Feeding and discharging equipment for automatic pay-off of cable reel

Abstract

The invention discloses feeding and discharging equipment for automatic paying-off of a cable reel. The feeding and discharging equipment comprises a rack; the fixing mechanism is mounted on the rack and used for clamping, fixing and positioning a cable reel to a working position; wherein the fixing mechanism comprises a pair of self-adaptive offset correction clamping heads and a driving assembly, the self-adaptive offset correction clamping heads can move relatively, and the driving assembly is used for driving the self-adaptive offset correction clamping heads to move relatively and lift integrally. And in the process of inserting the cable reel into the shaft hole, the initial position deviation can be automatically compensated, and the cable reel is guided to quickly reset to the coaxial state, so that the problems of clamping failure, unstable fixation or damage caused by forced insertion due to cable reel transportation or placement deviation in the prior art are solved, and the feeding positioning success rate is greatly increased.

Description

Technical Field

[0001] This invention is an automatic cable reel unloading and feeding device, belonging to the field of cable processing technology. Background Technology

[0002] Automatic cable reel unloading and feeding equipment is widely used in the production, processing and assembly of wires and cables. As cable products develop towards smaller diameter, multi-core and high precision, and as downstream automated assembly lines continuously increase their requirements for feeding efficiency and stability, achieving fully automatic cable reel unloading and precise feeding has become a key industry requirement.

[0003] In existing technologies, the cable reel unloading and loading processes mostly employ semi-automatic or manual methods, which mainly present the following interrelated technical problems: First, the cable reel's fixed positioning accuracy is insufficient. Due to the manufacturing tolerances or loading position deviations that often exist between the reel shaft hole and the clamping mechanism, eccentricity is easily generated during clamping, which in turn causes the cable reel to rotate unevenly, shake, or wobble during the cable unloading process. Secondly, the unstable rotation of the line feed directly leads to an inconsistent position of the line end and a large swing amplitude, causing frequent failures in line end detection and initial grasping or requiring repeated adjustments. Secondly, during the initial gripping and thread end posture adjustment process, the poor clamping stability and the tendency to slip or be pulled and deformed during handover cause the thread end to become tangled, loose, or drift in position during multiple rotation adjustments. Ultimately, this prevents the entire feeding process from achieving reliable full automation, requiring frequent manual intervention. This not only significantly reduces production efficiency but also increases the labor intensity of operators and poses safety hazards. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic cable reel unloading and feeding device to solve the problems in the existing technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: An automatic cable reel unloading and loading device includes: a frame; A fixing mechanism installed on the frame is used to clamp, fix and position the cable reel in the working position; The fixing mechanism includes a pair of relatively movable adaptive offset correction clamping heads and a drive assembly for driving the adaptive offset correction clamping heads to move relative to each other and to lift the entire assembly. The adaptive offset correction clamping heads are used to automatically compensate for positional deviations and guide the cable reel to return to a coaxial state during insertion into the cable reel shaft hole. The cable feeding drive mechanism mounted on the frame is used to drive the fixed cable reel to rotate through frictional contact to release the cable end and allow it to hang down naturally. A cable end detection device mounted on the frame is used to detect drooping cable ends and output a stop signal; The initial gripping mechanism installed on the frame is used to move to the position of the wire end after detecting the wire end, clamp it, and pull out the wire end. An attitude adjustment mechanism mounted on the frame is used to receive the cable end pulled by the initial gripping mechanism, gradually adjust the attitude of the cable end, and transport it to the next workstation. The attitude adjustment mechanism includes a telescopic pushing device and two rotary clamping devices. The rotary clamping devices include a first rotary clamping device and a second rotary clamping device. Both the first and second rotary clamping devices have at least one set of clamping components and a rotary driving component. The clamping components clamp the cable end, and the rotary driving component adjusts the attitude of the cable end. The first rotary clamping device receives the cable end from the initial gripping mechanism, performs an initial attitude adjustment, and hands it over to the second rotary clamping device. The second rotary clamping device performs a second attitude adjustment, and the telescopic pushing device moves the cable end to the processing position. The clamping component has a negative pressure assisted adsorption structure, which is used to generate negative pressure when clamping the wire end to enhance gripping stability, and to achieve stable docking by controlling the adsorption force when the wire end is handed over between the first rotary clamping device and the second rotary clamping device.

[0006] As a further improvement, the drive assembly includes a clamping drive device and a lifting device, wherein the lifting device is fixedly mounted on the frame and is used to control the overall lifting of the clamping drive device.

[0007] As a further improvement, the adaptive offset correction clamping head includes a cone, an offset groove inside the cone, an offset auxiliary rod inserted inside the offset groove, an elastic component disposed between the offset groove and the offset auxiliary rod, and a locking seat with a conical guide groove disposed inside the offset groove, wherein the end of the offset auxiliary rod matches the shape of the conical guide groove.

[0008] As a further improvement, the cable feeding drive mechanism includes a friction wheel, a rotary drive device for driving the friction wheel to rotate, and a telescopic device for controlling the lateral movement of the friction wheel to fit the outer circumference of the cable reel, the telescopic device being mounted on the frame.

[0009] As a further improvement, the wire end detection device is a wire end positioning sensor fixedly mounted on the frame.

[0010] As a further improvement, the initial gripping mechanism includes a guide component that can reciprocate on the frame in a predetermined direction, a pair of positioning claws that can move laterally relative to each other, a lateral drive component that drives the positioning claws to move relative to each other, and a propulsion component that drives the guide component to reciprocate.

[0011] As a further improvement, the lateral drive component includes a reversible motor and a bidirectional threaded rod with opposite thread directions connected to the reversible motor, wherein the pair of positioning claws are respectively threaded into the corresponding thread segments of the bidirectional threaded rod.

[0012] As a further improvement, the first rotary clamping device performs a first posture adjustment by rotating the vertically downward Y-axis head by 90° to adjust it to the horizontal Z-axis direction, and the second rotary clamping device performs a second posture adjustment by rotating the Z-axis horizontal head by 90° to adjust it to the horizontal X-axis direction.

[0013] As a further improvement, the clamping component includes a pair of claws and a cylinder component that drives the pair of claws to move closer together for clamping. The rotary drive component is used to drive the cylinder component and the claws to rotate as a whole.

[0014] As a further improvement, the negative pressure assisted adsorption structure includes multiple layers of rubber sheets arranged on the inner side of the claw plate. The multiple layers of rubber sheets are stacked from the opening inward to form a stepped shape. Each layer of rubber sheet has a cavity inside. On the side of the rubber sheet facing the clamping center, there is an opening groove that communicates with the cavity. The opening groove has an arc-shaped concave structure and the thickness gradually decreases from the inside to the outside. During the clamping process, the gas in the cavity is squeezed out to form a negative pressure. Under a preset traction force, air is drawn in through the deformation of the opening groove to release the negative pressure.

[0015] Beneficial effects 1. This invention, by setting a pair of adaptive offset correction clamping heads and a drive assembly for driving their relative movement and overall lifting, can automatically compensate for the initial position deviation and guide the cable reel to quickly return to a coaxial state during insertion into the cable reel shaft hole. This solves the problems in the prior art where clamping failure, unstable fixing, or damage caused by forced insertion due to cable reel transportation or placement offset is caused by the prior art. This significantly improves the success rate of loading and positioning, and the equipment's fault tolerance for inaccurate cable reel positions in actual production environments is significantly enhanced, providing a reliable foundation for subsequent cable laying and wire end processing.

[0016] 2. By employing a combination of a laterally retractable friction wheel and the outer circumference of the cable reel in the cable feeding drive mechanism, and automatically adjusting the contact pressure after the cable reel is fixed, a smooth and controllable cable end release can be achieved. This allows the cable end to hang naturally under gravity with a uniform length, avoiding slippage, tangling, or uneven release caused by poor contact in existing technologies. This improves the stability and repeatability of the cable feeding process and reduces the need for manual intervention.

[0017] 3. Through the coordinated operation of the wire end detection device and the initial gripping mechanism, the wire feeding stops immediately after the wire end hangs into place, and the positioning claw moves quickly to clamp and pull, which can realize reliable initial gripping and pulling of the wire end. This solves the problems of excessive wire end release and entanglement or gripping failure caused by detection lag or inaccurate gripping positioning in the prior art. As a result, the success rate of delivering the wire end to the attitude adjustment mechanism is significantly improved, and the automation level and efficiency of the entire wire feeding and gripping process are substantially improved.

[0018] 4. By setting up two sequentially connected rotary clamping devices through the attitude adjustment mechanism, and gradually adjusting the wire end attitude by two orthogonal 90-degree rotations, the random vertical wire end after the initial gripping can be accurately converted into a standardized horizontal attitude that matches the downstream workstation. At the same time, the negative pressure assisted adsorption structure of the clamping component forms multi-level negative pressure during clamping and handover to enhance gripping stability. This solves the problem of torsion, bending or handover disturbance caused by random wire end attitude in the existing technology, thereby achieving high-precision and disturbance-free wire end conveying, and improving the compatibility and product quality yield of downstream stripping, crimping and other processing stations.

[0019] 5. Through specific optimizations such as the matching and cooperation between the elastic floating offset auxiliary rod inside the adaptive offset correction clamping head and the conical guide groove, as well as the multi-layer stepped rubber sheet negative pressure structure of the clamping components, the equipment has greater adaptability to cope with different specifications of cable reels and various wire end surface characteristics. This avoids the defects of existing technologies that require frequent adjustment of equipment parameters or rely on large driving force to achieve reliable operation, thereby reducing equipment energy consumption and maintenance costs, and extending the service life of key components.

[0020] The aforementioned interconnected technical features form a fully automated closed-loop process from material loading and fixing, precise wire laying, reliable gripping to multi-step attitude adjustment. This completely eliminates the heavy reliance on manual labor in existing technologies, improving the efficiency of cable reel unloading and laying processes by more than 30%, significantly improving operational safety and production consistency. It is particularly suitable for the high-speed, continuous operation requirements of cable processing production lines, demonstrating high practical value and industrialization prospects. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of an automatic cable reel unloading and loading device according to the present invention.

[0023] Figure 2 This is a first partial enlarged structural schematic diagram of the main view of an automatic cable reel unloading and feeding device according to the present invention.

[0024] Figure 3 This is a schematic diagram of the cross-sectional structure of an adaptive offset correction clamping head according to the present invention.

[0025] Figure 4 This is a second enlarged structural schematic diagram of the main view of an automatic cable reel unloading and feeding device according to the present invention.

[0026] Figure 5 This is a partial enlarged structural schematic diagram of the main view of an automatic cable reel unloading and feeding device according to the present invention.

[0027] Figure 6 yes Figure 5 A magnified schematic diagram of the structural thickness at point A.

[0028] Figure 7 This is a partially enlarged schematic diagram of the three-dimensional structure of an automatic cable reel unloading and feeding device according to the present invention.

[0029] Figure 8 This is a top view schematic diagram of the initial grasping mechanism of the present invention.

[0030] Figure 9 This is a module connection diagram of an automatic cable reel unloading and loading device according to the present invention.

[0031] Components: 1. Frame; 2. Fixing mechanism; 3. Adaptive offset correction clamping head; 4. Drive assembly; 5. Wire feeding drive mechanism; 6. Wire end detection device; 7. Initial gripping mechanism; 8. Attitude adjustment mechanism; 9. Telescopic pushing device; 10. Rotary clamping device; 10a. First rotary clamping device; 10b. Second rotary clamping device; 11. Clamping component; 12. Rotary drive component; 13. Clamping drive device; 14. Lifting device; 15. Cone; 6. Offset tube groove; 17. Offset auxiliary rod; 18. Elastic component; 19. Conical guide groove; 20. Lock seat; 21. Cable reel; 22. Rotary drive device; 23. Telescopic device; 24. Guide component; 25. Positioning claw; 26. Lateral drive component; 27. Propulsion component; 28. Forward and reverse motor; 29. ​​Bidirectional threaded rod; 30. Claw plate; 31. Cylinder component; 32. Multi-layer rubber sheet; 33. Cavity; 34. Opening groove; 35. Control unit. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 a part of the embodiments of the present invention, not all of them. 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. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. 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.

[0033] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] Reference Figure 1-9 As shown, an automatic cable reel unloading and loading device includes: Rack 1; The fixing mechanism 2 is installed on the frame 1. The fixing mechanism 2 is used to clamp, fix and position the cable reel 211 to the working position. The fixing mechanism 2 includes a pair of relatively movable adaptive offset correction clamping heads 3 and a drive assembly 4 that drives the adaptive offset correction clamping heads 3 to move relative to each other and to lift the entire assembly. The adaptive offset correction clamping heads 3 are used to automatically compensate for position deviations and guide the cable reel 211 back to the coaxial state during the insertion into the shaft hole of the cable reel 211. The cable feeding drive mechanism 5, mounted on the frame 1, is used to drive the fixed cable reel 211 to rotate through frictional contact to release the cable end and allow it to hang down naturally. The cable end detection device 6, installed on the frame 1, is used to detect drooping cable ends and output a stop signal; the initial gripping mechanism 7, installed on the frame 1, is used to move to the cable end position, clamp and pull out the cable end after detecting the cable end. The attitude adjustment mechanism 8, mounted on the frame 1, is used to receive the cable end pulled by the initial gripping mechanism 7, gradually adjust the attitude of the cable end, and transport it to the next work station. The attitude adjustment mechanism 8 includes a telescopic pushing device 9 and two rotary clamping devices 10. The rotary clamping devices 10 include a first rotary clamping device 10a and a second rotary clamping device 10b. Both the first rotary clamping device 10a and the second rotary clamping device 10b have at least one set of clamping components 11 and a rotary driving component 12. The clamping components 11 clamp the cable end, and the rotary driving component 12 adjusts the attitude of the cable end. The first rotary clamping device 10a receives the cable end from the initial gripping mechanism 7, performs an initial attitude adjustment, and hands it over to the second rotary clamping device 10b. The second rotary clamping device 10b performs a second attitude adjustment, and the telescopic pushing device 9 moves the cable end to the processing position. The clamping component 11 has a negative pressure assisted adsorption structure, which is used to generate negative pressure when clamping the wire end to enhance gripping stability, and to achieve stable docking by controlling the adsorption force when the wire end is handed over between the first rotating clamping device 10a and the second rotating clamping device 10b.

[0035] In this embodiment, a highly integrated automated mechanism enables fully unmanned operation from cable reel 211 loading and fixing, automatic wire feeding, wire end detection and grabbing to multi-step attitude adjustment, solving a series of technical problems such as fixing difficulties caused by positioning deviation, unstable wire feeding, wire end grabbing failure, and insufficient attitude adjustment accuracy.

[0036] When the equipment is in operation, the cable reel 211 is first placed in the approximate position of the frame 1 by an external conveying device or manually. The drive assembly 4 controls a pair of adaptive offset correction clamping heads 3 to move closer together and descend as a whole. During the insertion of the adaptive offset correction clamping heads 3 into the shaft hole of the cable reel 211, even if there is an initial positional deviation, the internal elastic structure can automatically compensate for the offset and guide the cable reel 211 to quickly return to a coaxial state, achieving reliable clamping and fixation. This improves the fault tolerance and success rate of feeding and positioning, and avoids repeated adjustments or forced damage caused by deviations in traditional equipment.

[0037] After the cable reel 211 is fixed, the friction wheel 21 of the cable feeding drive mechanism 5 extends laterally and fits against the outer circumference of the cable reel 211. Through frictional contact, the cable reel 211 is driven to rotate smoothly, and the cable end hangs down naturally under the action of gravity. The cable end detection device 6 monitors the hanging cable end in real time. Once the detection is in place, it outputs a stop signal to stop the cable feeding drive mechanism 5 precisely, avoiding excessive release of the cable end and causing tangling.

[0038] Subsequently, the initial gripping mechanism 7 moves rapidly along a predetermined path to the cable end position, clamps and pulls out a sufficient length of cable end using a pair of positioning claws 25, and delivers it to the attitude adjustment mechanism 8. After receiving the cable end, the first rotating clamping device 10a drives the clamping device 11 to rotate 90 degrees as a whole through the rotating drive component 12, adjusting the initially vertically downward cable end to a horizontal position; at the same time, the negative pressure auxiliary adsorption structure of the clamping device 11 generates negative pressure at the moment of clamping, significantly enhancing the gripping stability of the soft cable end and preventing slippage.

[0039] After the first rotary clamping device 10a completes one adjustment, it connects with the second rotary clamping device 10b to exchange the wire end. During the exchange, a stable, undisturbed connection is achieved by precisely controlling the negative pressure adsorption force. Subsequently, the second rotary clamping device 10b rotates 90 degrees again to adjust the wire end to another horizontal direction, ultimately forming a standardized posture suitable for downstream processing. Finally, the telescopic pushing device 9 precisely pushes the adjusted wire end to the next station, completing the entire wire feeding and unloading cycle.

[0040] Compared with existing technologies, the advantages are that the adaptive offset correction clamping head 3 solves the root cause of the feeding positioning deviation problem, ensuring a reliable basis for subsequent wire feeding, detection, and gripping processes; the combination of friction drive and sensor feedback achieves precise wire feeding, avoiding the uncontrollable wire release phenomenon of traditional equipment; and the dual rotating clamping device 10, combined with the negative pressure assisted adsorption multi-step posture adjustment mechanism, achieves high-precision conversion of the wire head from a random state to a standardized posture. The entire process requires no manual intervention, greatly improving the degree of automation, increasing production efficiency by more than 30%, significantly improving yield, and reducing the safety risks and labor intensity of operators, fully demonstrating the technological advancement of this invention.

[0041] In the fixing mechanism 2, a pair of adaptive offset correction clamping heads 3 need to move relative to each other to accommodate cable reels 211 of different widths, while simultaneously lifting as a whole to match the height position of the cable reels 211. If there is no independent overall lifting control, relying solely on the relative movement of the clamping heads can easily lead to difficulties in height alignment when loading cable reels 211 of different batches or specifications, affecting insertion efficiency and stability.

[0042] The drive assembly 4 includes a clamping drive device 13 and a lifting device 14. The lifting device 14 is fixedly installed on the frame 1 and is used to control the overall lifting of the clamping drive device 13.

[0043] In this embodiment, the lifting device 14 first adjusts the overall position of the clamping drive device 13 according to the placement height of the cable reel 211, so that a pair of adaptive offset correction clamping heads 3 are precisely aligned with the height of the shaft hole of the cable reel 211. Then, the clamping drive device 13 drives the two adaptive offset correction clamping heads 3 to move closer together, achieving insertion and clamping. The separate arrangement of the lifting device 14 and the clamping drive device 13 makes the height adjustment and lateral clamping actions independent of each other, avoiding positioning errors caused by action coupling, improving the equipment's adaptability to cable reels 211 of different specifications, and ensuring a fast and reliable loading process.

[0044] When the adaptive offset correction clamping head 3 is inserted into the shaft hole of the cable reel 211, although it has basic offset compensation capability, if it relies solely on simple conical surface guidance, it is easy to cause excessive insertion resistance or incomplete reset when the offset is large, resulting in insufficient clamping force or tilting of the cable reel 211.

[0045] Therefore, the adaptive offset correction clamping head 3 includes a cone 15, an offset groove 16 inside the cone 15, an offset auxiliary rod 17 inserted inside the offset groove 16, an elastic component 18 disposed between the offset groove 16 and the offset auxiliary rod 17, and a locking seat 20 with a conical guide groove 19 disposed inside the offset groove 16, wherein the end of the offset auxiliary rod 17 matches the shape of the conical guide groove 19.

[0046] In this embodiment, when the front end of the cone 15 contacts the edge of the shaft hole of the cable reel 211, if there is a positional deviation, the offset auxiliary rod 17 can oscillate radially within the offset groove 16. The elastic component 18 provides a restoring force, causing the end of the offset auxiliary rod 17 to gradually slide into the deepest part of the conical guide groove 19. The elastic component 18 is a spring, which is axially arranged on the inner wall of the offset groove 16 and abuts against the offset auxiliary rod 17.

[0047] Simultaneously, the conical surface of the conical guide groove 19 matches the end of the offset auxiliary rod 17, generating an axial force during insertion, forcibly guiding the cable reel 211 to return to a coaxial state. After insertion, the offset auxiliary rod 17 fully enters the bottom of the conical guide groove 19, and the elastic component 18 returns to its original shape, providing a stable axial locking force. This structure, combining elastic floating with conical self-locking, enables the clamping head to automatically correct and reliably fix itself even with large initial deviations, significantly improving the success rate of loading and the equipment's tolerance to inaccurate cable reel 211 positioning in actual production environments.

[0048] The cable feeding drive mechanism 5 drives the cable reel 211 to rotate through frictional contact. If the friction wheel is only fixed in position, changes in the specifications of the cable reel 211 or slight displacement after fixing will cause uneven contact pressure, resulting in slippage or local wear, which will affect the stability of cable feeding and the consistency of cable release.

[0049] Therefore, the cable feeding drive mechanism 5 includes a friction wheel 21, a rotary drive device 22 for driving the friction wheel 21 to rotate, and a telescopic device 23 for controlling the lateral movement of the friction wheel 21 to fit the outer circumference of the cable reel 211. The telescopic device 23 is mounted on the frame 1.

[0050] In this embodiment, after the cable reel 211 is fixed, the telescopic device 23 drives the friction wheel 21 to extend laterally until it reliably contacts the outer circumference of the cable reel 211. The contact pressure can be precisely adjusted by a cylinder or servo control. Subsequently, the rotary drive device 22 drives the friction wheel 21 to rotate, and the friction force drives the cable reel 211 to rotate smoothly and release the cable end. The telescopic device 23 enables the friction wheel 21 to automatically adapt to cable reels 211 of different diameters and compensate for minor displacements that may occur during the fixing process, ensuring uniform and constant contact pressure, avoiding slippage or excessive wear, and ensuring that the cable end hangs down naturally at a controllable speed, providing a stable premise for subsequent detection and gripping.

[0051] Since the thread end detection device 6 needs to accurately determine whether the thread end has drooped to the correct position and stop releasing the thread in time, if the detection method is not fixed or the response is delayed, it is easy to cause the thread end to be released too much, resulting in tangling, or to release too little, resulting in failure to grasp.

[0052] Therefore, the wire end detection device 6 is a wire end positioning sensor that is fixedly installed on the frame 1.

[0053] In this embodiment, the wire end positioning sensor is fixed at a predetermined position below the cable reel 211. It typically employs a photoelectric sensor or a proximity sensor, which is fixedly mounted on the frame. When the wire feeding drive mechanism 5 drives the cable reel 211 to rotate, and the wire end naturally droops and enters the sensor's detection area, the sensor immediately outputs a stop signal, controlling the wire feeding drive mechanism 5 to precisely stop. This fixed sensor structure is simple and reliable, with a fast response speed. It avoids the complexity and failure rate associated with mobile detection, ensures consistent wire length, reduces the risk of wire end tangling, and improves the automation stability of the entire process.

[0054] Since the initial gripping mechanism 7 needs to move quickly and accurately to the position of the drooping wire end and clamp it reliably, if the movement path is not guided or the clamping action is not coordinated, positioning deviation or unstable clamping may easily occur, resulting in failure to pull out the wire end or damage.

[0055] Therefore, the initial gripping mechanism 7 includes a guide component 24 that can reciprocate on the frame 1 in a predetermined direction, a pair of positioning claws 25 that can move laterally relative to each other, a lateral drive component 26 that drives the positioning claws 25 to move relative to each other, and a propulsion component 27 that drives the guide component 24 to reciprocate.

[0056] In this embodiment, after the thread end detection device 6 issues a stop signal, the propulsion component 27 drives the guide component 24 to move rapidly forward along a straight path, bringing the pair of positioning claws 25 close to the drooping thread end. Subsequently, the lateral drive component 26 drives the pair of positioning claws 25 to move closer together, clamping the thread end and pulling it out to a sufficient length. The guide component 24 ensures accurate movement trajectory, the propulsion component 27 provides rapid reciprocating power, and the lateral drive component 26 coordinates the clamping action. This multi-degree-of-freedom coordinated structure enables the initial gripping mechanism 7 to reliably position and grip soft thread ends in three-dimensional space, significantly improving the gripping success rate and operational efficiency.

[0057] If the relative movement of a pair of positioning claws 25 in the initial gripping mechanism 7 is driven independently, poor synchronization or asynchronous movement may occur, resulting in uneven clamping force or wire deflection.

[0058] Therefore, the lateral drive component 26 includes a forward and reverse motor 28 and a bidirectional threaded rod 29 with opposite thread directions connected to the forward and reverse motor 28. A pair of positioning claws 25 are threadedly engaged with the corresponding threaded segments of the bidirectional threaded rod 29. It also includes a set of guide bars 251 parallel to the bidirectional threaded rod 29 and close to both sides of the positioning claws 25. The guide bars 251 are used to assist in guiding the movement of the positioning claws 25. During the process of the wire falling, the lateral drive component 26 is moved by the push component 27 to make the wire fall between the two guide bars 251.

[0059] In this embodiment, when the forward and reverse motor 28 rotates forward, the bidirectional threaded rod 29 simultaneously drives the two positioning claws 25 to move closer together, achieving synchronous clamping; when rotating in reverse, they open synchronously. This single-motor bidirectional threaded transmission structure ensures that the movements of the two positioning claws 25 are completely synchronized, the clamping force is evenly distributed, and damage to the wire end due to excessive local force is avoided. At the same time, the structure is compact, low-cost, and easy to maintain, further improving the reliability and accuracy of the initial gripping.

[0060] The positioning claw 25 has a through hole on its side, and the internal thread of the hole matches the external thread of the bidirectional threaded rod 29.

[0061] Since the posture adjustment mechanism 8 adjusts the posture of the wire end through two rotations, if the rotation angle and direction are not clearly defined, it is easy to cause the final posture to be mismatched with the downstream workstation, affecting the accurate delivery of the wire end.

[0062] Therefore, the first rotary clamping device 10a performs a first posture adjustment, rotating the vertically downward Y-axis head by 90 degrees to adjust it to the horizontal Z-axis direction, and the second rotary clamping device 10b performs a second posture adjustment, rotating the horizontal Z-axis head by 90 degrees to adjust it to the horizontal X-axis direction.

[0063] In this embodiment, after the first rotary clamping device 10a receives the vertically downward-facing wire end delivered by the initial gripping mechanism 7, the rotary drive component 12 drives the clamping component 11 to rotate 90 degrees, turning the wire end to the horizontal direction of the Z-axis and ensuring stable transfer to the second rotary clamping device 10b. The second rotary clamping device 10b rotates another 90 degrees, adjusting the wire end to the horizontal direction of the X-axis, ultimately forming a standardized posture that perfectly matches the coordinate system of the downstream processing equipment. This setting of two orthogonal 90-degree rotations ensures the determinism and repeatability of the wire end posture transformation, avoids the uncertainty caused by random adjustments, and enables the wire end to be accurately fed into the next workstation, improving the compatibility and yield of the overall automated processing.

[0064] Since the rotary clamping device 10 needs to coordinate clamping and rotation, if the clamping component 11 and the rotary drive component 12 are driven separately, the clamping may become loose or the operation may be interfered with during rotation.

[0065] Therefore, the clamping component 11 includes a pair of claws 30, a cylinder component 31 that drives the pair of claws 30 to move closer to each other for clamping, and a rotation drive component 12 for driving the cylinder component 31 and the claws 30 to rotate as a whole.

[0066] In this embodiment, the cylinder component 31 drives a pair of claw plates 30 to quickly clamp or release the wire end, while the rotary drive component 12 directly drives the entire clamping unit, including the cylinder component 31, to rotate. This integrated rotary drive method ensures the stability of rotation in the clamping state, avoids wire slippage or attitude drift during rotation, and at the same time provides rapid action response, simple structure, and improves the accuracy and speed of attitude adjustment.

[0067] When the clamping component 11 is gripping and transferring the flexible cable end, if it relies solely on mechanical clamping, it is easy for the gripping to be unstable or for the transfer to be disturbed, resulting in the cable end slipping or shifting in posture.

[0068] Therefore, the negative pressure assisted adsorption structure includes multiple layers of rubber sheets 32 arranged inside the claw plate 30. The multiple layers of rubber sheets 32 are stacked from the opening inward to form a stepped shape. Each layer of rubber sheet 32 ​​has a cavity 33 inside. On the side of the rubber sheet 32 ​​facing the clamping center, there is an opening groove 34 that communicates with the cavity 33. The opening groove 34 has an arc-shaped concave structure and the thickness gradually decreases from the inside to the outside. During the clamping process, the gas in the cavity 33 is squeezed out to form a negative pressure. Under the preset traction force, air is drawn in through the deformation of the opening groove 34 to release the negative pressure.

[0069] In this embodiment, when a pair of claw plates 30 approach the clamping wire end, the stepped structure of the multi-layer rubber sheet 32 ​​gradually adheres to the outer surface of the wire end, squeezing the air out of the cavities 33 in each layer, forming a multi-level negative pressure adsorption, which significantly enhances the gripping force, especially suitable for smooth or soft cable ends. When the first rotary clamping device 10a and the second rotary clamping device 10b are connected, the negative pressure intensity is finely adjusted by controlling the pressure of the cylinder component 31 to achieve a flexible and stable connection, avoiding the impact caused by rigid connection. When it is necessary to release the wire end, a preset traction force is applied to deform the opening slot 34 to draw in air, quickly releasing the negative pressure and ensuring smooth release. This multi-layer stepped negative pressure structure combined with mechanical clamping greatly improves the adaptability and gripping reliability of wire ends of various specifications, while the connection process is undisturbed, ensuring high precision and success rate of posture adjustment.

[0070] Among them, the telescopic pushing device 9 is a linear actuator commonly used in the prior art, which adopts the form of electric cylinder, pneumatic cylinder or servo electric cylinder.

[0071] In this invention, the telescopic pushing device 9 is installed on the posture adjustment mechanism 8. After the second rotation clamping device 10b completes the secondary posture adjustment, it accurately pushes the cable end, which has been adjusted to a standardized horizontal posture, to the next processing station along a straight line, so as to realize the smooth transfer and precise positioning of the cable end and avoid posture deviation or length inconsistency caused by manual delivery.

[0072] The clamping drive device 13 is a common horizontal linear drive unit in the prior art, employing a combination of servo screw modules, cylinders, or bidirectional screw motors. The lifting device 14 is a commonly used vertical lifting unit in the prior art, employing hydraulic cylinders, pneumatic cylinders, electric cylinders, or servo screw lifting platforms.

[0073] In this invention, the lifting device 14 is fixedly installed on the frame 1 and is used to control the overall vertical height adjustment of the clamping drive device 13 and a pair of adaptive offset correction clamping heads 3, so that the clamping heads are accurately aligned with the shaft holes of cable reels 211 at different heights; the clamping drive device 13 is responsible for driving the pair of adaptive offset correction clamping heads 3 to move laterally relative to each other, so as to realize shaft hole insertion and clamping fixation. The separate setting of the two ensures that the height adjustment and lateral clamping actions are performed independently, which improves the adaptability of the equipment to cable reels 211 of different specifications and the loading positioning accuracy.

[0074] The rotary drive device 22 is a rotary actuator commonly used in the prior art, typically employing a servo motor, stepper motor, or rotary motor with a reducer.

[0075] In this invention, the rotary drive device 22 is used to drive the friction wheel 21 to rotate continuously and stably. Through the reliable contact between the friction wheel 21 and the outer peripheral surface of the cable reel 211, the rotational motion is converted into the smooth cable reel 211's cable feeding rotation, thereby achieving controllable release and natural drooping of the cable head and avoiding cable head entanglement or uneven release caused by speed fluctuations.

[0076] The telescopic device 23 is a commonly used lateral linear actuator in the prior art, which usually adopts a cylinder, electric push rod or servo electric cylinder.

[0077] In this invention, the telescopic device 23 is installed on the frame 1 and is used to control the friction wheel 21 to extend or retract precisely in the lateral direction, so that the friction wheel 21 automatically fits against the outer circumferential surface of the cable reel 211 after it is fixed, and maintains uniform contact through adjustable pressure, thereby ensuring the stability of friction drive and automatic adaptation to cable reels 211 of different diameters, and avoiding slippage or local wear caused by poor contact.

[0078] The guide component 24 is a linear guide unit commonly used in the prior art, which usually adopts a combination of linear guide rails, slide rails or linear bearings.

[0079] In this invention, the guide component 24 is mounted on the frame 1 to provide the initial gripping mechanism 7 with a precise reciprocating movement trajectory along a predetermined direction (usually the front-to-back direction), ensuring that the pair of positioning claws 25 have a stable and unbiased path when approaching the end of the drooping line, thereby improving the accuracy and repeatability of gripping and positioning, and avoiding positioning errors caused by free movement.

[0080] The propulsion component 27 is a linear propulsion actuator commonly used in the prior art, typically employing a cylinder, servo electric cylinder, or lead screw module.

[0081] In this invention, the propulsion component 27 is used to drive the guide component 24 and a pair of positioning claws 25 to move rapidly back and forth along the guide path. After the line end detection device 6 issues a stop signal, the positioning claws 25 are quickly sent to the line end position for clamping and traction, thereby achieving efficient response and precise approach in the initial gripping and improving the speed and reliability of the gripping action.

[0082] The cylinder component 31 is a pneumatic actuator commonly used in the prior art, usually employing a double-acting cylinder or a single-acting cylinder.

[0083] In this invention, the cylinder component 31 is installed between a pair of claw plates 30 to drive the claw plates 30 to quickly approach or open each other, thereby achieving reliable mechanical clamping and release of the cable end. In conjunction with the negative pressure assisted adsorption structure, it further enhances the clamping stability, and is especially suitable for soft or smooth cable ends, ensuring that there is no slippage during the gripping process and no disturbance during the handover.

[0084] It also includes a control unit 35, which is electrically connected to the telescopic pushing device 9, the wire end detection device 6, the clamping drive device 13, the lifting device 14, the rotation drive device 22, the telescopic device 23, the guide component 24, the propulsion component 27, the cylinder component 31, and the forward and reverse motor 28. The control unit 35 controls the coordinated movement of the above electrical appliances.

[0085] This embodiment is implemented in the same way as Embodiment 1 in terms of principle and technical effect. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in Embodiment 1.

[0086] It should be noted that the device structure and accompanying drawings of this invention mainly describe the principle of the invention. Based on this design principle, the specific details of the device's power mechanism, power supply system, and control system are not fully described. Those skilled in the art, understanding the principles of the invention, can clearly understand the specific details of its power mechanism, power supply system, and control system. The control method described in the application is automatic control via a controller, and the controller's control circuit can be easily implemented by those skilled in the art through simple programming.

[0087] All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic cable reel unloading and loading device, characterized in that, include: Rack (1); A fixing mechanism (2) is installed on the frame (1), the fixing mechanism (2) is used to clamp, fix and position the cable reel (211) to the working position; The fixing mechanism (2) includes a pair of relatively movable adaptive offset correction clamping heads (3) and a drive assembly (4) for driving the adaptive offset correction clamping heads (3) to move relative to each other and to lift the entire assembly. The adaptive offset correction clamping heads (3) are used to automatically compensate for position deviations and guide the cable reel (211) back to the coaxial state during the insertion of the cable reel (211) into the shaft hole. The cable feeding drive mechanism (5) mounted on the frame (1) is used to drive the fixed cable reel (211) to rotate by frictional contact to release the cable end so that it hangs down naturally; The cable end detection device (6) installed on the frame (1) is used to detect drooping cable ends and output a stop signal; The initial gripping mechanism (7) installed on the frame (1) is used to move to the position of the wire end after detecting the wire end, clamp and pull out the wire end; An attitude adjustment mechanism (8) installed on the frame (1) is used to receive the wire end pulled by the initial gripping mechanism (7), gradually adjust the attitude of the wire end and transport it to the next work station. The attitude adjustment mechanism (8) includes a telescopic pushing device (9) and a rotary clamping device (10). The rotary clamping device (10) includes a first rotary clamping device (10a) and a second rotary clamping device (10b). The first rotary clamping device (10a) and the second rotary clamping device (10b) each have at least one set of clamping components (11) and a rotary driving component (12). The clamping component (11) clamps the wire end of the cable and the rotary driving component (12) adjusts the attitude of the wire end. The first rotary clamping device (10a) receives the wire end from the initial gripping mechanism (7), performs an attitude adjustment, and hands it over to the second rotary clamping device (10b). The second rotary clamping device (10b) performs a second attitude adjustment and the telescopic pushing device (9) moves the wire end to the processing position. The clamping component (11) has a negative pressure assisted adsorption structure, which is used to form a negative pressure when clamping the wire end to enhance gripping stability, and to achieve stable docking by controlling the adsorption force when the wire end is handed over between the first rotating clamping device (10a) and the second rotating clamping device (10b).

2. The automatic cable reel unloading and loading device according to claim 1, characterized in that, The drive assembly (4) includes a clamping drive device (13) and a lifting device (14). The lifting device (14) is fixedly installed on the frame (1) and is used to control the overall lifting of the clamping drive device (13).

3. The automatic cable reel unloading and feeding device according to claim 1, characterized in that, The adaptive offset correction clamping head (3) includes a cone (15), an offset groove (16) inside the cone (15), an offset auxiliary rod (17) inserted inside the offset groove (16), an elastic component (18) disposed between the offset groove (16) and the offset auxiliary rod (17), and a locking seat (20) with a conical guide groove (19) disposed inside the offset groove (16), wherein the end of the offset auxiliary rod (17) matches the shape of the conical guide groove (19).

4. The automatic cable reel unloading and feeding device according to claim 1, characterized in that, The cable feeding drive mechanism (5) includes a friction wheel (21), a rotary drive device (22) for driving the friction wheel (21) to rotate, and a telescopic device (23) for controlling the lateral movement of the friction wheel (21) to fit the outer circumference of the cable reel (211). The telescopic device (23) is mounted on the frame (1).

5. The automatic cable reel unloading and feeding device according to claim 1, characterized in that, The wire end detection device (6) is a wire end positioning sensor that is fixedly installed on the frame (1).

6. The automatic cable reel unloading and feeding device according to claim 1, characterized in that, The initial gripping mechanism (7) includes a guide component (24) that can reciprocate on the frame (1) in a predetermined direction, a pair of positioning claws (25) that can move laterally relative to each other, a lateral drive component (26) that drives the positioning claws (25) to move relative to each other, and a propulsion component (27) that drives the guide component (24) to reciprocate.

7. The automatic cable reel unloading and loading device according to claim 6, characterized in that, The lateral drive component (26) includes a forward and reverse motor (28) and a bidirectional threaded rod (29) with opposite thread directions connected to the forward and reverse motor (28). A pair of positioning claws (25) are threadedly engaged with the corresponding thread segments of the bidirectional threaded rod (29).

8. The automatic cable reel unloading and feeding device according to claim 1, characterized in that, The first rotating clamping device (10a) performs a first posture adjustment, rotating the vertically downward Y-axis head by 90° to adjust it to the horizontal Z-axis direction. The second rotating clamping device (10b) performs a second posture adjustment, rotating the Z-axis horizontal head by 90° to adjust it to the horizontal X-axis direction.

9. An automatic cable reel unloading and loading device according to claim 1 or 8, characterized in that, The clamping component (11) is provided in two sets. The clamping component (11) includes a pair of claws (30) and a cylinder component (31) that drives the pair of claws (30) to move closer to each other for clamping. The rotation drive component (12) is used to drive the cylinder component (31) and the claws (30) to rotate as a whole.

10. The automatic cable reel unloading and feeding device according to claim 9, characterized in that, The negative pressure assisted adsorption structure includes multiple layers of rubber sheets (32) arranged inside the claw (30). The multiple layers of rubber sheets (32) are stacked from the opening inward to form a stepped shape. Each layer of rubber sheet (32) has a cavity (33) inside. On the side of the rubber sheet (32) facing the clamping center, there is an opening groove (34) that communicates with the cavity (33). The opening groove (34) is an arc-shaped concave structure and the thickness gradually decreases from the inside to the outside. During the clamping process, the gas in the cavity (33) is squeezed out to form a negative pressure. Under the preset traction force, air is drawn in through the deformation of the opening groove (34) to release the negative pressure.

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