Wire positioning take-up machine

Abstract

The utility model relates to a wire positioning take-up machine. The wire positioning take-up machine comprises a base; the rack is mounted on the base and has a degree of freedom of left-right movement relative to the base; the take-up reel is horizontally mounted on the rack, wire inserting holes are formed in the reel surface of the take-up reel, and wire penetrating holes are formed in the side surface of the take-up reel; the clamping jaw assembly comprises an XYZR four-axis manipulator and a clamping jaw module which are mounted on the rack; the clamping jaw module is used for clamping a wire rod, and under driving of the XYZR four-axis mechanical arm, the front end of the wire rod is aligned with the wire insertion hole and inserted into the wire insertion hole, or the rear end of the wire rod is aligned with the wire penetrating hole and penetrates through the wire penetrating hole. The bending assembly is used for bending the part, penetrating through the threading hole, of the rear end of the wire rod; the wire inlet guide assembly is used for limiting and guiding the wires in the left-right direction when the wires are conveyed; and the shearing assembly is used for shearing the wire rod when winding of the wire rod is completed. The wire rod positioning take-up machine can be used for inserting, winding, shearing, penetrating out and bending the wire rod, and manual operation is replaced; the take-up efficiency is improved, and the take-up quality is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of wire winding equipment, in particular to a wire positioning winding machine. Background Art

[0002] A winding machine is a device that winds wires onto a winding disc. When starting to wind wires on an empty disc, it is necessary for workers to insert the wires into the wire insertion holes on the empty disc manually; when the winding is completed, it is also necessary for workers to thread the end of the wire out of the wire outlet hole and then bend the end of the threaded wire manually. The operations of cutting, inserting, threading, and bending the wires manually result in low efficiency of the winding machine; at the same time, due to manual operation, the straightness of the wires cannot be guaranteed, affecting the quality of wire winding. Content of the Utility Model

[0003] To solve the above technical problems, the utility model provides a wire positioning winding machine, which can perform operations of inserting, winding, cutting, threading, and bending wires, with the whole process being mechanized to replace manual operation; improve the winding efficiency and ensure the winding quality.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a wire positioning winding machine, including: a base; a frame, installed on the base and having a degree of freedom of moving left and right relative to the base; a winding disc, horizontally installed on the frame, with a wire insertion hole provided on the disc surface near the side and a wire threading hole provided at a position near the outer ring on the side; a jaw assembly, installed on the frame and located behind the winding disc, including an XYZR four-axis manipulator installed on the frame and a jaw module installed at the working end of the XYZR four-axis manipulator; the jaw module is used for clamping the wire and, driven by the XYZR four-axis manipulator, aligning the front end of the wire with the wire insertion hole and inserting it or aligning the rear end of the wire with the wire threading hole and threading it through; a bending assembly, installed on the frame and located on the side of the winding disc, for bending the part of the wire rear end that passes through the wire threading hole; an incoming wire guiding assembly, fixedly installed with the base, for guiding and limiting the wire in the left-right direction during wire feeding; a cutting assembly, located in front of the incoming wire guiding assembly and relatively fixed to the incoming wire guiding assembly, for cutting the wire when the wire winding is completed.

[0005] Further, the jaw module includes a jaw part and a jaw driving mechanism for driving the jaw part to act; the bottom of the jaw driving mechanism has two jaw sliders that move towards or away from each other in the left-right direction; the jaw part includes a fixed jaw part fixed at the middle position of the bottom of the jaw driving mechanism and two moving jaw parts fixed to the corresponding jaw sliders; a clamping space is formed between the two moving jaw parts and the fixed jaw part.

[0006] Furthermore, a fixed jaw extension portion is also provided on the front side of the fixed jaw portion; and a movable jaw extension portion is also provided on the front side of the movable jaw portion.

[0007] Furthermore, the XYZR four-axis manipulator includes a Y-axis moving module installed on a frame, an X-axis moving module installed at the moving end of the Y-axis moving module, a Z-axis moving module installed at the moving end of the X-axis moving module, and a rotating module installed at the lifting end of the Z-axis moving module; the rotating end on the bottom side of the rotating module serves as the working end of the XYZR four-axis manipulator.

[0008] Furthermore, the shearing assembly includes a shearing mounting frame, a pair of scissors arranged in the shearing mounting frame, and a scissors driving mechanism fixed to the shearing mounting frame and used to drive the scissors to move left and right; the scissors have a scissors handle and a scissors blade, and the two scissors handles of the scissors are respectively fixed with guide blocks; the shearing mounting frame is provided with a track groove at a position corresponding to the guide block; the track groove cooperates with the guide block to enable the scissors to be pushed out by the scissors driving mechanism, and the guide block drives the scissors handle under the guiding action of the track groove, so that the two scissors blades are closed, and then the wire is cut, and is also used to enable the scissors to be retracted by the scissors driving mechanism, and the guide block drives the scissors handle under the guiding action of the track groove, so that the two scissors blades are opened.

[0009] Furthermore, the bending assembly includes a bending device, a bending device moving drive mechanism installed on a frame and used to drive the bending device to move forward and backward; the bending device includes a bending fixed part, a bending toggle part, and a bending drive mechanism used to drive the bending toggle part to rotate around the bending fixed part; the bending fixed part is provided with an opening; the bending moving drive mechanism is used to drive the bending device to move so that the opening corresponds to the threading hole of the wire take-up drum; the bending toggle part is used to toggle the rear end of the wire so that the rear end of the wire is bent after the rear end of the wire passes through the threading hole and the opening of the wire take-up drum and enters the toggle range of the bending toggle part.

[0010] Furthermore, the frame is installed on the base through a screw slide rail mechanism; the frame is fixed with a screw in the left and right directions and a screw drive mechanism for driving the screw, and a screw nut that cooperates with the screw is fixed on the base; the base is also fixed with slide rails in the left and right directions; the frame cooperates with the slide rails to be driven by the screw drive mechanism and move left and right along the slide rails under the cooperation of the screw and the screw nut.

[0011] Furthermore, the wire feed guide assembly includes a guide installation platform, on which are disposed a plurality of guide roller groups and a meter wheel; the guide roller group includes a transverse guide roller and vertical guide rollers arranged in pairs; a channel for the wire to pass through is arranged between the paired vertical guide rollers, which is used to constrain the wire in the left and right directions.

[0012] Further, the incoming wire guiding assembly is installed on the base through a vertical frame; the shearing assembly is also installed on the vertical frame.

[0013] Further, the wire rewinder further includes a tension mechanism located behind the incoming wire guiding assembly; the tension mechanism includes a tension mounting frame; a tension swing rod is hinged on the tension mounting frame; a first wheel is installed at one end of the tension swing rod on the front side of the hinged position, and a counterweight is installed at one end on the rear side of the hinged position; an upper limit part and a lower limit part are also fixed on the tension mounting frame, and the upper limit part and the lower limit part cooperate with the tension swing rod to limit the amplitude of the up and down swing of one side of the first wheel of the tension swing rod; a second wheel is further installed on the tension mounting frame above the tension swing rod.

[0014] Advantages of the present utility model: The wire positioning rewinder of the present utility model can perform operations such as inserting, rewinding, shearing, passing through, and bending of wires, which is fully mechanized and replaces manual operation; it improves the rewinding efficiency and ensures the rewinding quality. Description of the Drawings

[0015] Figure 1 A three-dimensional schematic diagram of the rewinding state of a wire positioning rewinder according to an embodiment;

[0016] Figure 2 A three-dimensional schematic diagram of the rewinding disc of a wire positioning rewinder according to an embodiment;

[0017] Figure 3 A three-dimensional schematic diagram of the jaw assembly of a wire positioning rewinder according to an embodiment;

[0018] Figure 4 A three-dimensional schematic diagram of the loosened state of the jaw module of a wire positioning rewinder according to an embodiment;

[0019] Figure 5 A three-dimensional schematic diagram of the clamped state of the jaw module of a wire positioning rewinder according to an embodiment;

[0020] Figure 6 A three-dimensional schematic diagram of the state of the jaw module of a wire positioning rewinder clamping a wire according to an embodiment;

[0021] Figure 7 A three-dimensional schematic diagram of the shearing assembly of a wire positioning rewinder according to an embodiment;

[0022] Figure 8 A front view schematic diagram of the state where the scissors of the shearing assembly of a wire positioning rewinder according to an embodiment extend for shearing;

[0023] Figure 9 A three-dimensional schematic diagram of the bending assembly of a wire positioning rewinder according to an embodiment;

[0024] Figure 10 It is a front view schematic diagram of a bending assembly of a wire positioning and wire-taking machine according to an embodiment;

[0025] Figure 11 It is a front view schematic diagram of a bending assembly of a wire positioning and wire-taking machine in an embodiment of the present invention bending a wire;

[0026] Figure 12 A three-dimensional schematic diagram of a wire positioning and wire-taking machine in another angle showing a wire-taking state in an embodiment;

[0027] Figure 13 It is a partial schematic diagram of a wire insertion hole of a wire positioning and wire taking-up machine according to an embodiment;

[0028] Figure 14 It is a partial schematic diagram of a wire positioning and wire-taking machine in an embodiment of the present invention, in a state where a wire passes through a threading hole and is bent;

[0029] Figure 15 It is a right side schematic diagram of a tension mechanism of a wire positioning and taking-up machine according to an embodiment;

[0030] Among them, 1-base, 2-frame, 3-receiving reel, 4-claw assembly, 5-cutting assembly, 6-bending assembly, 7-wire guide assembly, 8-tension mechanism, 9-wire, 101-screw nut, 102-slide rail, 201-screw, 301-wire insertion hole, 302-threading hole, 401-support foot, 402-Y-axis moving module, 403-X-axis moving module, 404-Z-axis moving module, 405-rotation module, 406-claw module, 4061-claw driving mechanism, 4062-claw slider, 4063-fixed claw part, 4064-moving claw part, 4065-fixed claw extension part, 4066-moving claw extension part, 4067 -clamping space, 501-shearing mounting frame, 502-scissors, 503-scissors driving mechanism, 504-guide block, 505-track groove, 601-bending device moving driving mechanism, 602-bending device, 6021-bending fixing part, 6022-opening, 6023-bending toggle part, 6024-bending driving mechanism, 701-guide mounting platform, 702-stand, 703-guide roller group, 704-meter wheel, 7031-lateral guide roller, 7032-vertical guide roller, 801-tension mounting frame, 802-tension swing rod, 803-first wheel, 804-counterweight block, 805-upper limit part, 806-lower limit part, 807-second wheel. DETAILED DESCRIPTION

[0031] To deepen the understanding of the present utility model, the following will further describe the present utility model in detail in conjunction with the accompanying drawings and embodiments. The embodiments are only used to explain the present utility model and do not limit the protection scope of the present utility model.

[0032] Embodiment

[0033] Please refer to Figures 1 to 15 As shown, this embodiment provides a wire positioning and winding machine, including a base 1;

[0034] A frame 2, installed on the base 1 and having a degree of freedom of moving left and right relative to the base 1;

[0035] A winding disc 3, horizontally installed on the frame 2, with wire insertion holes 301 provided near the side on its disc surface, and wire threading holes 302 provided near the outer ring on the side;

[0036] A jaw assembly 4, installed on the frame 2 and located behind the winding disc 3, including an XYZR four-axis manipulator installed on the frame 2 and a jaw module 406 installed on the working end of the XYZR four-axis manipulator; the jaw module 406 is used to clamp the wire, and under the drive of the XYZR four-axis manipulator, align the front end of the wire with the wire insertion hole 301 and insert it, or align the rear end of the wire with the wire threading hole 302 and pass it through;

[0037] A bending assembly 6, installed on the frame 2 and located on the side of the winding disc 3, used to bend the part of the wire rear end passing through the wire threading hole 302;

[0038] An incoming wire guiding assembly 7, fixedly installed with the base 1, used to limit and guide the wire in the left and right directions during wire conveying;

[0039] A shearing assembly 5, located in front of the incoming wire guiding assembly 7 and relatively fixed to the incoming wire guiding assembly 7, used to cut the wire when the wire winding is completed.

[0040] Refer to again Figures 3 to 6 As shown, the jaw module 406 includes a jaw part and a jaw driving mechanism 4061 for driving the jaw part to act; the bottom of the jaw driving mechanism 4061 has two jaw sliders 4062 moving towards or away from each other in the left and right directions; the jaw part includes a fixed jaw part 4063 fixed at the middle position of the bottom of the jaw driving mechanism 4061 and two moving jaw parts 4064 fixed to the corresponding jaw sliders 4062; a clamping space 4067 is formed between the two moving jaw parts 4064 and the fixed jaw part 4063.

[0041] Refer to again Figure 4As shown, a fixed jaw extension part 4065 is further provided on the front side of the fixed jaw part 4063; a movable jaw extension part 4066 is further provided on the front side of the movable jaw part 4064. This design enables the jaw part to extend into the wire reel 3 without interfering with the wire reel 3, making the end of the jaw part closer to the wire insertion hole 301 of the wire reel 3, avoiding excessive downward bending of the part of the wire exposed outside the jaw part, and thus affecting the accuracy of inserting the wire into the wire insertion hole 301.

[0042] Refer again to Figure 3 As shown, the XYZR four-axis manipulator includes a Y-axis moving module 402 installed on the frame 2, an X-axis moving module 403 installed on the moving end of the Y-axis moving module 402, a Z-axis moving module 404 installed on the moving end of the X-axis moving module 403, and a rotating module 405 installed on the lifting end of the Z-axis moving module 404; the rotating end at the bottom side of the rotating module 405 serves as the working end of the XYZR four-axis manipulator. Among them, the Y-axis is in the front-rear direction, the X-axis is in the left-right direction, the Z-axis is in the up-down direction, and the R-axis refers to the horizontal rotation direction; in order to ensure the height of the working end, the Y-axis moving module 402 is fixed to the frame 2 through the support feet 401, and the height of the overall XYZR four-axis manipulator is controlled by the support feet.

[0043] Refer again to Figure 7 and Figure 8 As shown, the shearing assembly 5 includes a shearing mounting frame 501, scissors 502 arranged inside the shearing mounting frame 501, and a scissors driving mechanism 503 fixed to the shearing mounting frame 501 and used to drive the scissors to move left and right; the scissors 502 have scissor handles and scissor blades, and guide blocks 504 are respectively fixed on the two scissor handles of the scissors 502; the shearing mounting frame 501 is provided with track grooves 505 at positions corresponding to the guide blocks 504; the track grooves 505 cooperate with the guide blocks 504 to push the scissors 502 out by the scissors driving mechanism 503, and the guide blocks 504 drive the scissor handles under the guiding action of the track grooves 505 to close the two scissor blades, thereby shearing the wire, and are also used to retract the scissors 502 by the scissors driving mechanism 503, and the guide blocks 504 drive the scissor handles under the guiding action of the track grooves 505 to open the two scissor blades.

[0044] Refer again to Figures 9 to 11As shown, the bending assembly 6 includes a bending device 602, a bending device moving drive mechanism 601 installed on the frame 2 and used for driving the bending device to move forward and backward; the bending device 602 includes a bending fixed part 6021, a bending toggle part 6023, and a bending drive mechanism 6024 used for driving the bending toggle part 6023 to rotate around the bending fixed part 6021; an opening 6022 is provided on the bending fixed part; the bending moving drive mechanism 601 is used to drive the bending device 602 to move so that the opening 6022 corresponds to the threading hole 302 of the take-up drum 3; the bending toggle part 6023 is used to toggle the rear end of the wire material so that the rear end of the wire material is bent after the rear end of the wire material passes through the threading hole 302 of the take-up drum 3 and the opening 6022 and enters the toggle range of the bending toggle part 6023.

[0045] Refer to Figure 1 and 12 As shown, the frame 2 is installed on the base 1 through a screw slide rail mechanism; the frame 2 is fixed with a screw 201 in the left and right directions and a screw drive mechanism for driving the screw 201, and a screw nut 101 that cooperates with the screw 201 is fixed on the base 1; the base is also fixed with a slide rail 102 in the left and right directions; the frame 2 cooperates with the slide rail and is used to move left and right along the slide rail 102 under the cooperation of the screw 201 and the screw nut 101, driven by the screw drive mechanism.

[0046] Referring again to FIG. 12 , the wire feed guide assembly 7 includes a guide installation platform 701, on which a plurality of guide roller groups 703 and a meter wheel 704 are provided; the guide roller group 703 includes a transverse guide roller 7031 and a pair of vertical guide rollers 7032; a channel for the wire 9 to pass through is provided between the pair of vertical guide rollers 7032, which is used to constrain the wire 9 in the left and right directions.

[0047] Referring to FIG. 12 , the wire guide assembly 7 is mounted on the base 1 via a stand 702 ; the shear assembly 5 is also mounted on the stand 702 .

[0048] Refer to Figure 15As shown in the figure, the take-up machine further includes a tension mechanism 8 located behind the wire inlet guiding assembly 7; the tension mechanism 8 includes a tension mounting bracket 801; a tension swing rod 802 is hinged on the tension mounting bracket 801; a first wheel 803 is installed at one end of the tension swing rod 802 on the front side of the hinge point, and a counterweight 804 is installed at one end of the tension swing rod 802 on the rear side of the hinge point; an upper limit part 805 and a lower limit part 806 are also fixed on the tension mounting bracket 801, and the upper limit part 805 and the lower limit part 806 cooperate with the tension swing rod 802 to limit the amplitude of the up-and-down swing of one side of the first wheel 803 of the tension swing rod 802; a second wheel 807 is further installed on the tension mounting bracket 801 above the tension swing rod 802.

[0049] A wire positioning take-up machine in this embodiment has the functions of inserting, winding, shearing, passing through, and bending; among them, the operation process of inserting: the take-up reel is adjusted to the initial position in the left-right direction through the machine frame, and the circumferential direction of the take-up reel is also adjusted to the initial angular position, and the rotation module adjusts the gripper module so that the gripper part is in the front-rear direction; the Y-axis movement module, the X-axis movement module, and the Z-axis movement module drive the gripper module to move from the initial position to the set first position, and the clamping space of the gripper part of the gripper module at the first position corresponds to the wire insertion hole at the initial angular position on the take-up reel at the initial position in the front-rear direction; then, the wire is pulled, the front end of the wire passes through the clamping space of the gripper part, and is exposed approximately -cm in front of the front end of the gripper part, and the gripper driving mechanism drives the gripper part to clamp the wire; the Y-axis movement module drives the gripper module to move forward a set distance, pulls the wire and inserts the front end of the wire into the wire insertion hole; then, the gripper module releases the wire, and the Y-axis movement module, the X-axis movement module, and the Z-axis movement module drive the gripper module to move to the initial position;

[0050] The operation process of winding: after the wire is inserted into the wire insertion hole, the take-up reel driving mechanism drives the take-up reel to rotate for winding, and at the same time, the lead screw driving mechanism drives the machine frame to move left and right through the lead screw slide rail mechanism, so that the wire is wound around the take-up reel in a set arrangement; when the take-up reel is full of wire (corresponding parameter setting), the take-up reel stops winding, and the take-up reel is located at the first position in the left-right direction;

[0051] The operation process of shearing: the gripper part of the gripper module is in the released state, the Y-axis movement module, the X-axis movement module, and the Z-axis movement module drive the gripper module to move from the initial position to the set second position, and the second position makes the rear end of the gripper part correspond to the wire, the gripper module clamps the wire, and then, the scissors driving mechanism pushes the scissors to extend. During the extension process of the scissors under the action of the guide block and the track groove, the scissor blades gradually close, and when completely closed, the scissors cut the wire;

[0052] The threading action process: when the wire is cut, the rotating module adjusts the clamping jaw module so that the clamping jaw part is in the left-right direction; the Y-axis moving module, the X-axis moving module, and the Z-axis moving module drive the clamping jaw module to move from the second position to the set third position, and the take-up disk rotates and adjusts to the initial angle position; the rear end of the clamping jaw part of the clamping jaw module located in the third position corresponds to the threading hole at the initial angle position on the take-up disk located in the first position in the left-right direction; then, the X-axis moving module drives the clamping jaw module to move a set distance in the left-right direction toward the threading hole, so that the rear end of the wire passes through the threading hole;

[0053] The bending action process: the bending device moving drive mechanism drives the bending device to move forward from the initial state position to the first state position, and the opening of the bending device located in the first state position corresponds to the threading hole on the take-up drum located in the first position and is in the initial angle position; when the wire passes through the threading hole and then through the opening, after the wire is passed out, the bending drive mechanism drives the bending toggle part to rotate around the bending fixed part to a set angle, and the bending toggle part acts on the rear end of the wire to bend the rear end of the wire; then, the bending device moving drive mechanism drives the bending device to move backward from the first state position to the initial state position, and the bending drive mechanism drives the bending toggle part to rotate and reset around the bending fixed part, the clamping jaw module releases the wire, and the Y-axis moving module, the X-axis moving module, and the Z-axis moving module drive the clamping jaw module back to the initial position; the screw drive mechanism can drive the frame to move left and right through the screw slide rail mechanism to return the take-up drum to the initial position; that is, a take-up operation is completed.

[0054] A wire positioning and winding machine of the present embodiment can be controlled by multiple sensors in conjunction with a control system to achieve fully automated operation; specifically, the wire winding reel is controlled to reach an initial angle position through an angle position sensor in conjunction with a control system and a wire winding reel drive mechanism; the clamping jaw module is controlled to reach an initial position, a first position, a second position, and a third position through multiple displacement sensors in conjunction with a control system and a Y-axis moving module, an X-axis moving module, and a Z-axis moving module; the clamping jaw module is controlled by an angle position sensor in conjunction with a control system and a rotating module to switch the clamping jaw part between the front and rear directions and the left and right directions; the bending device is controlled to reach an initial state position and a first state position through a displacement sensor in conjunction with a control system and a bending device moving drive mechanism; the rotation angle and resetting of the bending toggle part are controlled through an angle position sensor in conjunction with a control system and a bending drive mechanism. The above automated control can be specifically set according to actual needs and will not be repeated here.

[0055] A wire positioning and winding machine of the present embodiment can insert, wind, cut, thread and bend wires, and the whole process is mechanized to replace manual operation; the winding efficiency is improved and the winding quality is guaranteed.

[0056] The above embodiments shall not limit the present utility model in any way, and all technical solutions obtained by means of equivalent replacement or equivalent transformation shall fall within the protection scope of the present utility model.

Claims

1. A wire positioning and winding machine, characterized in that: include: Base (1); The frame (2) is mounted on the base (1) and has the freedom to move left and right relative to the base (1); The wire take-up reel (3) is horizontally mounted on the frame (2), and a wire insertion hole (301) is arranged on the reel surface near the side, and a wire threading hole (302) is arranged on the side near the outer ring; A clamping jaw assembly (4) is mounted on the frame (2) and located behind the wire take-up drum (3), and comprises an XYZR four-axis manipulator mounted on the frame (2) and a clamping jaw module (406) mounted on the working end of the XYZR four-axis manipulator; the clamping jaw module (406) is used to clamp the wire, and under the drive of the XYZR four-axis manipulator, align the front end of the wire with the wire insertion hole (301) and insert it, or align the rear end of the wire with the wire threading hole (302) and pass it through; A bending assembly (6), mounted on the frame (2) and located on the side of the take-up reel (3), is used to bend the portion of the wire rod that passes through the threading hole (302) at the rear end thereof; A wire feed guide assembly (7) is fixedly mounted on the base (1) and is used to limit and guide the wire in the left and right directions when conveying the wire; The shearing assembly (5) is located at the front side of the wire feed guide assembly (7) and is relatively fixed to the wire feed guide assembly (7) and is used to shear the wire when the wire is wound up.

2. A wire positioning and winding machine according to claim 1, characterized in that: The clamping jaw module (406) includes a clamping jaw portion and a clamping jaw driving mechanism (4061) for driving the clamping jaw portion to move; the bottom of the clamping jaw driving mechanism (4061) has two clamping jaw sliders (4062) that move toward or away from each other in the left and right directions; the clamping jaw portion includes a fixed clamping jaw portion (4063) fixed to the middle position of the bottom of the clamping jaw driving mechanism (4061) and two movable clamping jaw portions (4064) fixed to corresponding clamping jaw sliders (4062); a clamping space (4067) is formed between the two movable clamping jaw portions (4064) and the fixed clamping jaw portion (4063).

3. A wire positioning and winding machine according to claim 2, characterized in that: The front side of the fixed clamping jaw portion (4063) is also provided with a fixed clamping jaw extension portion (4065); the front side of the movable clamping jaw portion (4064) is also provided with a movable clamping jaw extension portion (4066).

4. The wire positioning and winding machine according to claim 1, characterized in that: The XYZR four-axis manipulator comprises a Y-axis moving module (402) installed on a frame (2), an X-axis moving module (403) installed on a moving end of the Y-axis moving module (402), a Z-axis moving module (404) installed on a moving end of the X-axis moving module (403), and a rotating module (405) installed on a lifting end of the Z-axis moving module (404); The rotating end at the bottom side of the rotating module (405) serves as the working end of the XYZR four-axis manipulator.

5. The wire positioning and winding machine according to claim 1, characterized in that: The shearing assembly (5) comprises a shearing mounting frame (501), a pair of scissors (502) arranged in the shearing mounting frame (501), and a scissors driving mechanism (503) fixed to the shearing mounting frame (501) and used for driving the scissors to move left and right; the scissors (502) have a scissors handle and a scissors blade, and the two scissors handles of the scissors (502) are respectively fixed with guide blocks (504); the shearing mounting frame (501) is provided with a track groove (505) at a position corresponding to the guide block (504); the track groove (505) cooperates with the guide block (504) to enable the scissors (502) to be pushed out by the scissors driving mechanism (503), and the guide block (504) drives the scissors handle under the guiding action of the track groove (505) to close the two scissors blades, thereby shearing the wire; and the scissors (502) are also used for enabling the scissors (502) to be retracted by the scissors driving mechanism (503), and the guide block (504) drives the scissors handle under the guiding action of the track groove (505) to open the two scissors blades.

6. The wire positioning and winding machine according to claim 1, characterized in that: The bending assembly (6) comprises a bending device (602), a bending device moving drive mechanism (601) mounted on a frame (2) and used for driving the bending device to move forward and backward; the bending device (602) comprises a bending fixed portion (6021), a bending toggle portion (6023), and a bending drive mechanism (6024) used for driving the bending toggle portion (6023) to rotate around the bending fixed portion (6021); the bending fixed portion is provided with The bending device movement drive mechanism (601) is used to drive the bending device (602) to move so that the opening (6022) corresponds to the threading hole (302) of the take-up drum (3); the bending toggle portion (6023) is used to toggle the rear end of the wire material so that the rear end of the wire material is bent after the rear end of the wire material passes through the threading hole (302) of the take-up drum (3) and the opening (6022) and enters the toggle range of the bending toggle portion (6023).

7. The wire positioning and winding machine according to claim 1, characterized in that: The frame (2) is mounted on the base (1) via a screw rod and a slide rail mechanism; a screw rod (201) in a left-right direction and a screw rod driving mechanism for driving the screw rod (201) are fixed to the frame (2); a screw rod nut (101) matched with the screw rod (201) is fixed to the base (1); a slide rail (102) in a left-right direction is also fixed to the base; the frame (2) is matched with the slide rail and is used to move left-right along the slide rail (102) under the cooperation of the screw rod (201) and the screw rod nut (101) and driven by the screw rod driving mechanism.

8. The wire positioning and winding machine according to claim 1, characterized in that: The wire inlet guide assembly (7) comprises a guide installation platform (701), on which a plurality of guide roller groups (703) and a meter wheel (704) are arranged; the guide roller group (703) comprises a transverse guide roller (7031) and a pair of vertical guide rollers (7032); a channel for the wire (9) to pass through is arranged between the pair of vertical guide rollers (7032), and is used to constrain the wire (9) in the left and right directions.

9. The wire positioning and winding machine according to claim 1, characterized in that: The wire-in guide assembly (7) is mounted on the base (1) via a stand (702); the shear assembly (5) is also mounted on the stand (702).

10. A wire positioning and winding machine according to any one of claims 1 to 9, characterized in that: The wire take-up machine also includes a tension mechanism (8) located behind the wire feed guide assembly (7); the tension mechanism (8) includes a tension mounting frame (801); a tension swing rod (802) is hinged on the tension mounting frame (801); the tension swing rod (802) is provided with a first wheel (803) at one end located in front of the hinge, and a counterweight (804) is provided at one end located in the rear of the hinge; an upper limit portion (805) and a lower limit portion (806) are also fixed on the tension mounting frame (801), and the upper limit portion (805) and the lower limit portion (806) cooperate with the tension swing rod (802) to limit the amplitude of the up and down swing of one side of the first wheel (803) of the tension swing rod (802); the tension mounting frame (801) is also provided with a second wheel (807) above the tension swing rod (802).

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