Cable coiling apparatus

Abstract

This invention belongs to the field of cable processing machinery technology, and particularly relates to cable bending and coiling equipment, including a frame, a cable conveying device, a cable pulling device, and a cable bending and coiling fixing device; the cable conveying device is mounted on the frame and includes an output end with a cutting mechanism; the cable pulling device includes a first translation mechanism, a rotating mechanism, and a first wire clamp; the first translation mechanism includes a moving end, the rotating mechanism is located at the moving end, the rotating mechanism includes a downward rotating end with a rotating arm, and the first wire clamp is located at one end of the rotating arm; the cable bending and coiling fixing device includes a second translation mechanism, a moving base, a second wire clamp, and a limiting clamp; the second translation mechanism is mounted on the frame, the moving base is connected to the second translation mechanism, and the two second wire clamps and two limiting clamps are rectangularly distributed on the moving base, with the second wire clamps positioned closer to the cable conveying device.

Description

Technical Field

[0001] This invention belongs to the field of cable processing technology, and in particular relates to a cable bending and coiling device. Background Technology

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

[0003] The cable processing steps include cutting the cable to a fixed length, cutting the outer insulation, shielding mesh, and core insulation at both ends to expose the core conductor. Finally, terminals or connectors are crimped onto both ends of the cable.

[0004] For example, Chinese invention patent application CN117424047A discloses a device for automatically assembling positive and negative connectors at both ends of a cable. The device includes a worktable, which is equipped with a first translational wire clamping mechanism, a first fixed wire clamping mechanism corresponding to the first translational wire clamping mechanism, a second translational wire clamping mechanism whose front end connects to the rear end of the first translational wire clamping mechanism, a second fixed wire clamping mechanism corresponding to the second translational wire clamping mechanism, and a cable guide plate, a wire feeding mechanism, a wire cutting mechanism, a first-end alignment and stripping mechanism, a first-end secondary alignment mechanism, a first-end terminal crimping machine, a first-end terminal dispensing machine, and a first-end terminal welding mechanism, arranged sequentially along the cable processing direction. The system includes a machine, a head-end welding inspection mechanism, a head-end connector insertion mechanism, a head-end nut tightening mechanism, a head-end connector gap inspection mechanism, a short wire turning mechanism, a short wire claw changing mechanism, a tail-end alignment mechanism, a tail-end alignment and stripping mechanism, a tail-end secondary alignment mechanism, a tail-end terminal crimping machine, a tail-end terminal dispensing machine, a tail-end terminal welding machine, a tail-end welding inspection mechanism, a tail-end connector insertion mechanism, a tail-end nut tightening mechanism, and a tail-end connector gap inspection mechanism. The wire cutting mechanism is connected to a long wire swing U-mechanism. The first and second translational wire clamping mechanisms are both used for translating and conveying the cable. The first and second fixed wire clamping mechanisms are both used for transferring and fixing the cable during cable processing.The cable is sequentially guided by a cable guide plate, fed by a cable feeding mechanism, cut into short cables by a cutting mechanism, aligned and stripped by a first-end alignment and stripping mechanism, aligned again by a second-end alignment mechanism, crimped by a first-end terminal crimping machine, glued at the crimped terminals by a first-end terminal dispensing machine, welded at the crimped terminals by a first-end terminal welding machine, inspected for weld quality by a first-end welding inspection mechanism, connected to the first-end terminal by a first-end connector insertion mechanism, tightened the connector nut by a first-end nut tightening mechanism, and checked for gap between the connector and nut by a first-end connector gap inspection mechanism. Then, a short-line turning mechanism rotates the cable's first end to its tail end for processing. A short-line changing claw mechanism, in conjunction with a second translation clamping mechanism, ensures the short cable aligns with subsequent tail-end processing stations. Finally, the tail end of the short cable is aligned by a tail-end alignment mechanism. Align the short cable ends, and then repeat the above operations at the beginning of the short cable using the tail end alignment and stripping mechanism, the tail end secondary alignment mechanism, the tail end terminal crimping machine, the tail end terminal dispensing machine, the tail end terminal welding machine, the tail end welding inspection mechanism, the tail end connector insertion mechanism, the tail end nut tightening mechanism, and the tail end connector gap inspection mechanism to complete the automatic assembly of positive and negative connectors at both ends of the short cable. If processing long cables, there is no need to use the short cable turning mechanism and the short cable changing claw mechanism, but a long cable swing U-shaped mechanism is required to bend the long cable into a U-shape before cutting. Then, the first translation clamping mechanism and the first fixed clamping mechanism cooperate, the second translation clamping mechanism and the second fixed clamping mechanism cooperate, and the second translation clamping mechanism connects with the first translation clamping mechanism to flexibly transport the cable to the corresponding workstation for processing, avoiding the difficulty of clamping the cable due to its excessive length during processing.

[0005] The long-wire U-shaped mechanism includes a U-shaped motor base connected to the tangent support plate, a U-shaped servo reducer motor connected to the U-shaped motor base, a U-shaped rotating seat connected to the output end of the U-shaped servo reducer motor, and a U-shaped clamping cylinder connected to the U-shaped rotating seat. The U-shaped servo reducer motor drives the U-shaped rotating seat to reciprocate 180 degrees. Using this technical solution, when producing long cable connectors, after the cable passes through the tangent mechanism from the cable feeding mechanism, it is clamped by the U-shaped clamping cylinder. Then, driven by the U-shaped servo reducer motor, the U-shaped rotating seat and the U-shaped clamping cylinder swing together 180 degrees, bending the cable into a U-shape, preventing excessively long cables from affecting the processing effect. When cutting is required, the first cutting cylinder drives the first cutting blade holder, and simultaneously the second cutting cylinder drives the second cutting blade holder, causing the first and second cutting blade holders to clamp the cable together until it is cut.

[0006] The aforementioned patent document discloses bending a cable into a U-shape and fixing it to two wire clamps, thereby completing the processing of both ends of the cable. However, the swing amplitude of the long-line U-shaped mechanism is fixed, so the length of the cable bent into a U-shape is also fixed, which cannot adapt to bending cables of different lengths into a U-shape. Summary of the Invention

[0007] The purpose of this invention is to provide a cable bending device that solves the problem that existing U-shaped bending mechanisms can only be used to bend cables of a certain length into a U-shape.

[0008] To achieve the above objectives, an embodiment of the present invention provides a cable bending and coiling device, including a frame, a cable conveying device, a cable pulling device, and a cable bending and coiling fixing device; the cable conveying device is disposed on the frame, and the cable conveying device includes an output end, the output end being provided with a cutting mechanism; The wire pulling device includes a first translation mechanism, a rotation mechanism, and a first wire clamp; the first translation mechanism includes a moving end, the rotation mechanism is disposed on the moving end, the rotation mechanism includes a downward rotating end, the rotating end is provided with a rotating arm, and the first wire clamp is disposed at one end of the rotating arm; The cable bending and fixing device includes a second translation mechanism, a movable base, a second wire clamp, and a limiting clamp. The second translation mechanism is mounted on the frame, and the movable base is connected to the second translation mechanism. The two second wire clamps and the two limiting clamps are arranged in a rectangular distribution on the movable base, with the second wire clamps positioned closer to the cable conveying device. The movable base is provided with two upwardly extending limiting plates, and a limiting groove is formed between the two limiting plates.

[0009] Furthermore, the first translation mechanism is located on the top side of the cable conveying device, and the first clamp is located at the front end of the output end.

[0010] Furthermore, the cable bending and fixing device also includes two sets of adjustment mechanisms, which are disposed on the movable base, and the two second wire clamps are respectively connected to the corresponding adjustment mechanisms.

[0011] Furthermore, the movable seat includes a base plate and a support cover. The base plate is connected to the second translation mechanism. The second wire clamp is disposed on the base plate. The support cover is disposed on the base plate. The support cover has a clearance groove to allow the second wire clamp and the limiting clamp to pass through. A sensor switch is provided on the side wall of the clearance groove near the cable conveying device. The sensor switch is used to detect whether the second wire clamp is holding a cable.

[0012] Furthermore, it also includes cable winding devices, mobile robotic arms, and tape wrapping machines; The cable winding device includes a cable guiding mechanism, a third translation mechanism, a cable end clamping component, a winding mechanism, and a cutting mechanism. The cable guiding mechanism includes a guide support assembly for guiding and supporting the cable. The third translation mechanism is mounted on the frame, and the cable end clamping component is mounted on the third translation mechanism. The winding mechanism includes a rotary drive component, a rotary seat, a winding positioning component, and a third cable clamp. The rotary drive component is mounted on the frame, the rotary seat is located at the rotating end of the rotary drive component, the winding positioning component is located on the rotary seat, and the two third cable clamps are respectively located on opposite sides of the same end of the rotary seat. The cutting mechanism is located on the side of the cable end clamping component away from the cable guiding mechanism. The mobile manipulator is used to clamp the cable on the cable winding device and move it to the tape winding machine; the mobile manipulator includes a translation support frame, a translation drive component, a first lifting mechanism, and a clamping assembly; the translation support frame is mounted on the frame, the translation drive component is mounted on the translation support frame, the first lifting mechanism is connected to the translation drive component, and the clamping assembly includes a first mounting plate at the bottom end of the first lifting mechanism, fourth wire clamps on both sides of the same end of the first mounting plate, and auxiliary clamps on both sides of the other end, the auxiliary clamps including two support claws, and the bottom ends of the two support claws extend with support portions opposite to each other; The tape winding machine includes a tape winding device and a positioning clamp. The positioning clamp includes four sets of fifth clamps arranged in a rectangular pattern. The fifth clamps are mounted on the machine frame.

[0013] Furthermore, the cable clamping mechanism includes a first lifting drive and a sixth cable clamp. The first lifting drive is located at the moving end of the third translation mechanism, and the sixth cable clamp is located at the lifting end of the first lifting drive. The sixth cable clamp includes a downward clamping end. The cutting mechanism is located on the side of the sixth cable clamp away from the cable guiding mechanism.

[0014] Furthermore, the cable guiding mechanism includes a lifting mechanism for lifting the output cable upwards; the lifting mechanism includes a support base, a second lifting drive component, a lifting seat, and a conveying roller assembly; the second lifting drive component is disposed on the support base, the lifting seat is connected to the second lifting drive component, the conveying roller assembly is disposed on the lifting seat, and the free end of the cable passes through the conveying roller assembly.

[0015] Furthermore, the winding mechanism also includes a second adjustment mechanism, which includes an adjustment screw and two adjustment seats, the two adjustment seats being slidably disposed on the rotating seat; the two ends of the rotating seat are provided with mounting parts, and the adjustment screw is rotatably connected to the two mounting parts; the two ends of the adjustment screw are respectively provided with a left-hand thread and a right-hand thread, and are respectively connected to one of the adjustment seats; the winding positioning member includes two limiting members, each of the adjustment seats is provided with one limiting member, the limiting member includes a downwardly extending sidewall, and the bottom end of the sidewall extends outward with a support plate.

[0016] Furthermore, the rotating base is provided with support members on both sides, and the upper end of the support member is provided with a horizontally extending support rod.

[0017] Furthermore, the mobile robotic arm also includes a second lifting mechanism and a steering component. The second lifting mechanism is connected to the translation drive, the steering component is located at the bottom end of the second lifting mechanism, and a clamping component is provided on the bottom side of the steering mechanism.

[0018] The cable bending and coiling equipment provided in this invention has at least the following technical effects: The free end of the cable is output from the output end of the cable conveying device. A first clamp clamps but does not tightly hold the free end of the cable, and extends a certain length from the output end. A rotating mechanism drives the first clamp to swing 180°, and the free end of the cable turns 180° to the clamping position of one of the second clamps. The second clamp holds the free end of the cable. A first translation mechanism drives the first clamp to translate. Under the support of the first clamp, the cable is guided and straightened until it is away from a limiting clamp position of the cable conveying device. The limiting clamp limits the cable. Then, the rotating mechanism drives the first clamp to rotate to the same straight line position as the output end, thereby guiding the cable to swing to another limiting clamp, which limits the cable. The first translation mechanism then drives the first clamp back to the original position, so that the cable passes through another second clamp, which holds the cable. Finally, the cutting mechanism cuts the cable, and the cable is fixed in a U-shape on the cable bending and fixing device. By using the first translation mechanism to drive the rotation mechanism and the first wire clamp to move, and by using the second translation mechanism to drive the moving seat and the second wire clamp on the moving seat to move and adjust the position, cables of different lengths can be bent into U-shapes. The second wire clamp and the limiting clamp position the U-shaped cables, making it easy for the robot to pick up the materials. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural diagram of the cable winding device provided in an embodiment of the present invention.

[0021] Figure 2 This is a structural diagram of the other side of the cable winding device provided in an embodiment of the present invention.

[0022] Figure 3 This is a structural diagram of the cable bending and fixing device portion of the cable winding device provided in an embodiment of the present invention.

[0023] Figure 4 This is an internal structural diagram of the cable bending and fixing device of the cable winding device provided in an embodiment of the present invention.

[0024] Figure 5 This is a structural diagram of the first clamp portion of the cable winding device provided in an embodiment of the present invention.

[0025] Figure 6 This is a structural diagram of a cable winding device provided in an embodiment of the present invention.

[0026] Figure 7 This is a structural diagram of the cable guiding mechanism of the cable winding device provided in an embodiment of the present invention.

[0027] Figure 8 This is a structural diagram of the third translation mechanism of the cable winding device provided in an embodiment of the present invention.

[0028] Figure 9 A structural diagram of the moving robot arm of the cable winding device provided in an embodiment of the present invention.

[0029] Figure 10 This is a structural diagram of the tape-winding mechanism of the cable winding device provided in an embodiment of the present invention. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated 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 intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0031] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present 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 limitations on the present invention.

[0032] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0034] In one embodiment of the cable bending and coiling device of the present invention, specifically referring to... Figures 1 to 3 The cable bending and coiling equipment includes a frame 100, a cable conveying device 200, a cable pulling device 300, and a cable bending and coiling fixing device 400. The cable conveying device 200 is mounted on the frame 100 and is used for cable conveying. The cable conveying device 200 includes an output end 201, and the output end 201 is equipped with a cutting mechanism 210 for cutting the output cable. Specifically, in this embodiment, the cable conveying device 200 and the cutting mechanism 210 are conventional technologies in this field and will not be described in detail here.

[0035] Reference Figure 3 and Figure 5The cable pulling device 300 includes a first translation mechanism 310, a rotation mechanism 320, and a first wire clamp 330. The first translation mechanism 310 includes a moving end. Specifically, the first translation mechanism 310 is an electric lead screw linear module. The rotation mechanism 320 is located at the moving end and includes a downward-facing rotating end with a rotating arm 321. The first wire clamp 330 is located at one end of the rotating arm 321. Specifically, the rotation mechanism 320 includes a rotary motor, which is fixedly mounted on the moving end of the first translation mechanism 310. Preferably, the first translation mechanism 310 is located on the top side of the cable conveying device 200, and the first wire clamp 330 is located at the front end of the output end. Specifically, the moving end of the first translation mechanism 310 has a mounting base 322 extending out of the cable conveying device 200, and the rotary motor is mounted on the mounting base 322. The first wire clamp 330 includes a lifting cylinder 331 and a parallel clamp 332, preferably a pneumatic parallel clamp. The lifting cylinder 331 is connected to the free end of the rotating arm 321, while the parallel clamp 332 is connected to the lifting cylinder 331. The parallel clamp 332 is provided with two support clamping blocks 333. When clamping the cable, the lifting cylinder 331 drives the parallel clamp 332 to descend, so that the clamping position formed by the two support clamping blocks 333 is located at the output end 201 to support the output cable.

[0036] Reference Figure 3 and Figure 4 The cable bending and fixing device 400 includes a second translation mechanism 410, a movable base 420, a second wire clamp 430, and a limiting clamp 440. The second translation mechanism 410 is mounted on the frame 100. The movable base 420 is connected to the second translation mechanism 410. The two second wire clamps 430 and the two limiting clamps 440 are arranged in a rectangular pattern on the movable base 420, with the second wire clamps 430 positioned closer to the cable conveying device 200. Specifically, the second translation mechanism 410 includes an electric linear module, preferably an electric lead screw module, mounted on the frame 100. The second wire clamp 430 includes a pneumatic parallel clamp 431 and a second clamping block 432 mounted on the pneumatic parallel clamp 431. The limiting clamp 440 includes a pneumatic clamp 441 and two limiting rods 442 set on the pneumatic clamp 441. When the pneumatic clamp 441 drives the two limiting rods 442 to clamp each other, the two limiting rods 442 form a clamping groove, which limits the cable but does not clamp the cable.

[0037] In this embodiment of the cable bending and coiling equipment, the free end of the cable is output from the output end 201 of the cable conveying device 200 and extends a certain length from the output end 201. The first clamp 330 clamps but does not tightly clamp the free end of the cable. The rotating mechanism 320 drives the rotating arm 321 to rotate, causing the first clamp 330 to swing 180°, and the free end of the cable to turn 180° so that the free end of the cable faces the cable conveying device 200 and is located in the clamping position of one of the second clamps 430, which clamps the free end of the cable. The first translation mechanism 310 drives the first wire clamp 330 to translate. Under the support of the first wire clamp 330, the cable is guided and straightened until it reaches the position of one of the limiting clamps 440, where the cable is limited. The rotation mechanism 320 then drives the first wire clamp 330 to rotate, so that the first wire clamp 330 is in the same straight line position as the output end 201. This guides the cable to swing to the clamping position of another limiting clamp 440, where the cable is limited. The first translation mechanism 310 then drives the first wire clamp 330 back to its original position, allowing the cable to pass through another second wire clamp 430, which holds the cable. Finally, the cutting mechanism 210 cuts the cable. The cable is then fixed in a U-shape on the cable bending and fixing device 400. The cable bending and coiling device in this embodiment utilizes a first translation mechanism 310 to drive the rotation mechanism 320 and the first wire clamp 330 to move, and a second translation mechanism 410 to drive the movable seat 420 and the second wire clamp 430 on the movable seat 420 to move and adjust their positions. Therefore, cables of different lengths can be bent into a U-shape, and the second wire clamp 430 and the limiting clamp 440 position the U-shaped cable, facilitating material handling by the robotic arm. Preferably, the movable seat 420 is provided with two upwardly extending limiting plates 421, forming a limiting groove 422 between the two limiting plates 421. The cable is bent into a U-shape, and the two free ends of the cable are clamped by the second wire clamp 430, while the two limiting plates 421 limit the cable within the limiting groove 422.

[0038] Furthermore, refer to Figure 4 The cable bending and fixing device 400 also includes two sets of adjustment mechanisms 450, which are mounted on the movable base 420. Two second wire clamps 430 are respectively connected to the corresponding adjustment mechanisms 450. Preferably, each adjustment mechanism 450 includes an electric screw mechanism and a connecting base 451. The connecting base 451 slidably connects the movable base 420 and the electric screw mechanism. The second wire clamps 430 are connected to the connecting base 451. Furthermore, the two sets of adjustment mechanisms 450 can be adjusted independently. Specifically, the adjustment mechanism 450 adjusts the distance between the second wire clamp 430 and the limiting clamp 440, thereby enabling cables of different lengths to be bent into a U-shape and clamping both ends of the cable for positioning. Additionally, when the cable is cut, the second wire clamp 430 located at the front end of the output end 201 can move closer to the output end 201, preventing the free end of the cable from drooping after cutting.

[0039] Furthermore, refer to Figure 3 and Figure 4 The movable seat 420 includes a base plate 423 and a support cover 424. The base plate 423 is connected to the second translation mechanism 410, and the second wire clamp 430 is disposed on the base plate 423. The support cover 424 is disposed on the base plate 423 and has a clearance groove to allow the second wire clamp 430 to pass through. A limiting plate 423 is disposed on the support cover 424. A sensor switch 460 is provided on the side wall of the clearance groove near the cable conveying device 200. The sensor switch 460 detects whether the second wire clamp 430 is holding a cable. When a cable is detected in the second wire clamp 430, the next cable bending cannot be performed.

[0040] Furthermore, referring to Figure 1 and Figure 2 The cable bending and coiling equipment can also bend longer cables to prevent them from loosening and facilitate subsequent cable transportation and processing. Specifically, it also includes a cable winding device 500, a mobile robotic arm 600, and a tape wrapping machine 700.

[0041] Reference Figure 1 , Figure 2 , Figure 6 and Figure 7The cable winding device 500 includes a cable guiding mechanism 510, a third translation mechanism 520, a cable end clamping member 530, a winding mechanism 540, and a cutting mechanism 550. The cable guiding mechanism 510 includes a guide support assembly 511, which guides and supports the cable. Specifically, the guide support assembly 511 includes multiple guide wheels. The third translation mechanism 520 is mounted on the frame 100, and the cable end clamping member 530 is mounted on the third translation mechanism 530. The winding mechanism 540 includes a rotary drive member 541, a rotary seat 542, a winding positioning member 543, and two third cable clamps 544. The rotary drive member 541 is mounted on the frame 100, the rotary seat 542 is located at the rotating end of the rotary drive member 541, the winding positioning member 543 is located on the rotary seat 542, and two third cable clamps 544 are respectively located on both sides of the same end of the rotary seat 542. The cutting mechanism 550 is located on the side of the cable end clamp 530 away from the cable guiding mechanism 510. This embodiment enables the collection of long, coiled cables. Specifically, the free end of the cable extends from the guide support assembly 511, the cable end clamp 530 clamps the end of the cable, and the third translation mechanism 520 drives the cable end clamp 530 to translate, thereby pulling the cable out. Furthermore, the rotation drive 541 drives the rotating seat 542 to rotate, causing the third clamp 544 to move away from the cable end clamp 530. The third translation mechanism 520 then drives the cable end clamp 530 to move to the position of the third clamp 544, where the cable is clamped. This ensures the cable head faces outwards from the rotating seat 542. The rotating drive 541 then drives the rotating seat 542 to rotate, causing the cable to wrap around the winding positioning member 543. When the cable reaches a certain length and the free end of the cable faces the cable guiding mechanism 510, the cutting mechanism 550 cuts the cable, thus realizing the winding and cutting of the cable. In this embodiment, the third translation mechanism 520 includes an electric linear module, and the rotating drive 541 includes a rotary motor, which drives the rotating seat 542 to rotate.

[0042] Reference Figure 1 , Figure 2 and Figure 9The mobile robotic arm 600 is used to clamp the cable on the cable winding device 500 and move it to the tape wrapping machine 700. The tape wrapping machine 700 wraps adhesive on the bent cable to fix it and prevent it from loosening. Specifically, the mobile robotic arm 600 includes a translation support frame 610, a translation drive component 620, a first lifting mechanism 630, and a clamping assembly 640. The translation support frame 610 is mounted on the frame 100, the translation drive component 620 is mounted on the translation support frame 610, and the first lifting mechanism 630 is connected to the translation drive component 620. The clamping assembly 640 includes a first mounting plate 641 disposed at the bottom end of the first lifting mechanism 630, fourth wire clamps 642 disposed on both sides of the same end of the first mounting plate 641, and auxiliary clamps 643 disposed on both sides of the other end. The auxiliary clamps 643 include two supporting claws 644, and the bottom ends of the two supporting claws 634 extend with supporting portions 635 opposite to each other. In this embodiment, the translation drive 620 drives the first lifting mechanism 630 to translate above the cable winding device 500. The first lifting mechanism 630 drives the fourth wire clamp 632 and the auxiliary clamp 633 to descend. The fourth wire clamp 632 clamps the cable, while the support portion 635 of the support claw 634 of the auxiliary clamp 633 supports and holds the cable. Then, the translation drive 620 drives the first lifting mechanism 630 and the cable to move to the tape winding machine 700.

[0043] Reference Figure 10 The tape wrapping machine 700 includes a tape wrapping device 710 and positioning clamps. The positioning clamps include four sets of fifth clamps 720 arranged in a rectangular pattern; the fifth clamps 720 are mounted on the frame 100. During wrapping, the first lifting drive mechanism 630 drives the wound cable to be placed on the fifth clamps 720, which hold the cable. Then, the tape wrapping device 710 wraps the tape around the wrapped cable. The tape wrapping device 710 is conventional technology in this field and will not be described in detail here.

[0044] Furthermore, refer to Figure 8 The cable end clamping mechanism 530 includes a first lifting drive 531 and a sixth cable clamp 532. The first lifting drive 531 is located at the moving end of the third translation mechanism 520, and the sixth cable clamp 532 is located at the lifting end of the first lifting drive 531. The sixth cable clamp 532 includes a downward clamping end. The cutting mechanism 550 is located on the side of the fourth cable clamp 532 away from the cable guiding mechanism 510. In this embodiment, after the sixth cable clamp 532 clamps the free end of the cable, the first lifting drive 531 drives the sixth cable clamp 532 to rise, allowing the sixth cable clamp 532 to move to the front end of the third cable clamp 544, thereby placing the cable in the clamping position of the third cable clamp 544.

[0045] Furthermore, refer to Figure 7The cable guiding mechanism 510 also includes a lifting mechanism 560 for lifting the output cable upwards. The lifting mechanism 560 includes a support base 561, a second lifting drive component 562, a lifting seat 563, and a conveyor roller assembly 564. The support base 561 is mounted on the frame 100, the second lifting drive component 562 is mounted on the support base 561, the lifting seat 563 is connected to the second lifting drive component 562, and the conveyor roller assembly 564 is mounted on the lifting seat 563. The free end of the cable passes through the conveyor roller assembly 564. In this embodiment, when the cable is wound around the winding positioning member 543, the second lifting drive member 562 can drive the lifting seat 563 to gradually rise. The lifting seat 563 drives the cable to rise together, allowing the cable to be wound around the winding positioning member 543 in a stacked manner. When the third clamp 544 needs to clamp the cable, the second lifting drive member 562 drives the lifting seat 563 to lift the cable upward, so that the cable avoids the third clamp 544. Then, the cable is lowered to the clamping position of the third clamp 544, where it is clamped. In this embodiment, the second lifting drive member 562 is an electric lead screw module.

[0046] Furthermore, refer to Figure 6 The winding mechanism 540 further includes a second adjustment mechanism 570, which includes an adjustment screw 571 and two adjustment seats 572, which are slidably mounted on the rotating seat 542. The rotating seat 542 has mounting parts 545 at both ends, and the adjustment screw 571 is rotatably connected to the two mounting parts 545. The two ends of the adjustment screw 571 are respectively provided with a left-hand thread and a right-hand thread, and are respectively connected to an adjustment seat 572. The winding positioning member 543 includes two limiting members, and each adjustment seat 572 is provided with a limiting member. The limiting member includes a downwardly extending sidewall, and the bottom end of the sidewall extends outward with a support plate. In this embodiment, the distance between the two limiting members can be adjusted by adjusting the screw 571, thereby adjusting the size of the coil of the cable wound on the winding positioning member 543. Preferably, the second adjustment mechanism 570 further includes a hollow motor 573, and the adjustment screw 571 passes through the hollow motor 573. The hollow motor 573 drives the adjustment screw 571 to rotate, thereby adjusting the distance between the two adjustment seats 572 to achieve electric adjustment.

[0047] Furthermore, refer to Figure 6 The rotating base 542 is also equipped with support members 546 on both sides, and the upper end of the support member 546 is provided with a horizontally extending support rod. When the cable is wound on the winding positioning member 543, the support member 546 can provide support for the middle of the cable, thus preventing the cable from sagging and becoming tangled.

[0048] Furthermore, refer to Figure 9The mobile robotic arm 600 also includes a second lifting mechanism 650 and a steering assembly 660. The second lifting mechanism 650 is connected to a translation drive 620, and the steering assembly 660 is located at the bottom end of the second lifting mechanism 650. A set of clamping assemblies 640 is provided on the bottom side of the steering mechanism 660. Specifically, the steering assembly 660 includes a motor 661 and a base plate 662. The motor is connected to the second lifting mechanism 650, and the base plate 662 is connected to the rotating shaft of the motor 661. In this embodiment, after the cable on the fifth cable clamp 720 is twisted, the cable can be clamped by the clamping assembly 640 at the bottom end of the second lifting mechanism 650, and the steering assembly 660 drives the clamping assembly 640 to rotate 180°, changing the orientation of the cable end.

[0049] Furthermore, referring to Figure 9 The translation drive 620 can be a linear motor or two sets of independent synchronous mechanisms. The first lifting mechanism 630 and the second lifting mechanism 650 are each connected to a synchronous belt mechanism. This allows the first lifting mechanism 630 and the second lifting mechanism 650 to move independently.

[0050] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

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

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

3. The cable bending and coiling equipment according to claim 1, characterized in that: The cable bending and fixing device also includes two sets of adjustment mechanisms, which are mounted on the movable base, and the two second wire clamps are respectively connected to the corresponding adjustment mechanisms.

4. The cable bending and coiling equipment according to claim 1, characterized in that: The movable seat includes a base plate and a support cover. The base plate is connected to the second translation mechanism. The second wire clamp is disposed on the base plate. The support cover is disposed on the base plate. The support cover has a clearance groove to allow the second wire clamp and the limiting clamp to pass through. A sensor switch is provided on the side wall of the clearance groove near the cable conveying device. The sensor switch is used to detect whether the second wire clamp is holding a cable.

5. The cable bending and coiling equipment according to any one of claims 1 to 4, characterized in that: It also includes cable winding devices, mobile robotic arms, and tape wrapping machines; The cable winding device includes a cable guiding mechanism, a third translation mechanism, a cable end clamping component, a winding mechanism, and a cutting mechanism. The cable guiding mechanism includes a guide support assembly for guiding and supporting the cable. The third translation mechanism is mounted on the frame, and the cable end clamping component is mounted on the third translation mechanism. The winding mechanism includes a rotary drive component, a rotary seat, a winding positioning component, and a third cable clamp. The rotary drive component is mounted on the frame, the rotary seat is located at the rotating end of the rotary drive component, the winding positioning component is located on the rotary seat, and the two third cable clamps are respectively located on opposite sides of the same end of the rotary seat. The cutting mechanism is located on the side of the cable end clamping component away from the cable guiding mechanism. The mobile manipulator is used to clamp the cable on the cable winding device and move it to the tape winding machine; the mobile manipulator includes a translation support frame, a translation drive component, a first lifting mechanism, and a clamping assembly; the translation support frame is mounted on the frame, the translation drive component is mounted on the translation support frame, the first lifting mechanism is connected to the translation drive component, and the clamping assembly includes a first mounting plate at the bottom end of the first lifting mechanism, fourth wire clamps on both sides of the same end of the first mounting plate, and auxiliary clamps on both sides of the other end, the auxiliary clamps including two support claws, and the bottom ends of the two support claws extend with support portions opposite to each other; The tape winding machine includes a tape winding device and a positioning clamp. The positioning clamp includes four sets of fifth clamps arranged in a rectangular pattern. The fifth clamps are mounted on the machine frame.

6. The cable bending and coiling equipment according to claim 5, characterized in that: The cable clamping mechanism includes a first lifting drive and a sixth cable clamp. The first lifting drive is located at the moving end of the third translation mechanism, and the sixth cable clamp is located at the lifting end of the first lifting drive. The sixth cable clamp includes a downward clamping end. The cutting mechanism is located on the side of the sixth cable clamp away from the cable guiding mechanism.

7. The cable bending and coiling equipment according to claim 5, characterized in that: The cable guiding mechanism includes a lifting mechanism for lifting the output cable upwards; the lifting mechanism includes a support base, a second lifting drive component, a lifting seat, and a conveying roller assembly; the second lifting drive component is disposed on the support base, the lifting seat is connected to the second lifting drive component, the conveying roller assembly is disposed on the lifting seat, and the free end of the cable passes through the conveying roller assembly.

8. The cable bending and coiling equipment according to claim 5, characterized in that: The winding mechanism further includes a second adjustment mechanism, which includes an adjustment screw and two adjustment seats, the two adjustment seats being slidably disposed on the rotating seat; the two ends of the rotating seat are provided with mounting parts, and the adjustment screw is rotatably connected to the two mounting parts; the two ends of the adjustment screw are respectively provided with a left-hand thread and a right-hand thread, and are respectively connected to one of the adjustment seats; the winding positioning member includes two limiting members, each of the adjustment seats is provided with one limiting member, the limiting member includes a downwardly extending sidewall, and the bottom end of the sidewall extends outward with a support plate.

9. The cable bending and coiling equipment according to claim 6, characterized in that: The rotating base is also provided with support members on both sides, and the upper end of the support member is provided with a horizontally extending support rod.

10. The cable bending and coiling equipment according to claim 5, characterized in that: The mobile robotic arm also includes a second lifting mechanism and a steering component. The second lifting mechanism is connected to the translation drive, the steering component is located at the bottom end of the second lifting mechanism, and a clamping component is provided on the bottom side of the steering mechanism.

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