Automatic winding equipment for mechanical arm

Abstract

The utility model discloses automatic winding equipment with a mechanical arm, which belongs to the technical field of winding equipment and comprises a rack, a wire supply mechanism, a wire pressing mechanism and a cutting mechanism are arranged at the top end of the rack, the wire supply mechanism corresponds to the wire pressing mechanism, a four-axis mechanical arm and a positioning seat are fixedly connected to the top end of the rack, and the cutting mechanism corresponds to the positioning seat. A wire outlet mechanism is arranged on the four-axis mechanical arm, the wire pressing mechanism, the positioning seat and the cutting mechanism correspond to the wire outlet mechanism, and a positioning mechanism is arranged on the positioning seat; the pay-off tension force is kept when the wire supply mechanism conducts pay-off, the wire can be effectively prevented from being tightened and loosened, the winding effect of products is guaranteed, the wire pressing mechanism conducts follow-up wire pressing to enable the wire to be stably conveyed and prevent the wire from being wound, the four-axis mechanical arm is matched with the wire outlet mechanism to conduct wire outlet to conduct multi-axial winding on the products, the multi-axis winding machine is suitable for the products of various different shapes, and the production efficiency is improved. And after winding of the product is completed, the cutting mechanism automatically cuts off the wire, and the whole winding process is stable and more convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to a winding equipment technical field more specifically, relate to a kind of mechanical arm automatic winding equipment. BACKGROUND

[0002] Winding process is very important in many industries, such as: middle week, inductance coil, high-voltage coil, loudspeaker, earphone, microphone voice coil, winding electric heater and various electronic and electrical product accessories.

[0003] At present, winding equipment can be seen in many industries, which can quickly wind and form products, but most of the existing winding equipment can usually only be applied to one type of product, cannot be compatible with different shapes of products, and in the winding process, in order to prevent wire winding and relaxation, it is necessary for workers to frequently check, and finally, manual cutting of wire is required. The whole working process is not convenient. UTILITY MODEL CONTENT

[0004] 1. Technical problem to be solved

[0005] In view of the problems existing in the prior art, the purpose of the utility model is to provide a kind of mechanical arm automatic winding equipment, to solve the problem that most of the winding equipment in the prior art can usually only be applied to one type of product, cannot be compatible with different shapes of products, and in the winding process, in order to prevent wire winding and relaxation, it is necessary for workers to frequently check, and finally, manual cutting of wire is required. The whole working process is not convenient.

[0006] 2. Technical scheme

[0007] To solve the above problems, the utility model adopts the following technical scheme:

[0008] A kind of mechanical arm automatic winding equipment, including rack, the top of the rack is provided with line supply mechanism, wire pressing mechanism and cutting mechanism, and line supply mechanism corresponds to wire pressing mechanism, the top of the rack is fixedly connected with four-axis mechanical arm and positioning seat, and cutting mechanism corresponds to positioning seat, the four-axis mechanical arm is provided with line outlet mechanism, and wire pressing mechanism, positioning seat and cutting mechanism all correspond to line outlet mechanism, positioning mechanism is provided on the positioning seat.

[0009] As a preferred scheme of the utility model, the line supply mechanism includes bearing support frame, material winding disc and wire unwinding tensioner, the bearing support frame is fixedly connected to the top of the rack, the material winding disc is rotatably connected in the bearing support frame, the wire unwinding tensioner is fixedly connected to one side end of the bearing support frame, and one end of the wire unwinding tensioner is fixedly connected to one end of the material winding disc.

[0010] As a preferred scheme of the utility model, the wire pressing mechanism comprises a fixed slide rail, a follow-up slide rail, a sliding block and a wire guide pulley, the fixed slide rail is fixedly connected to the top end of the rack, the follow-up slide rail is slidingly connected in the bearing support frame, the sliding block is slidingly connected in the follow-up slide rail, the wire guide pulley is detachably connected to one side end of the sliding block, and the wire guide pulley corresponds to the material winding disc.

[0011] As a preferred scheme of the utility model, the wire pressing mechanism comprises a fixed slide rail, a follow-up slide rail, a sliding block and a wire guide pulley, the fixed slide rail is fixedly connected to the top end of the rack, the follow-up slide rail is slidingly connected in the bearing support frame, the sliding block is slidingly connected in the follow-up slide rail, the wire guide pulley is detachably connected to one side end of the sliding block, and the wire guide pulley corresponds to the material winding disc.

[0012] As a preferred scheme of the utility model, the wire pressing mechanism comprises a fixed slide rail, a follow-up slide rail, a sliding block and a wire guide pulley, the fixed slide rail is fixedly connected to the top end of the rack, the follow-up slide rail is slidingly connected in the bearing support frame, the sliding block is slidingly connected in the follow-up slide rail, the wire guide pulley is detachably connected to one side end of the sliding block, and the wire guide pulley corresponds to the material winding disc.

[0013] As a preferred scheme of the utility model, the wire pressing mechanism comprises a fixed slide rail, a follow-up slide rail, a sliding block and a wire guide pulley, the fixed slide rail is fixedly connected to the top end of the rack, the follow-up slide rail is slidingly connected in the bearing support frame, the sliding block is slidingly connected in the follow-up slide rail, the wire guide pulley is detachably connected to one side end of the sliding block, and the wire guide pulley corresponds to the material winding disc.

[0014] As a preferred scheme of the utility model, the wire pressing mechanism comprises a fixed slide rail, a follow-up slide rail, a sliding block and a wire guide pulley, the fixed slide rail is fixedly connected to the top end of the rack, the follow-up slide rail is slidingly connected in the bearing support frame, the sliding block is slidingly connected in the follow-up slide rail, the wire guide pulley is detachably connected to one side end of the sliding block, and the wire guide pulley corresponds to the material winding disc.

[0015] 3. Beneficial effects

[0016] Compared with the prior art, the utility model has the advantages that:

[0017] (1) In the scheme, the product is placed on the positioning seat and fixed by the positioning mechanism, the wire feeding mechanism feeds the wire, the fed wire passes through the wire pressing mechanism and the wire outlet mechanism in turn, the four-axis mechanical arm controls the wire outlet mechanism to move, the wire output by the wire outlet mechanism is wound on the product, and the wire outlet mechanism can move in multiple axes under the control of the four-axis mechanical arm, so that different shaped products can be adapted.

[0018] (2) In this scheme, the wire pressing mechanism is arranged between the wire supply mechanism and the wire outlet mechanism to perform the wire pressing work, and the wire can be pulled along when pressing the wire, so that the wire is kept stable when the product is wound in multiple directions, the wire winding is effectively prevented, the staff needs to check frequently, and the labor cost is reduced.

[0019] (3) In this scheme, the wire supply mechanism controls the tension force through the wire tensioner when the wire is unwound, and the wire outlet mechanism controls the tension force through the wire tensioner when the wire is unwound, so that the wire is effectively prevented from being tight and loose, and the winding effect of the product is ensured.

[0020] (4) In this scheme, the wire tension sensor can detect the tension of the wire when the wire is conveyed by the wire outlet mechanism, so that the wire is further prevented from being tight and loose.

[0021] (5) In this scheme, after the product is wound, the four-axis mechanical arm controls the wire outlet mechanism to move, so that the wire moves to the cutting mechanism, the cutting mechanism clamps and cuts the wire, the automatic cutting of the product winding is realized, and the use is more convenient.

[0022] (6) In this scheme, the positioning mechanism cooperates with the positioning seat to fix the product in multiple directions, ensures the precision of the product winding, keeps the tension of the wire when the wire is unwound by the wire supply mechanism, effectively prevents the wire from being tight and loose, ensures the winding effect of the product, the wire pressing mechanism follows the wire pressing to make the wire stable, prevents the wire from winding, the four-axis mechanical arm cooperates with the wire outlet mechanism to wind the product in multiple directions, adapts to products of different shapes, and the cutting mechanism automatically cuts the wire after the product is wound, so that the whole winding process is stable and more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a front view of the utility model;

[0024] Figure 2 It is a structure diagram of the upper part in the utility model;

[0025] Figure 3 It is a structure diagram of the wire supply mechanism and the wire pressing mechanism in the utility model;

[0026] Figure 4 It is a structure diagram of the wire outlet mechanism in the utility model;

[0027] Figure 5 It is a structure diagram of the positioning mechanism and the cutting mechanism in the utility model.

[0028] Explanation of reference numerals in the drawing:

[0029] 1, rack; 2, wire feeding mechanism; 21, bearing support frame; 22, material winding disc; 23, wire feeding tensioner; 3, wire pressing mechanism; 31, fixed slide rail; 32, follow-up slide rail; 33, sliding block; 34, wire pressing guide wheel; 4, four-axis mechanical arm; 5, wire outlet mechanism; 51, mounting bracket; 52, wire feeding guide wheel; 53, wire outlet tensioner; 54, tension guide wheel; 55, tension sensor; 56, force receiving assembly; 57, wire outlet guide wheel; 58, wire nozzle; 6, positioning seat; 7, positioning mechanism; 71, clamping cylinder; 72, pressing rod cylinder; 8, cutting mechanism; 81, supporting slide rail; 82, pneumatic scissors; 83, telescopic cylinder; 84, clamping jaw cylinder; 9, counterweight. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0033] Embodiment:

[0034] Please refer to Figures 1-5The utility model provides a kind of mechanical arm automatic winding equipment, including rack 1, the top of rack 1 is provided with line mechanism 2, line pressing mechanism 3 and cutting mechanism 8, and line mechanism 2 corresponds with line pressing mechanism 3, the top of rack 1 is fixedly connected with four-axis mechanical arm 4 and positioning seat 6, and cutting mechanism 8 corresponds with positioning seat 6, four-axis mechanical arm 4 is provided with line outlet mechanism 5, and line pressing mechanism 3, positioning seat 6 and cutting mechanism 8 all correspond with line outlet mechanism 5, positioning mechanism 7 is provided on positioning seat 6.

[0035] In the embodiment, the worker places the wire in the line mechanism 2, and the wire is sequentially threaded through the line pressing mechanism 3 and the line outlet mechanism 5 to be wound on the product. The product is placed on the positioning seat 6 and positioned and fixed by the positioning mechanism 7. The four-axis mechanical arm 4 moves the line outlet mechanism 5 to output the wire and wind the wire on the product. After the winding of the wire on the product is completed, the cutting mechanism 8 automatically cuts the wire.

[0036] Specifically, the line mechanism 2 includes a bearing support frame 21, a winding disc 22 and a wire tensioner 23. The bearing support frame 21 is fixedly connected to the top of the rack 1. The winding disc 22 is rotatably connected in the bearing support frame 21. The wire tensioner 23 is fixedly connected to one side end of the bearing support frame 21, and one end of the wire tensioner 23 is fixedly connected to one end of the winding disc 22.

[0037] In the embodiment, the wire is placed in the winding disc 22, and the winding disc 22 rotates in the bearing support frame 21 to deliver the wire. During the wire delivery, the wire tensioner 23 controls the tension of the wire during the delivery of the winding disc 22 to stably deliver the wire.

[0038] Specifically, the line pressing mechanism 3 includes a fixed slide rail 31, a follow-up slide rail 32, a sliding block 33 and a line pressing guide wheel 34. The fixed slide rail 31 is fixedly connected to the top of the rack 1. The follow-up slide rail 32 is slidably connected in the bearing support frame 21. The sliding block 33 is slidably connected in the follow-up slide rail 32. The line pressing guide wheel 34 is detachably connected to one side end of the sliding block 33, and the line pressing guide wheel 34 corresponds to the winding disc 22.

[0039] In the embodiment, the wire delivered by the winding disc 22 passes through the lower side of the line pressing guide wheel 34. The sliding block 33 makes the line pressing guide wheel 34 press the wire under the action of gravity to stably deliver the wire. Furthermore, the follow-up slide rail 32 is slidably connected in the fixed slide rail 31, and the sliding block 33 is slidably connected in the follow-up slide rail 32, so that the line pressing guide wheel 34 can move following the winding of the line outlet mechanism 5 during the pressing of the wire, and the delivery of the wire is further kept stable.

[0040] Specifically, a counterweight 9 is detachably connected between the line pressing guide wheel 34 and the sliding block 33.

[0041] In this embodiment, the counterweight 9 can increase the force when the wire pressing guide wheel 34 presses the wire, so that the wire can be stably conveyed under the wire pressing guide wheel 34.

[0042] Specifically, the wire outlet mechanism 5 includes a mounting bracket 51, two wire feeding guide wheels 52, a wire outlet tensioner 53, a tensioning guide wheel 54, a tension and pressure sensor 55, a force receiving assembly 56, a wire outlet guide wheel 57, and a wire nozzle 58. The mounting bracket 51 is fixedly connected to the four-axis mechanical arm 4. The two wire feeding guide wheels 52 are both rotatably connected to one side end of the mounting bracket 51. The wire outlet tensioner 53 is fixedly connected in the mounting bracket 51. The tensioning guide wheel 54 is fixedly connected to one end of the wire outlet tensioner 53, and is located between the two wire feeding guide wheels 52. The tension and pressure sensor 55 is fixedly connected to the top end of the mounting bracket 51. The force receiving assembly 56 is threadedly connected to the tension and pressure sensor 55. The wire outlet guide wheel 57 is rotatably connected in the force receiving assembly 56, and is located on one side of the two wire feeding guide wheels 52. The wire nozzle 58 is fixedly connected to the bottom end of the mounting bracket 51, and corresponds to the wire outlet guide wheel 57.

[0043] In this embodiment, the wire passing through the wire pressing guide wheel 34 is in a staggered manner around the two wire feeding guide wheels 52, the tensioning guide wheel 54, and the wire outlet guide wheel 57, and is output to the product through the wire nozzle 58. During the wire outlet process, the two wire feeding guide wheels 52 stably convey the wire. The tensioning guide wheel 54 is controlled by the wire outlet tensioner 53, and can control the tensioning force when the wire is output. The wire outlet guide wheel 57 stably outputs the wire into the wire nozzle 58. At the same time, the force generated when the wire is output acts on the force receiving assembly 56 through the wire outlet guide wheel 57. The force receiving assembly 56 causes the tension and pressure sensor 55 to be stressed to detect the wire outlet tensioning force.

[0044] Specifically, the positioning mechanism 7 includes two clamping air cylinders 71 and two pressure rod air cylinders 72. The clamping air cylinders 71 are fixedly connected in the positioning seat 6. The two pressure rod air cylinders 72 are both fixedly connected to the positioning seat 6.

[0045] In this embodiment, when the product is placed on the positioning seat 6, the clamping air cylinders 71 clamp and fix the product from the two symmetrical sides. The two pressure rod air cylinders 72 press and fix the product from the top, so that the product is stably positioned on the positioning seat 6, and the winding precision is guaranteed.

[0046] Specifically, the cutting mechanism 8 includes a supporting slide rail 81, a pneumatic scissors 82, a telescopic air cylinder 83, and a clamping jaw air cylinder 84. The supporting slide rail 81 is fixedly connected to the top end of the rack 1. The pneumatic scissors 82 is slidingly connected to the supporting slide rail 81. The telescopic air cylinder 83 is fixedly connected to one side end of the supporting slide rail 81, and the output end of the telescopic air cylinder 83 is fixedly connected to the pneumatic scissors 82. The clamping jaw air cylinder 84 is fixedly connected to the top end of the rack 1, and corresponds to the pneumatic scissors 82.

[0047] In this embodiment, after winding is completed, the four-axis mechanical arm 4 controls the wire output mechanism 5 to move the wire to correspond to the clamping jaw cylinder 84, the clamping jaw cylinder 84 clamps and tightens the wire, the telescopic cylinder 83 pushes the pneumatic scissors 82 to slide on the supporting slide rail 81, the pneumatic scissors 82 move to between the positioning seat 6 and the clamping jaw cylinder 84, and the wire clamped and tightened by the clamping jaw cylinder 84 is cut.

[0048] Working principle: the staff places the wire in the winding disc 22, places the product on the positioning seat 6, the clamping cylinder 71 clamps and fixes the product from the symmetrical two sides, the two pressure rod cylinders 72 fix the product from the top, so that the product is stable on the positioning seat 6, the winding disc 22 rotates in the bearing support frame 21 to release the wire, the wire tensioner 23 controls the tension force when the wire is released, the wire passes through the lower side of the wire pressing guide wheel 34 to the installation support 51, the wire passing through the wire pressing guide wheel 34 is staggered around the two wire feeding guide wheels 52, the tension guide wheel 54 and the wire output guide wheel 57 on the installation support 51, and is output through the wire nozzle 58, the four-axis mechanical arm 4 moves the installation support 51 to wind the wire on the product, during the wire output process, the force generated when the wire is output acts on the force receiving assembly 56 through the wire output guide wheel 57, the force receiving assembly 56 makes the tension sensor 55 receive force to detect the wire output tension, after the product winding is completed, the four-axis mechanical arm 4 controls the installation support 51 to move the wire to correspond to the clamping jaw cylinder 84, the clamping jaw cylinder 84 clamps and tightens the wire, the telescopic cylinder 83 pushes the pneumatic scissors 82 to slide on the supporting slide rail 81, the pneumatic scissors 82 move to between the positioning seat 6 and the clamping jaw cylinder 84, and the wire clamped and tightened by the clamping jaw cylinder 84 is cut.

[0049] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and improvement concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A robotic arm automatic winding device, comprising a frame (1), characterized in that: The top of the frame (1) is provided with a wire feeding mechanism (2), a wire pressing mechanism (3) and a cutting mechanism (8), and the wire feeding mechanism (2) corresponds to the wire pressing mechanism (3). The top of the frame (1) is fixedly connected with a four-axis mechanical arm (4) and a positioning seat (6), and the cutting mechanism (8) corresponds to the positioning seat (6). The four-axis mechanical arm (4) is provided with a wire outlet mechanism (5), and the wire pressing mechanism (3), the positioning seat (6) and the cutting mechanism (8) all correspond to the wire outlet mechanism (5). The positioning seat (6) is provided with a positioning mechanism (7).

2. The automatic winding device of a robotic arm according to claim 1, characterized in that: The wire feeding mechanism (2) comprises a bearing support frame (21), a winding disk (22) and a wire pay-off tensioner (23), wherein the bearing support frame (21) is fixedly connected to the top of the frame (1), the winding disk (22) is rotatably connected to the inside of the bearing support frame (21), the wire pay-off tensioner (23) is fixedly connected to one side end of the bearing support frame (21), and one end of the wire pay-off tensioner (23) is fixedly connected to one end of the winding disk (22).

3. The automatic winding device of a robotic arm according to claim 2, characterized in that: The wire pressing mechanism (3) comprises a fixed slide rail (31), a follower slide rail (32), a slider (33) and a wire pressing guide wheel (34), wherein the fixed slide rail (31) is fixedly connected to the top of the frame (1), the follower slide rail (32) is slidably connected to the bearing support frame (21), the slider (33) is slidably connected to the follower slide rail (32), and the wire pressing guide wheel (34) is detachably connected to one side end of the slider (33), and the wire pressing guide wheel (34) corresponds to the coiling disc (22).

4. The automatic winding device of a robotic arm according to claim 3, characterized in that: A counterweight (9) is detachably connected between the wire pressing guide wheel (34) and the slider (33).

5. The automatic winding device of a robotic arm according to claim 4, characterized in that: The wire outlet mechanism (5) comprises a mounting bracket (51), two wire feeding guide wheels (52), a wire outlet tensioner (53), a tensioning guide wheel (54), a tension and pressure sensor (55), a force-bearing component (56), a wire outlet guide wheel (57) and a wire nozzle (58), wherein the mounting bracket (51) is fixedly connected to the four-axis robot arm (4), the two wire feeding guide wheels (52) are both rotatably connected to one side end of the mounting bracket (51), the wire outlet tensioner (53) is fixedly connected in the mounting bracket (51), and the tensioning guide wheel (54) is fixedly connected to the wire outlet. One end of the tensioner (53), and the tensioning guide wheel (54) is located between the two wire feeding guide wheels (52), the tension and pressure sensor (55) is fixedly connected to the top of the mounting bracket (51), the force-bearing component (56) is threadedly connected to the tension and pressure sensor (55), the outlet guide wheel (57) is rotatably connected to the force-bearing component (56), and the outlet guide wheel (57) is located on one side of the two wire feeding guide wheels (52), the wire nozzle (58) is fixedly connected to the bottom end of the mounting bracket (51), and the wire nozzle (58) corresponds to the outlet guide wheel (57).

6. The automatic winding device for a robotic arm according to claim 5, characterized in that: The positioning mechanism (7) comprises two clamping cylinders (71) and two pressure rod cylinders (72), wherein the clamping cylinder (71) is fixedly connected to the positioning seat (6), and the two pressure rod cylinders (72) are both fixedly connected to the positioning seat (6).

7. The automatic winding device of a robotic arm according to claim 6, characterized in that: The cutting mechanism (8) comprises a supporting slide rail (81), a pneumatic scissors (82), a telescopic cylinder (83) and a clamping cylinder (84), wherein the supporting slide rail (81) is fixedly connected to the top of the frame (1), the pneumatic scissors (82) are slidably connected to the supporting slide rail (81), the telescopic cylinder (83) is fixedly connected to one side end of the supporting slide rail (81), and the output end of the telescopic cylinder (83) is fixedly connected to the pneumatic scissors (82), and the clamping cylinder (84) is fixedly connected to the top of the frame (1), and the clamping cylinder (84) corresponds to the pneumatic scissors (82).

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