clamps the steel wire. Finally, the wire clamping mechanism 2, the wire feeding mechanism 3, and the wire guiding mechanism 4 are opened again, and the six-axis robot brings the device to the wire-threading point 33 on the wire-laying mechanism.
[0047] Hollow I-beam wheel through bottom line through hole
[0048] First, the device is ready at the wire feeding point 33 on the wire laying mechanism. At this time, the second wire clamping device 29 and the third wire clamping device 30 on the wire laying mechanism are both in the closed state. One side of the wire guiding mechanism 4 approaches the second wire clamping device 29 to pick up the wire. At this time, the wire clamping mechanism 2, the wire take-up and release mechanism 3, and the wire guiding mechanism 4 are all closed to clamp the wire. The second wire clamping device 29 and the third wire clamping device 30 change from the closed state to the open state.
[0049] Then, the six-axis robot receives a signal and moves the device, clamping the steel wire, towards the preset position of the threading hole 34. During the movement, it pauses briefly, the wire clamping mechanism 2 opens, and the first roller 11 and the second roller 13 of the wire take-up and release mechanism 3 rotate in coordination, drawing the steel wire inward until the end of the wire is drawn into the guide tube 16. Then, the wire clamping mechanism 2 closes, and the robot moves to the preset position of the threading hole 34. At this point, the outlet of the guide tube 16 is directly opposite the preset position of the threading hole 34. The empty I-beam wheel rotates slowly under the control of the servo motor, causing the I-beam wheel to... When the wire threading point 34 on the guide tube reaches the preset position, the six-axis robot arm moves towards the wire threading point 34 with micro-motion. When the guide tube 16 encounters resistance, the tension spring 22 on the anti-collision and shock absorption mechanism is compressed, and the origin plate 24 on the connecting plate 1 moves away from the origin slot switch 23. The origin slot switch 23 gives a signal, and the six-axis robot arm stops moving forward with the guide tube 16. At this time, the wire clamping mechanism 2 opens again, and the first roller 11 and the second roller 13 of the wire take-up and release mechanism 3 rotate in coordination, ejecting the steel wire from the guide tube 16 into the wire threading point 34.
[0050] The wire is ejected at a length not exceeding the diameter of the I-beam reel's cylinder and then stops. The wire remains inside the reel's cylinder. Finally, the wire clamping mechanism 2, the wire take-up and release mechanism 3, and the wire guide mechanism 4 reopen, and a six-axis robot returns the device to its origin for standby. The wire has a certain length within the threading hole 34, where stress exists, making it difficult for the wire to slip out. The I-beam reel rotates slowly under servo motor control, bending the wire inside the cylinder. After several turns, it gradually accelerates. The above actions are repeated once the empty I-beam reel is fully wound with wire. It is worth noting that the finishing wire hole 32 is located on the edge of the bottom surface of the I-beam reel, and the threading hole 34 is located in the middle of the I-beam reel's axial direction. The take-up portion of the I-beam reel is located to the left of the wire laying mechanism. The wire is wound onto the I-beam reel along the third wire clamping device 30, the second wire clamping device 29, the wire melting device 31, and the first wire clamping device 28.
[0051] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A spring steel wire perforation manipulator device, characterized in that: The system includes a connecting plate, below which are sequentially arranged a wire clamping mechanism, a wire take-up and release mechanism, and a wire guiding mechanism. The wire clamping mechanism includes a first opening / closing actuator and two first clamping plates installed at the opening / closing end of the first opening / closing actuator, with a first stop shaft between the two first clamping plates. The wire take-up and release mechanism includes a second opening / closing actuator and two second clamping plates installed at the opening / closing end of the second opening / closing actuator. One second clamping plate is fixedly connected to the first wire take-up and release actuator, and the other second clamping plate is fixedly connected to the second wire take-up and release actuator. The first wire take-up and release actuator includes a first... The system includes a first rotary power device and a first roller located at the output end of the first rotary power device; a second take-up and unwinding actuator includes a second rotary power device and a second roller located at the output end of the second rotary power device; the wire guide mechanism includes a third opening and closing actuator and two transition clamps installed at the opening and closing end of the third opening and closing actuator; the inner sides of the two transition clamps are respectively provided with wire guide cylinders; each wire guide cylinder has a semi-cylindrical cavity with a semi-circular cross-section; the two wire guide cylinders are used in conjunction; a second stop shaft is provided between the two transition clamps; the second stop shaft is located above the semi-cylindrical cavity.
2. The spring steel wire perforation manipulator device as described in claim 1, characterized in that: It also includes an anti-collision and shock absorption mechanism, which includes a mounting plate, a guide rail, a slider, two tension springs, an origin slot switch and an origin plate mounted on the lower side of the mounting plate. The mounting plate has a guide rail on its lower side, and the slider is set in the guide rail. The slider is fixedly connected to the upper surface of the connecting plate. The two tension springs are respectively set on both sides of the guide rail. One end of the tension spring is fixedly connected to the mounting plate, and the other end is mounted on the connecting plate. One end of the origin plate is mounted on the connecting plate, and the other end is located in the slot of the origin slot switch when not in operation.
3. The spring steel wire perforation manipulator device as described in claim 2, characterized in that: The anti-collision and shock absorption mechanism also includes a front limiting plate and a rear limiting plate for limiting the slider from sliding out of the guide rail. The front limiting plate and the rear limiting plate are disposed at both ends of the slider sliding direction.
4. The spring steel wire perforation manipulator device as described in claim 1, characterized in that: The outer periphery of the first roller and the outer periphery of the second roller have a matching concave-convex structure.
5. The method using the spring steel wire perforation manipulator device according to any one of claims 1-4, characterized in that: The device is installed at the end of a six-axis robot. In its initial state, the wire clamping mechanism, wire take-up and release mechanism, and wire guide mechanism are all in the open position. Full-line H-beam reel finishing thread piercing First, driven by a six-axis robotic arm, the device waits at the wire take-up point on the wire laying mechanism. At this time, the first, second, and third wire clamping devices and the wire melting device on the wire laying mechanism are all in the closed state. One side of the wire feeding mechanism approaches the wire melting device to take the wire. At this time, the wire clamping mechanism, the wire feeding mechanism, and the wire feeding mechanism are all closed to clamp the wire. The wire melting device is energized to melt the wire, and the first wire clamping device and the wire melting device change from the closed state to the open state. Then, the six-axis robot receives a signal and moves the device, clamping the wire, towards the preset position of the wire-receiving hole. It pauses briefly during the movement, the wire clamping mechanism opens, and the first and second rollers of the take-up and undo mechanism rotate in coordination, drawing the wire in until the end of the wire is inside the guide drum. The clamping mechanism then closes, and the robot moves to the preset position of the wire-receiving hole. At this point, the outlet of the guide drum is aligned with the preset position of the wire-receiving hole. The fully wound I-beam slowly rotates under the control of the servo motor, causing the wire-receiving hole on the I-beam to reach the preset position. The six-axis robot then moves the guide drum towards the wire-receiving hole. When the guide drum encounters resistance, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, and the origin plate on the connecting plate moves away from the origin slot switch. The origin slot switch sends a signal, and the six-axis robot stops moving forward with the guide drum. At this point, the wire clamping mechanism reopens, and the first and second rollers of the take-up and undo mechanism rotate in coordination, ejecting the wire from the guide drum into the wire-receiving hole. The bending device at the other end of the wire threading point clamps the steel wire. Finally, the wire clamping mechanism, wire feeding mechanism and wire guide mechanism are opened again, and the six-axis robot brings the device to the wire threading point on the wire laying mechanism. Hollow I-beam piercing the bottom line through the hole First, the device is ready at the wire feeding point on the wire laying mechanism. At this time, the second and third wire clamping devices on the wire laying mechanism are both closed. One side of the wire feeding mechanism approaches the second wire clamping device to pick up the wire. At this time, the wire clamping mechanism, the wire take-up and release mechanism, and the wire feeding mechanism are all closed to clamp the steel wire. The second and third wire clamping devices change from the closed state to the open state. Then, the six-axis robot receives a signal and moves the device, clamping the wire, towards the preset position of the threading hole. It pauses briefly during the movement, the wire clamping mechanism opens, and the first and second rollers of the wire take-up and release mechanism rotate in coordination, drawing the wire in until the end of the wire is inside the guide tube. The clamping mechanism then closes, and the robot moves to the preset position of the threading hole. At this point, the outlet of the guide tube is aligned with the preset position of the threading hole. The empty I-beam wheel rotates slowly under the control of the servo motor, causing the threading hole on the I-beam wheel to reach the preset position. The six-axis robot then moves the guide tube towards the threading hole. When the guide tube encounters resistance, the tension spring on the anti-collision and shock-absorbing mechanism is compressed, and the origin plate on the connecting plate moves away from the origin slot switch. The origin slot switch sends a signal, and the six-axis robot stops moving forward with the guide tube. At this point, the clamping mechanism reopens, and the first and second rollers of the wire take-up and release mechanism rotate in coordination, ejecting the wire from the guide tube into the threading hole. The wire is ejected no longer than the diameter of the spool. The wire remains inside the spool. Finally, the wire clamping mechanism, wire feeding mechanism, and wire guiding mechanism are reopened. The six-axis robot then takes the device back to its origin to stand by. The above actions are repeated once the empty spool is fully wound with wire.