Take-up system

Abstract

The application discloses a take-up system, comprising a plurality of take-up devices, a labeling machine and a transfer robot, the take-up device comprising a first rack, a take-up mechanism and a first control module, the take-up mechanism being rotatably connected to the rack, the first control module being arranged on the first rack and being electrically connected to the take-up mechanism, the labeling machine comprising a second rack, a labeling mechanism and a second control module, the second control module and the labeling mechanism being arranged on the second rack, the labeling mechanism being used for labeling on a finished bobbin, the second control module being electrically connected to the labeling mechanism, the transfer robot comprising a moving base, a mechanical hand, a clamping assembly, a visual camera and a third control module, the clamping assembly and the visual camera being installed on the moving base through the mechanical hand, the third control module being arranged on the moving base, the number of configurations of the mechanical hand and the labeling device can be reduced, and thus the production and manufacturing cost of the whole take-up system is reduced.

Description

Technical Field

[0001] This invention relates to the field of cable winding technology, and in particular to a winding system. Background Technology

[0002] As is well known, take-up devices typically use a take-up spool to gather cables into finished spools. To achieve automated take-up, a take-up system includes a robotic arm, a take-up device, and a labeling device. The robotic arm is used for automatic loading of the take-up spool and automatic unloading of the finished spools. After the take-up spool is loaded, the take-up device drives it to rotate, automatically winding up the cable. Once winding is complete, the take-up device stops, the robotic arm removes the finished spool, and transfers it to the labeling device for affixing labels. Because each take-up device requires an independent robotic arm and labeling device, the manufacturing cost of the take-up system increases. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a take-up system that can reduce the manufacturing cost of the take-up system.

[0004] According to an embodiment of the present invention, a take-up system is used to take up yarn on a take-up spool to form a finished yarn spool, the take-up system comprising: Multiple take-up devices are arranged in a row. Each take-up device includes a first frame, a take-up mechanism, and a first control module. The take-up mechanism is rotatably connected to the frame and is used to install a take-up shaft and drive the take-up shaft to take up the wire. The first control module is located on the first frame and is electrically connected to the take-up mechanism. The first control module is used to control the start and stop of the take-up mechanism. A labeling machine includes a second frame, a labeling mechanism, and a second control module. The second control module and the labeling mechanism are both located on the second frame. The labeling mechanism is used to apply labels to finished product spools. The second control module is electrically connected to the labeling mechanism and is used to control the start and stop of the labeling mechanism. A handling robot includes a mobile base, a robotic arm, a gripping assembly, a vision camera, and a third control module. The gripping assembly and the vision camera are both mounted on the mobile base via the robotic arm. The gripping assembly is used to grip the take-up spool, and the vision camera is used to locate the position of the take-up mechanism or the labeling mechanism. The third control module is located on the mobile base, and the robotic arm, the gripping assembly, the vision camera, the first control module, and the second control module are all electrically connected to the third control module. In this process, after the take-up mechanism of any of the take-up devices causes the take-up spool to stop taking up the thread, the first control module sends a first communication signal to the third control module. The third control module then causes the movable base to move to the take-up device where take-up has stopped. The third control module also controls the vision camera to identify the position of the finished spool and generate a first position signal. Based on the first position signal, the third control module controls the robotic arm and the clamping assembly to remove the finished spool. Then, the third control module controls the robotic arm and the clamping assembly to remove the take-up spool and install it onto the take-up mechanism. The take-up mechanism then causes the take-up spool to start taking up the thread. The third control module then causes the movable base to move to the labeling machine. The third control module sends a second communication signal to the second control module, and the third control module controls the vision camera to identify the position of the labeling mechanism and generate a second position signal. Based on the second position signal, the third control module controls the robotic arm and the clamping assembly to install the finished spool onto the labeling mechanism.

[0005] The wire take-up system according to embodiments of the present invention has at least the following beneficial effects: In some embodiments of the present invention, the robotic arm includes a connecting arm, a rotating arm, a rotating frame, a lifting seat, a first driving member, a second driving member, and a third driving member. The connecting arm is mounted on the movable base. One end of the rotating arm is rotatably connected to the connecting arm. The first driving member is mounted on the connecting arm and is used to drive the rotating arm to rotate. The rotating frame is mounted on the end of the rotating arm away from the connecting arm. The second driving member is mounted on the rotating arm and is used to drive the rotating frame to rotate. The lifting seat is vertically and vertically mounted on the rotating frame. The third driving member is mounted on the rotating frame and is used to drive the lifting seat to rise and fall. The clamping assembly is mounted on the lifting seat and is used to clamp the take-up spool. The vision camera is mounted on the rotating frame.

[0006] In some embodiments of the present invention, the take-up mechanism includes a fourth driving member, a turntable, a first positioning member, and a second positioning member. The fourth driving member is used to drive the turntable to rotate. The first positioning member is connected to the center of the turntable, and the second positioning member is connected to the turntable and is located around the first positioning member. Specifically, after the visual camera positions the first positioning member, the first driving member and the movable base jointly drive the take-up shaft to move to be coaxial with the first positioning member. The third driving member drives the lifting seat to descend so that the take-up shaft abuts against the second positioning member and the first positioning member passes through the positioning hole of the take-up shaft. The second driving member drives the rotating frame to rotate so that the second positioning member passes through the limiting hole of the take-up shaft.

[0007] In some embodiments of the present invention, a spring is provided between the second positioning member and the turntable. During the process of the third driving member driving the lifting seat to descend, the lifting seat first descends at a first speed so that the distance between the lower end of the take-up shaft and the second positioning member is a first distance. Then, the lifting seat descends at a second speed so that the lower end of the take-up shaft abuts against the second positioning member and compresses the spring. The first speed is greater than the second speed.

[0008] In some embodiments of the present invention, the output shaft of the third drive member is connected to a gear, and the lifting seat is connected to a rack that meshes with the gear.

[0009] In some embodiments of the present invention, the robotic arm further includes a fifth driving member and a lead screw, the connecting arm is movably mounted on the movable base, the fifth driving member is mounted on the movable base, the output shaft of the fifth driving member is connected to the lead screw, and the lead screw passes through the connecting arm and is threadedly connected to the connecting arm, and the fourth driving member drives the connecting arm to move up and down through the lead screw.

[0010] In some embodiments of the present invention, the plurality of take-up devices include at least two first take-up devices and second take-up devices arranged along a first direction, the first take-up devices and the second take-up devices being spaced apart along a second direction to form a channel, the transport robot being movably disposed within the channel, and the take-up mechanisms of the first take-up devices and the second take-up devices both facing the channel, the first direction and the second direction being perpendicular to each other.

[0011] In some embodiments of the present invention, the take-up system further includes an loading rack and an unloading rack. The loading rack is located on one side of the first take-up device along the first direction, and the unloading rack is located on one side of the second take-up device along the first direction. The robot arm removes the take-up spool from the loading rack to install the take-up spool onto the take-up mechanism. After the finished spool is labeled by the labeling mechanism, the second control module sends a third communication signal to the third control module to control the handling robot to transfer the finished spool to the unloading rack.

[0012] In some embodiments of the present invention, the movable base is provided with a plurality of support portions for supporting the take-up spool or the finished spool. After the robot arm removes the finished spool from the take-up mechanism, the third control module controls the robot arm to place the finished spool into the empty support portion. The robot arm then removes the take-up spool located in the support portion and installs the take-up spool onto the take-up mechanism.

[0013] In some embodiments of the present invention, the take-up system further includes a feeding rack. After the vision camera captures images of multiple carriers carrying the finished spools, the third control module controls the movable base to move to the feeding rack, and the robot arm transfers each of the finished spools from the carrier to the feeding rack.

[0014] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the wire take-up system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the handling robot according to an embodiment of the present invention; Figure 3 for Figure 2 A magnified view of part A in the middle; Figure 4 This is a schematic diagram of the structure of the take-up device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the take-up shaft according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the take-up shaft from another perspective, representing an embodiment of the present invention.

[0016] Figure label: First take-up device 101, second take-up device 102, channel 103, first frame 110, take-up mechanism 120, turntable 121, first positioning component 122, second positioning component 123; Labeling machine 200, second frame 210, labeling mechanism 220; The system includes a handling robot 300, a mobile base 310, a load-bearing unit 311, a robotic arm 320, a connecting arm 321, a rotating arm 322, a rotating frame 323, a lifting seat 324, a first drive component 325, a second drive component 326, a third drive component 327, a gear 328, a rack 329, a clamping assembly 330, a vision camera 340, a fifth drive component 351, and a lead screw 352. Loading rack 410, unloading rack 420; Take-up spool 500, positioning hole 510, limiting hole 520. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0019] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0020] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0021] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] As mentioned earlier, take-up equipment typically uses a take-up spool to gather cables into finished spools. To achieve automated take-up, the take-up system includes a robotic arm, a take-up device, and a labeling device. The robotic arm is used for automatic loading of the take-up spool and automatic unloading of the finished spools. After the take-up spool is loaded, the take-up device drives it to rotate, automatically winding up the cable. Once winding is complete, the take-up device stops, the robotic arm removes the finished spool, and transfers it to the labeling device for affixing labels. Because each take-up device requires an independent robotic arm and labeling device, the manufacturing cost of the take-up system increases.

[0023] Reference Figures 1 to 6This invention provides a take-up system for taking up yarn from a take-up spool 500 to form a finished yarn spool. The take-up system includes multiple take-up devices, a labeling machine 200, and a handling robot 300. Each take-up device includes a first frame 110, a take-up mechanism 120, and a first control module. The take-up mechanism 120 is rotatably connected to the frame and is used to mount and drive the take-up spool 500 to take up yarn. The first control module is located on the first frame 110 and electrically connected to the take-up mechanism 120. The first control module is used to control the start and stop of the take-up mechanism 120. The labeling machine 200 includes a second frame 210, a labeling mechanism 220, and a second control module. Both the labeling module and the labeling mechanism 220 are located on the second frame 210. The labeling mechanism 220 is used to affix labels to the finished spools. The second control module is electrically connected to the labeling mechanism 220 and is used to control the start and stop of the labeling mechanism 220. The handling robot 300 includes a mobile base 310, a robotic arm 320, a gripping assembly 330, a vision camera 340, and a third control module. The gripping assembly 330 and the vision camera 340 are both mounted on the mobile base 310 via the robotic arm 320. The gripping assembly 330 is used to grip the take-up spool 500, and the vision camera 340 is used to position the take-up mechanism 120 or the labeling mechanism 220. The third control module is located on the mobile base 310. 0. The robotic arm 320, gripping assembly 330, vision camera 340, first control module, and second control module are all electrically connected to the third control module. After the take-up mechanism 120 of any take-up device drives the take-up shaft 500 to stop take-up, the first control module sends a first communication signal to the third control module. The third control module then drives the movable base 310 to move to the take-up device where take-up has stopped. The third control module also controls the vision camera 340 to identify the position of the finished spool and generate a first position signal. Based on the first position signal, the third control module controls the robotic arm 320 and gripping assembly 330 to remove the finished spool. Afterward, the third control module controls the robotic arm 320 and... The clamping assembly 330 removes the take-up spool 500 and installs it onto the take-up mechanism 120. The take-up mechanism 120 drives the take-up spool 500 to start take-up. The third control module drives the movable base 310 to move to the labeling machine 200. The third control module sends a second communication signal to the second control module, and the third control module controls the vision camera 340 to identify the position of the labeling mechanism 220 and generate a second position signal. Based on the second position signal, the third control module controls the robot arm 320 and the clamping assembly 330 to install the finished spool onto the labeling mechanism 220. In this way, the number of robot arms 320 and labeling equipment can be reduced, thereby reducing the production cost of the entire take-up system.

[0024] For example, when the take-up system is working, the third control module controls the movable base 310 to move to the first frame 110 of any take-up device. The third control module controls the vision camera 340 to identify the position of the take-up mechanism 120 and generate a second position signal. Based on the second position signal, the third control module controls the robot arm 320 to install the take-up spool 500 onto the take-up mechanism 120. The first control module controls the take-up mechanism 120 to drive the take-up spool 500 to rotate to take up the cable. After the cable is taken up, the first control module sends a first communication signal to the third control module. The third control module drives the movable base 310 to move to the take-up device where take-up has stopped, and the third control module controls the vision camera 340 to identify the position of the finished spool and generate a first position signal. Based on the first position signal, the third control module controls... The robotic arm 320 and clamping assembly 330 remove the finished spool. Then, the third control module controls the robotic arm 320 and clamping assembly 330 to remove the take-up spool 500 and install the take-up spool 500 onto the take-up mechanism 120. The take-up mechanism 120 drives the take-up spool 500 to start take-up. The third control module drives the movable base 310 to move to the labeling machine 200. The third control module sends a second communication signal to the second control module, and the third control module controls the vision camera 340 to identify the position of the labeling mechanism 220 and generate a second position signal. According to the second position signal, the third control module controls the robotic arm 320 and clamping assembly 330 to install the finished spool onto the labeling mechanism 220. In this way, the number of robotic arms 320 and labeling equipment can be reduced, thereby reducing the production cost of the entire take-up system.

[0025] In this embodiment, the robotic arm 320 includes a connecting arm 321, a rotating arm 322, a rotating frame 323, a lifting seat 324, a first driving member 325, a second driving member 326, and a third driving member 327. The connecting arm 321 is mounted on the movable base 310. One end of the rotating arm 322 is rotatably connected to the connecting arm 321. The first driving member 325 is mounted on the connecting arm 321 and is used to drive the rotating arm 322 to rotate. The rotating frame 323 is mounted on the end of the rotating arm 322 away from the connecting arm 321. The second driving member 326 is mounted on the rotating arm 322 and is used to drive the rotating frame 323 to rotate. The lifting seat 324 is vertically and vertically mounted on the rotating frame 323. The third driving member 327 is mounted on the rotating frame 323. The drive unit 327 is used to drive the lifting seat 324 to rise and fall. The clamping assembly 330 is installed on the lifting seat 324 and is used to clamp the take-up spool 500. The vision camera 340 is installed on the rotating frame 323. On the one hand, the clamping assembly 330 can move flexibly and change angles in three-dimensional space, and can adapt to the height difference and angle deviation that may exist on different take-up devices, so that the robot arm 320 can automatically pick up and put down the take-up spool 500 or the finished spool. On the other hand, the vision camera 340 can follow the rotating frame 323 to move, so that the vision camera 340 can take pictures of the take-up mechanism 120 or the labeling mechanism 220 at a suitable angle and distance, which can improve the recognition efficiency of the vision camera 340, thereby improving the production efficiency of the take-up system.

[0026] In this embodiment, the take-up mechanism 120 includes a fourth driving member, a turntable 121, a first positioning member 122, and a second positioning member 123. The fourth driving member drives the turntable 121 to rotate. The first positioning member 122 is connected to the center of the turntable 121, and the second positioning member 123 is connected to the turntable 121 and is located around the first positioning member 122. After the vision camera 340 positions the first positioning member 122, the first driving member 325 and the movable base 310 jointly drive the take-up shaft 500 to move to a position aligned with the first positioning member 122. The positioning component 122 is coaxial, and the third driving component 327 drives the lifting seat 324 to descend so that the take-up shaft 500 abuts against the second positioning component 123 and the first positioning component 122 passes through the positioning hole 510 of the take-up shaft 500. The second driving component 326 drives the rotating frame 323 to rotate so that the second positioning component 123 passes through the limiting hole 520 of the take-up shaft 500. It can automatically identify and adjust the circumferential angle of the take-up shaft 500 to ensure that the limiting hole 520 and the second positioning component 123 are precisely aligned without manual assistance, thereby realizing the automated feeding of the take-up shaft 500.

[0027] In this embodiment, a spring is provided between the second positioning member 123 and the turntable 121. During the process of the third driving member 327 driving the lifting seat 324 to descend, the lifting seat 324 first descends at a first speed so that the distance between the lower end of the take-up shaft 500 and the second positioning member 123 is a first distance. Then, the lifting seat 324 descends at a second speed so that the lower end of the take-up shaft 500 abuts against the second positioning member 123 and compresses the spring. The first speed is greater than the second speed. On the one hand, it can increase the moving speed of the take-up shaft 500. On the other hand, it can reduce the impact force of the take-up shaft 500 on the second positioning member 123 to avoid damaging the spring, thereby increasing the service life of the take-up equipment and reducing the maintenance cost of the take-up equipment.

[0028] For example, when the take-up spool 500 moves above the turntable 121, the third drive member 327 drives the take-up spool 500 to descend at a first speed to a position slightly above the second positioning member 123. Then, the third drive member 327 drives the take-up spool 500 to descend at a second speed to abut against the second positioning member 123. Since the first speed is greater than the second speed, the moving speed of the take-up spool 500 can be increased, and the impact force of the take-up spool 500 on the second positioning member 123 can be reduced to avoid damaging the spring. Afterward, the second drive member 326 drives the rotating frame 323 to rotate the take-up spool 500 so that the second positioning member 123 can be aligned with the limiting hole 520 on the take-up spool 500, so that the spring can lift the second positioning member 123 so that the second positioning member 123 passes through the limiting hole 520 on the take-up spool 500, which facilitates the installation of the take-up spool 500.

[0029] It should be noted that the positioning hole 510 is coaxially arranged with the axis of the take-up shaft 500. The clamping assembly 330 includes a first clamp, a second clamp, and a clamping drive. The clamping drive is used to drive the first clamp and the second clamp to open or close. When the first clamp and the second clamp are open, the first clamp and the second clamp clamp the hole wall of the positioning hole 510 of the take-up shaft 500. This is not limited here.

[0030] In this embodiment, the output shaft of the third drive unit 327 is connected to a gear 328, and the lifting seat 324 is connected to a rack 329 that meshes with the gear 328. When clamping a heavy finished spool, the lifting seat 324 will not shake or sink, which can improve the load-bearing capacity of the handling robot 300.

[0031] For example, the rack 329 extends vertically, and the third drive unit 327 drives the gear 328 to rotate. The gear 328 drives the lifting seat 324 to rise and fall through the rack 329. When clamping a heavy finished spool, the lifting seat 324 will not shake or sink, which can improve the load-bearing capacity of the handling robot 300.

[0032] In this embodiment, the robotic arm 320 also includes a fifth driving member 351 and a lead screw 352. The connecting arm 321 is vertically mounted on the movable base 310. The fifth driving member 351 is installed on the movable base 310. The output shaft of the fifth driving member 351 is connected to the lead screw 352, and the lead screw 352 passes through the connecting arm 321 and is threadedly connected to the connecting arm 321. The fifth driving member 351 drives the connecting arm 321 to rise and fall through the lead screw 352, which can adapt to the winding equipment of different heights, thereby improving the versatility of the winding system.

[0033] In this embodiment, the multiple take-up devices include at least two first take-up devices 101 and second take-up devices 102 arranged along a first direction. The first take-up devices 101 and second take-up devices 102 are spaced apart along a second direction to form a channel 103. The handling robot 300 is movably disposed in the channel 103, and the take-up mechanisms of the first take-up devices 101 and second take-up devices 102 are both facing the channel 103. The first direction and the second direction are perpendicular to each other. On the one hand, the multiple take-up devices are reasonably arranged, which can reduce the footprint of the multiple take-up devices. On the other hand, it reduces the idle running distance and idle running time of the mobile base 310, thereby improving the production efficiency of the take-up system.

[0034] In this embodiment, the take-up system also includes a loading rack 410 and a unloading rack 420. The loading rack 410 is located on one side of the first take-up device 101 along the first direction, and the unloading rack 420 is located on one side of the second take-up device 102 along the first direction. The robot arm 320 takes the take-up spool 500 from the loading rack 410 to install the take-up spool 500 on the take-up mechanism 120. After the finished spool is labeled by the labeling mechanism 220, the second control module sends a third communication signal to the third control module so that the third control module controls the handling robot 300 to transfer the finished spool to the unloading rack 420. This allows operators to change materials in batches while the take-up device is running without stopping the machine to wait, and enables uninterrupted automated production of the take-up spool 500, thereby improving the production efficiency of the take-up system.

[0035] In this embodiment, the movable base 310 is provided with multiple support parts 311 for supporting the take-up spool 500 or the finished spool. After the robot arm 320 removes the finished spool from the take-up mechanism 120, the third control module controls the robot arm 320 to place the finished spool into the empty support part 311. The robot arm 320 takes out the take-up spool 500 located in the support part 311 and installs the take-up spool 500 on the take-up mechanism 120, which can improve the production efficiency of the take-up system.

[0036] For example, the robotic arm 320 can take out one finished spool from the take-up mechanism 120 at a time, but it does not need to immediately transfer the finished product to the labeling mechanism 220 for labeling. The finished spool can be placed on the carrier 311 first, and then the next finished spool can be taken out or a new take-up spool 500 can be installed, which can improve the production efficiency of the take-up system.

[0037] In this embodiment, the take-up system also includes a feeding rack 420. After the vision camera 340 captures images of multiple carriers 311 carrying finished spools, the third control module controls the movable base 310 to move to the feeding rack 420. The robot arm 320 transfers each finished spool from the carrier 311 to the feeding rack 420, which can process multiple finished spools in batches, reduce the travel distance of the movable base 310, and thus improve the production efficiency of the take-up system.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A take-up system for taking up wire from a take-up spool (500) to form a finished spool, characterized in that, include: Multiple take-up devices are arranged in a row. Each take-up device includes a first frame (110), a take-up mechanism (120), and a first control module. The take-up mechanism (120) is rotatably connected to the frame and is used to install a take-up shaft (500) and drive the take-up shaft (500) to take up the wire. The first control module is located on the first frame (110) and is electrically connected to the take-up mechanism (120). The first control module is used to control the start and stop of the take-up mechanism (120). A labeling machine (200) includes a second frame (210), a labeling mechanism (200), and a second control module. The second control module and the labeling mechanism (200) are both located on the second frame (210). The labeling mechanism (200) is used to apply labels to finished product spools. The second control module is electrically connected to the labeling mechanism (200) and is used to control the start and stop of the labeling mechanism (200). A handling robot (300) includes a mobile base (310), a robotic arm (320), a gripping assembly (330), a vision camera (340), and a third control module. The gripping assembly (330) and the vision camera (340) are both mounted on the mobile base (310) via the robotic arm (320). The gripping assembly (330) is used to grip the take-up spool (500), and the vision camera (340) is used to position the take-up mechanism (120) or the labeling mechanism (200). The third control module is located on the mobile base (310). The robotic arm (320), the gripping assembly (330), the vision camera (340), the first control module, and the second control module are all electrically connected to the third control module. In this process, after the take-up mechanism (120) of any of the take-up devices causes the take-up shaft (500) to stop taking up the wire, the first control module sends a first communication signal to the third control module. The third control module then causes the movable base (310) to move to the take-up device where the wire has stopped taking up the wire. The third control module also controls the vision camera (340) to identify the position of the finished spool and generate a first position signal. Based on the first position signal, the third control module controls the robotic arm (320) and the clamping assembly (330) to remove the finished spool. Afterward, the third control module controls the robotic arm (320) and the clamping assembly (330) to remove... The take-up spool (500) is installed on the take-up mechanism (120). The take-up mechanism (120) drives the take-up spool (500) to start take-up. The third control module drives the movable base (310) to move to the labeling machine (200). The third control module sends a second communication signal to the second control module. The third control module controls the vision camera (340) to identify the position of the labeling mechanism (200) and generate a second position signal. According to the second position signal, the third control module controls the robot (320) and the clamping assembly (330) to install the finished spool on the labeling mechanism (200).

2. The take-up system according to claim 1, characterized in that, The robotic arm (320) includes a connecting arm (321), a rotating arm (322), a rotating frame (323), a lifting seat (324), a first driving member (325), a second driving member (326), and a third driving member (327). The connecting arm (321) is mounted on the movable base (310). One end of the rotating arm (322) is rotatably connected to the connecting arm (321). The first driving member (325) is mounted on the connecting arm (321) and is used to drive the rotating arm (322) to rotate. The rotating frame (323) is mounted on the rotating arm (322) away from the connecting arm (321). At one end of 21), the second drive member (326) is mounted on the rotating arm (322), the second drive member (326) is used to drive the rotating frame (323) to rotate, the lifting seat (324) is movably mounted on the rotating frame (323), the third drive member (327) is mounted on the rotating frame (323), the third drive member (327) is used to drive the lifting seat (324) to rise and fall, the clamping assembly (330) is mounted on the lifting seat (324), the clamping assembly (330) is used to clamp the take-up spool (500), and the vision camera (340) is mounted on the rotating frame (323).

3. The take-up system according to claim 2, characterized in that, The take-up mechanism (120) includes a fourth driving member, a turntable (121), a first positioning member (122), and a second positioning member (123). The fourth driving member is used to drive the turntable (121) to rotate. The first positioning member (122) is connected to the center of the turntable (121), and the second positioning member (123) is connected to the turntable (121) and is located around the first positioning member (122). After the vision camera (340) positions the first positioning member (122), the first driving member (325) and the movable base (310) jointly drive the take-up shaft (500) to move to be coaxial with the first positioning member (122). The third driving member (327) drives the lifting seat (324) to descend so that the take-up shaft (500) abuts against the second positioning member (123) and the first positioning member (122) passes through the positioning hole (510) of the take-up shaft (500). The second driving member (326) drives the rotating frame (323) to rotate so that the second positioning member (123) passes through the limiting hole (520) of the take-up shaft (500).

4. The take-up system according to claim 3, characterized in that, A spring is provided between the second positioning member (123) and the turntable (121). During the process of the third driving member (327) driving the lifting seat (324) to descend, the lifting seat (324) first descends at a first speed so that the distance between the lower end of the take-up shaft (500) and the second positioning member (123) is a first distance. Then, the lifting seat (324) descends at a second speed so that the lower end of the take-up shaft (500) abuts against the second positioning member (123) and compresses the spring. The first speed is greater than the second speed.

5. The take-up system according to claim 2, characterized in that, The output shaft of the third drive unit (327) is connected to a gear (328), and the lifting seat (324) is connected to a rack (329) that meshes with the gear (328).

6. The take-up system according to claim 2, characterized in that, The robotic arm (320) also includes a fifth drive member (351) and a lead screw (352). The connecting arm (321) is vertically mounted on the movable base (310). The fifth drive member (351) is mounted on the movable base (310). The output shaft of the fifth drive member (351) is connected to the lead screw (352). The lead screw (352) passes through the connecting arm (321) and is threadedly connected to the connecting arm (321). The fourth drive member drives the connecting arm (321) to move up and down through the lead screw (352).

7. The take-up system according to claim 1, characterized in that, The plurality of take-up devices include at least two first take-up devices (101) and second take-up devices (102) arranged along a first direction. The first take-up devices (101) and the second take-up devices (102) are spaced apart along a second direction to form a channel (103). The transport robot (300) is movably disposed in the channel (103), and the take-up mechanisms of the first take-up devices (101) and the second take-up devices (102) are both facing the channel (103). The first direction and the second direction are perpendicular to each other.

8. The take-up system according to claim 7, characterized in that, The take-up system also includes a loading rack (410) and a unloading rack (420). The loading rack (410) is located on one side of the first take-up device (101) along the first direction, and the unloading rack (420) is located on one side of the second take-up device (102) along the first direction. The robot (320) takes the take-up spool (500) from the loading rack (410) to install the take-up spool (500) onto the take-up mechanism (120). After the finished spool is labeled by the labeling mechanism (200), the second control module sends a third communication signal to the third control module so that the third control module controls the handling robot (300) to transfer the finished spool to the unloading rack (420).

9. The take-up system according to claim 1, characterized in that, The movable base (310) is provided with multiple support parts (311) for carrying the take-up spool (500) or the finished spool. After the robot (320) removes the finished spool from the take-up mechanism (120), the third control module controls the robot (320) to place the finished spool into the empty support part (311). The robot (320) takes out the take-up spool (500) located in the support part (311) and installs the take-up spool (500) on the take-up mechanism (120).

10. The take-up system according to claim 9, characterized in that, The take-up system also includes a feed rack (420). After the vision camera (340) captures images of multiple carriers (311) carrying the finished spools, the third control module controls the movable base (310) to move to the feed rack (420), and the robot (320) transfers each finished spool from the carrier (311) to the feed rack (420).

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