Wire automatic stranding machine for industrial robot cable
By designing an automatic stranding machine for industrial robot cables, and adopting a stranding lead mechanism and a wire tension adjustment device, the problem of high-quality and high-efficiency stranding of existing stranding machines is solved. This achieves efficient and intelligent stranding of wires and elastic wires, avoids bending and deformation, and forms standard wire coils.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SK TEC CO LTD
- Filing Date
- 2025-03-06
- Publication Date
- 2026-04-21
AI Technical Summary
Existing wire stranding machines cannot achieve high-quality, high-efficiency, and intelligent stranding. In particular, the addition of elastic wires can easily cause the wires to bend and deform after stranding, making it difficult to guarantee the stranding quality.
An automatic wire stranding machine for industrial robot cables has been designed, comprising a stranding spindle, a stranding drive device, a wire supply turntable, a wire tray, an elastic wire tray, a stranding turntable, a stranding lead mechanism, a take-up turntable, and a control system. By uniformly supplying wires and elastic wires, and using the stranding lead mechanism for correction and guidance, the machine achieves efficient stranding of various wires, and uniformly winds them layer by layer on the take-up turntable. It is equipped with a wire tension detection and adjustment device to ensure stranding quality.
It achieves efficient and intelligent stranding of conductors and elastic wires, avoids bending and deformation after stranding, ensures stranding quality, and can form standard fixed-length coils for easy subsequent use.
Smart Images
Figure CN224153186U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to an auxiliary equipment for wire production, and more particularly to an automatic stranding machine for industrial robot cables. Background Technology
[0002] Because industrial robot cables require frequent bending and turning movements during use, they need to have high bending resistance. To improve this resistance, elastic wires are added to the conductors. Several conductors and elastic wires are evenly twisted together to form a wire with bending resistance.
[0003] Current wire stranding machines have a simple structure and cannot be intelligently adjusted. They are mainly used for stranding multiple wires. When elastic wires need to be added to the wires, the existing stranding machines can easily cause the wires to bend and deform after stranding due to the elasticity of the elastic wires, making it difficult to guarantee the stranding quality. Moreover, common stranding machines cannot achieve high-quality, high-efficiency, intelligent wire stranding. Summary of the Invention
[0004] To overcome the above-mentioned defects, this utility model provides an automatic stranding machine for industrial robot cables, which can achieve high-efficiency, high-quality, and intelligent stranding of wires for industrial robot cables.
[0005] The technical solution adopted by this utility model to solve its technical problem is: an automatic wire stranding machine for industrial robot cables, comprising a machine base, a stranding spindle, a stranding drive device, a wire feeding turntable, a wire reel, an elastic wire reel, a stranding turntable, a stranding lead-in mechanism, a take-up turntable, a take-up drive device, and a control system. A first support frame, a second support frame, a third support frame, and a fourth support frame are sequentially arranged on the machine base. The wire feeding turntable and the stranding turntable are coaxially mounted on the first support frame and the second support frame, respectively. Above, the stranding lead mechanism is fixedly mounted on the third support frame, and the take-up turntable is rotatably mounted on the fourth support frame. The take-up drive device drives the take-up turntable to rotate and take in the wire. The feed turntable and the stranding turntable are respectively fixedly mounted at both ends of the stranding main shaft. The stranding drive device drives the stranding main shaft to rotate. Several conductor reels and elastic wire reels are evenly spaced and rotatably mounted on the feed turntable along the circumference of the stranding main shaft. The conductor reels and elastic wire reels are also equipped with damping devices to provide resistance to their rotation. The stranding turntable is equipped with several... The spindle has evenly spaced wire guide holes along its circumference, each corresponding to a wire reel and an elastic wire reel. A rotatable wire guide wheel is also installed within each wire guide hole. The stranding and lead-in mechanism includes a stranding and lead-in bracket, an upper lead-in wheel, a lower lead-in wheel, a lead-in slider, and an elastic element. The stranding and lead-in bracket is fixedly mounted on a third support frame. The lower lead-in wheel is rotatably mounted on the stranding and lead-in bracket. The lead-in slider is slidably mounted on the stranding and lead-in bracket, and the upper lead-in wheel is rotatably mounted on the lead-in slider. The outer surfaces of the upper and lower lead wheels are provided with opposing lead grooves. The elastic element provides a downward elastic force to the lead slider. The lead wires and elastic wires drawn from the lead wire spool and the elastic wire spool can pass through the wire holes on the stranding turntable one by one and then converge and strand together towards the center of the stranding spindle after passing around the wire guide wheel. The stranded wires are wound onto the take-up turntable through the lead grooves of the upper and lower lead wheels of the stranding lead mechanism. The control system controls the stranding drive device and the take-up drive device to rotate synchronously according to the designed speed ratio.
[0006] As a further improvement of this utility model, the stranding lead support of the stranding lead mechanism is also provided with a first cylinder. The lead slider is installed at the end of the piston rod of the first cylinder, which can move up and down a set distance. The first cylinder can drive the lead slider to move up and down. The elastic element is provided between the end of the piston rod of the first cylinder and the lead slider to provide downward elastic force for the lead sliding.
[0007] As a further improvement of this utility model, the wire supply turntable is provided with several wire supply slides extending radially at equal angles. A wire supply slider is slidably installed in each wire supply slide. The wire supply turntable is also provided with several wire tension adjustment drive devices. The wire tension adjustment drive devices can drive each wire supply slider to slide along the wire supply slide. Each conductor reel and elastic wire reel is respectively installed on the wire supply slider. Several wire tension detection sensors are also provided. Each wire tension detection sensor can detect the tension of the wire drawn from each conductor reel and elastic wire reel. Each wire tension detection sensor communicates with the control system to transmit the tension data of each wire in real time. The control system controls the start, stop and forward / reverse operation of each wire tension adjustment drive device.
[0008] As a further improvement of this utility model, the wire tension adjustment drive device includes a motor and a lead screw and nut mechanism. The motor drives the lead screw of the lead screw and nut mechanism to rotate, and the nut of the lead screw and nut mechanism is fixedly connected to the wire supply slider.
[0009] As a further improvement of this utility model, the take-up turntable includes a winding roller and two wire-blocking plates. The two wire-blocking plates are detachably and fixedly sleeved on the outer sides of both ends of the winding roller, forming a space for accommodating the wire between the two wire-blocking plates. The wire can be wound around the outer circumference of the winding roller. The equipment base is provided with a fifth support frame between the third support frame and the fourth support frame. The fifth support frame is provided with a wire-laying slider that can slide back and forth along a slide rail parallel to the axis of the winding roller. The wire-laying slider is provided with wire through holes. The wire drawn from the stranding and lead-in mechanism passes through the wire through holes and is finally wound around the winding roller. The fifth support frame is also provided with a wire-laying drive device. The wire-laying drive device drives the wire-laying slider to slide back and forth, so that the wire is wound back and forth at uniform intervals along the axis of the winding roller.
[0010] As a further improvement of this utility model, a meter counter and a stranded wire cutting device are also provided. The meter counter can count the length of the stranded wire. A sixth support frame is provided between the third support frame and the fifth support frame. The stranded wire cutting device is fixedly installed on the sixth support frame and can cut the stranded wire that is about to be wound on the winding roller.
[0011] As a further improvement of this utility model, a single-wire cutting assembly is also provided, including a wire cutting disc, a wire cutting blade, and a wire cutting drive device. The wire cutting disc is fixedly sleeved on the stranding spindle between the wire supply turntable and the stranding turntable. The wire cutting disc is provided with a plurality of wire cutting holes that correspond one-to-one with the wire passing holes on the stranding turntable. A cutting groove is formed on one side wall of the wire cutting hole, and a cutting receiving groove is provided on the other side wall of the wire cutting hole. The wire cutting blade can be accommodated in the cutting receiving groove. The wire cutting blade can extend along the cutting receiving groove toward the cutting groove to cut the wire passing through the wire cutting hole. The wire cutting drive device drives each wire cutting blade to move synchronously in extension and retraction. The control system can control the start and stop of the wire cutting drive device.
[0012] As a further improvement of this utility model, a fixed wire clamp and a movable wire clamp are also provided in the wire passage hole. The movable wire clamp can slide radially along the stranding turntable. The movable wire clamp and the fixed wire clamp can clamp the wire in the wire passage hole or loosen the wire in the wire passage hole. The stranding turntable is also provided with a wire clamping drive device. The wire clamping drive device drives the movable wire clamp to move, and the control system controls the start and stop of the wire clamping drive device.
[0013] As a further improvement of this utility model, both the tangent drive device and the clamping drive device include a second cylinder fixedly installed inside the stranding spindle. A cone is fixedly installed on the piston rod of the second cylinder. The side wall of the stranding spindle is provided with several clearance holes that are directly opposite to the tangent hole and the wire passage hole. The tangent disc and the stranding disc are respectively provided with several radial slides that are directly opposite to and communicate with the tangent hole and the wire passage hole. A drive rod is slidably provided in the radial slide. One end of the drive rod is fixedly connected to the tangent blade and the movable wire clamp, and the other end of the drive rod is tightly attached to the outer surface of the cone. The tangent drive device and the clamping drive device also include a spring. The spring provides the drive rod with an elastic force to keep it in close contact with the cone. The extension and retraction movement of the piston rod of the second cylinder can drive each drive rod to slide synchronously along the radial slide, thereby enabling each tangent blade and the movable wire clamp to clamp the wire synchronously and cut the wire synchronously.
[0014] As a further improvement of this utility model, two sets of wire guide wheels are provided at intervals along the extension direction of the wire in the wire hole. Each set of wire guide wheels consists of two wire guide wheels arranged radially at intervals along the stranding disc. Corresponding arc-shaped concave rings for the wire to pass through are provided on the outer periphery of each wire guide wheel.
[0015] The beneficial effects of this utility model are as follows: This utility model supplies wires and elastic wires through wire reels and elastic wire reels evenly spaced on the wire supply turntable. The wires and elastic wires converge through the wire passage holes on the stranding turntable and are stranded together as the stranding spindle rotates. The stranded wires are then connected to a stranded wire through a stranding guide mechanism, which corrects and guides the stranded wires to form a naturally straight stranded wire. Finally, the stranded wire is wound onto the take-up turntable for take-up. The above mechanism enables the stranding of various wires. Before stranding, the tension of each wire is automatically adjusted, and after stranding, it is automatically corrected to prevent bending and deformation of the stranded wires, thus ensuring the stranding quality. This utility model can also evenly wind the stranded wires layer by layer on the take-up turntable, ensuring the convenience of final winding and subsequent use of the stranded wires. This utility model can also automatically count the length of the stranded wires, ensuring that the wound stranded wires are all of a fixed length, forming standard wire rolls. Attached Figure Description
[0016] Figure 1 This is a perspective view of the wire stranding mechanism of this utility model;
[0017] Figure 2 This is a perspective view of the take-up mechanism of this utility model;
[0018] Figure 3 This is a schematic diagram illustrating the principle of wire tension adjustment in this utility model.
[0019] Figure 4 This is a perspective view of the stranding lead mechanism of this utility model;
[0020] Figure 5 This is a three-dimensional diagram of the wire guiding principle of the stranded wire turntable of this utility model;
[0021] Figure 6 This is a three-dimensional diagram illustrating the structural principle of the single-wire cutting component of this utility model. Detailed Implementation
[0022] Example: An automatic wire stranding machine for industrial robot cables includes a base 1, a stranding spindle 2, a stranding drive device 3, a wire feeding turntable 4, a wire tray 5, an elastic wire tray 6, a stranding turntable 7, a stranding lead-in mechanism 8, a take-up turntable 9, a take-up drive device 10, and a control system. The base 1 is sequentially equipped with a first support frame 11, a second support frame 12, a third support frame 13, and a fourth support frame 14. The wire feeding turntable 4 and the stranding turntable 7 are coaxially mounted on the first support frame 11 and the second support frame 12, respectively. The stranding lead-in mechanism 8 is fixedly mounted on the third support frame. On frame 13, the take-up turntable 9 is rotatably mounted on the fourth support frame 14. The take-up drive device 10 drives the take-up turntable to rotate and take in the wire. The feed turntable 4 and the stranding turntable 7 are respectively fixedly mounted at both ends of the stranding spindle 2. The stranding drive device 3 drives the stranding spindle 2 to rotate. Several conductor reels 5 and elastic wire reels 6 are evenly spaced along the circumference of the stranding spindle 2 and are rotatably mounted on the feed turntable 4. The conductor reels 5 and elastic wire reels 6 are also provided with damping devices to provide resistance to their rotation. The stranding turntable 7 is provided with several wire-passing holes 141 evenly spaced along the circumference of the stranding spindle. The wire guide hole 141 is correspondingly provided with the wire reel 5 and the elastic wire reel 6, and a wire guide wheel 15 is rotatably provided inside the wire guide hole 141. The stranding lead mechanism 8 includes a stranding lead bracket 16, an upper lead wheel 17, a lower lead wheel 18, a lead slider 19, and an elastic element 20. The stranding lead bracket 16 is fixedly installed on the third support frame 13. The lower lead wheel 18 is rotatably installed on the stranding lead bracket 16. The lead slider 19 is slidably installed on the stranding lead bracket 16. The upper lead wheel 17 is rotatably installed on the lead slider 19. The outer surface of the lower lead wheel 18 is provided with a lead groove 21 facing each other. The elastic element 20 provides a downward elastic force to the lead slider 19. The lead wires and elastic wires drawn from the lead wire tray 5 and the elastic wire tray 6 can pass through the wire holes 141 on the stranding turntable 7 one by one and then converge and twist towards the center of the stranding spindle 2 after passing around the wire guide wheel 15. The stranded wires are wound around the take-up turntable 9 through the lead grooves 21 of the upper lead wheel 17 and the lower lead wheel 18 of the stranding lead mechanism 8. The control system controls the stranding drive device 3 and the take-up drive device 10 to rotate synchronously according to the designed speed ratio.
[0023] First, the conductor reel 5 and the elastic wire reel 6 are installed on the wire feeding turntable 4. Then, the conductors and elastic wires are led out from the conductor reel 5 and the elastic wire reel 6 and passed through the wire holes 141 of the stranding turntable 7. After all the conductors and elastic wires pass through the wire holes 141 of the stranding turntable 7, they converge together and enter the stranding lead-in mechanism 8. The stranded wire after passing through the stranding lead-in mechanism 8 is wound on the take-up turntable 9. The take-up drive device 10 drives the take-up turntable 9 to rotate to achieve the traction of the wire. When the wire is started to be stranded, the stranding spindle 2 starts to rotate. The stranding spindle 2 drives the wire feeding turntable 4 and the stranding turntable 7 to rotate synchronously. Then, as the wire is stretched forward, the conductors and elastic wires are stranded together to form a stranded wire. Finally, the stranded wire is completely wound on the take-up turntable 9 for take-up. Before the stranded wire is taken up, it is corrected by the lead-in grooves 21 on the upper lead wheel 17 and the lower lead wheel 18 of the stranding lead-in mechanism 8 to avoid the stranded wire from being completely deformed. The damping devices of the wire tray 5 and the elastic wire tray 6 can ensure that the wire and elastic wire maintain a certain tension when being pulled.
[0024] The stranding lead mechanism 8 is further equipped with a first cylinder 22 on the stranding lead bracket 16. The lead slider 19 is mounted on the end of the piston rod of the first cylinder 22, which can move up and down a set distance. The first cylinder 22 can drive the lead slider 19 to move up and down. The elastic element 20 is located between the end of the piston rod of the first cylinder 22 and the lead slider 19 to provide downward elastic force for the lead sliding. The first cylinder 22 drives the lead slider 19 to slide up and down, thereby switching between the normal traction and correction state and the threading state of the wire.
[0025] The wire supply turntable 4 is provided with several radially extending wire supply tracks at equal angles. Each wire supply slide block is slidably installed within one of these tracks. The turntable 4 also has several wire tension adjustment drive devices 23, which drive each wire supply slide block to slide along the tracks. Each conductor reel 5 and elastic wire reel 6 is correspondingly mounted on a wire supply slide block. Several wire tension detection sensors are also provided, which detect the tension of the wires drawn from each conductor reel 5 and elastic wire reel 6. Each tension detection sensor communicates with the control system, transmitting real-time tension data for each wire. The control system controls the start, stop, and forward / reverse operation of each wire tension adjustment drive device 23. This reduces tension fluctuations. During the stranding process, when the tension of the conductor and elastic wire suddenly changes, the wire supply slide block moves on the turntable 4, dynamically adjusting the tension of the conductor and elastic wire.
[0026] The wire tension adjustment drive device 23 includes a motor and a lead screw and nut mechanism. The motor drives the lead screw of the lead screw and nut mechanism to rotate, and the nut of the lead screw and nut mechanism is fixedly connected to the wire supply slider.
[0027] The take-up turntable 9 includes a winding roller and two wire-blocking plates. The two wire-blocking plates are detachably and fixedly sleeved on the outer sides of both ends of the winding roller. A space for accommodating the wire is formed between the two wire-blocking plates. The wire can be wound around the outer circumference of the winding roller. The equipment base 1 is also provided with a fifth support frame 24 between the third support frame 13 and the fourth support frame 14. The fifth support is provided with a wire-laying slider 25 that can slide back and forth along a slide rail parallel to the axis of the winding roller. The wire-laying slider 25 is provided with a wire-passing hole 26. The wire drawn out from the stranding and lead-in mechanism 8 passes through the wire-passing hole 26 and is finally wound around the winding roller. The fifth support is also provided with a wire-laying drive device 27. The wire-laying drive device 27 drives the wire-laying slider 25 to slide back and forth, so that the wire is evenly and intermittently wound and arranged along the axis of the winding roller.
[0028] Before entering the take-up turntable 9, the stranded wire passes through the wire through hole 26 on the wire guide slider 25. While the stranded wire moves back and forth along the axial direction of the winding roller with the wire guide slider 25, it winds around the outer circumference of the winding roller. This mechanism realizes the stranded wire winding layer by layer on the winding roller to finally form a coil. After the stranded wire is wound on the winding roller to form a coil, the wire guide plate is removed first, and then the coil is removed from the winding roller, which makes it easier to unload the coil. The unloaded coil can be stored by wrapping with tape.
[0029] The system also includes a meter counter and a stranded wire cutting device 36. The meter counter measures the length of the stranded wire. A sixth support frame 37 is provided between the third support frame 13 and the fifth support frame 24. The stranded wire cutting device 36 is fixedly installed on the sixth support frame 37 and can cut the stranded wire that is about to be wound onto the winding roller. During the process of the conductor and elastic wire being wound onto the take-up turntable 9 after stranding, the meter counter calculates the length of the stranded wire. When the length reaches the design requirement, the take-up turntable 9 and the stranding spindle 2 stop rotating, and the stranded wire cutting device 36 cuts the stranded wire, thereby achieving fixed-length take-up. The stranded wire cutting device 36 can use a scissor mechanism or a cutter mechanism for cutting.
[0030] The device also includes a single-wire cutting assembly, comprising a wire cutting disc 28, a wire cutting blade 29, and a wire cutting drive device. The wire cutting disc 28 is fixedly mounted on the stranding spindle 2 between the wire supply turntable 4 and the stranding turntable. The wire cutting disc 28 has several wire cutting holes 30 that correspond one-to-one with the wire passing holes 141 on the stranding turntable. A cutting groove 38 is formed on one side wall of the wire cutting hole 30, and a cutting receiving groove is provided on the other side wall of the wire cutting hole 30. The wire cutting blade 29 can be accommodated in the cutting receiving groove. The wire cutting blade 29 can extend along the cutting receiving groove toward the cutting groove 38 to cut the wire passing through the wire cutting hole 30. The wire cutting drive device drives each wire cutting blade 29 to move synchronously. The control system can control the start and stop of the wire cutting drive device.
[0031] When the wire stranding is completed, and the conductor spool 5 and the elastic wire spool 6 need to be removed, each conductor and elastic wire needs to be cut. When cutting the conductor and elastic wire, the wire cutting drive device is activated, and the wire cutting blade 29 extends and works together with the cutting groove 38 to cut the conductor and elastic wire.
[0032] The wire passage hole 141 is further provided with a fixed wire clamp 31 and a movable wire clamp 32. The movable wire clamp 32 can slide radially along the stranding turntable 7. The movable wire clamp 32 and the fixed wire clamp 31 can clamp or release the wire in the wire passage hole 141. The stranding turntable 7 is also provided with a wire clamping drive device, which drives the movable wire clamp 32 to move. The control system controls the start and stop of the wire clamping drive device. Ideally, when cutting the conductor and the elastic wire, the wire passes through the fixed wire clamp 31 and the movable wire clamp 32 in the wire passage hole 141 to clamp and fix the conductor, ensuring that the conductor and the elastic wire are cut smoothly.
[0033] Both the tangent drive device and the clamping drive device include a second cylinder 35 fixedly installed inside the stranding spindle 2. A cone 39 is fixedly installed on the piston rod of the second cylinder 35. The side wall of the stranding spindle 2 is provided with several clearance holes that are directly opposite to the tangent hole 30 and the wire passage hole 141. The tangent disc 28 and the stranding disc 7 are respectively provided with several radial slides that are directly opposite to and communicate with the tangent hole 30 and the wire passage hole 141. A drive rod 33 is slidably installed in the radial slide. One end of the drive rod 33 is fixedly connected to the wire cutter 29 and the movable wire clamp 32, and the other end of the drive rod 33 is tightly attached to the outer surface of the cone 39. The wire cutting drive device and the wire clamping drive device also include a spring 34, which provides the drive rod 33 with an elastic force to keep it in close contact with the cone 39. The extension and retraction movement of the piston rod of the second cylinder 35 can drive each drive rod 33 to slide synchronously along the radial slide, thereby enabling each wire cutter 29 and the movable wire clamp 32 to clamp the wire synchronously and cut the wire synchronously. By driving the cone 39 axially through the second cylinder 35 hidden in the stranding spindle 2, the extension and retraction movement of each drive rod 33 is realized, thereby realizing the extension and retraction movement of the wire cutter 29 and the movable wire clamp 32. This mechanism can ensure that all wire cutters 29 and all movable wire clamps 32 operate synchronously. Ideally, when cutting the wire and elastic wire, the movable wire clamp 32 should first move into position to clamp the wire and elastic wire, and then the wire cutter 29 should extend to cut the wire and elastic wire.
[0034] Two sets of wire guide wheels 15 are spaced apart within the wire passage hole 141 along the wire extension direction. Each set of wire guide wheels 15 consists of two radially spaced wire guide wheels 15 arranged along the stranding disc 7. Each wire guide wheel 15 has a corresponding arc-shaped concave ring on its outer circumferential wall for the wire to pass through. This structure can prevent the conductor and elastic wire from getting stuck and broken within the wire passage hole 141.
Claims
1. An automatic wire twisting machine for industrial robot cables, characterized in that: The equipment includes a base (1), a stranding spindle (2), a stranding drive device (3), a wire feeding turntable (4), a conductor reel (5), an elastic wire reel (6), a stranding turntable (7), a stranding lead-in mechanism (8), a take-up turntable (9), a take-up drive device (10), and a control system. The base is sequentially equipped with a first support frame (11), a second support frame (12), a third support frame (13), and a fourth support frame (14). The wire feeding turntable and the stranding turntable are coaxially mounted on the first and second support frames, respectively. The wire-taking mechanism is fixedly mounted on the third support frame, and the take-up turntable is rotatably mounted on the fourth support frame. A take-up drive device drives the take-up turntable to rotate and take in wire. The wire-feeding turntable and the stranding turntable are respectively fixedly mounted at both ends of the stranding spindle. A stranding drive device drives the stranding spindle to rotate. Several conductor reels and elastic wire reels are evenly spaced and rotatably mounted on the wire-feeding turntable along the circumference of the stranding spindle. The conductor reels and elastic wire reels are also equipped with damping devices to provide resistance to their rotation. The stranding turntable has several guide wires evenly spaced along the circumference of the stranding spindle. The wire hole (141) is provided one-to-one with the wire spool and the elastic wire spool, and a wire guide wheel (15) is rotatably provided inside the wire hole. The stranding lead wire mechanism includes a stranding lead wire bracket (16), an upper lead wire wheel (17), a lower lead wire wheel (18), a lead wire slider (19), and an elastic element (20). The stranding lead wire bracket is fixedly installed on the third support frame. The lower lead wire wheel is rotatably installed on the stranding lead wire bracket. The lead wire slider is rotatably installed on the stranding lead wire bracket. The upper lead wire wheel is rotatably installed on the lead wire. On the slider, the outer circumferential surfaces of the upper and lower lead wheels are provided with opposing lead grooves (21). The elastic element provides a downward elastic force to the lead slider. The lead wires and elastic wires drawn from the lead wire tray and the elastic wire tray can pass through the wire holes on the stranding turntable one by one and then converge and strand together towards the center of the stranding spindle after passing around the wire guide wheel. The stranded wires are wound around the take-up turntable through the lead grooves of the upper and lower lead wheels of the stranding lead mechanism. The control system controls the stranding drive device and the take-up drive device to rotate synchronously according to the designed speed ratio.
2. The industrial robot wire for cable automatic stranding machine according to claim 1, characterized in that: The stranding lead mechanism is further provided with a first cylinder (22) on the stranding lead bracket. The lead slider is installed at the end of the piston rod of the first cylinder and can move up and down a set distance. The first cylinder can drive the lead slider to move up and down. The elastic element is provided between the end of the piston rod of the first cylinder and the lead slider to provide downward elastic force for the lead sliding.
3. The automatic stranding machine for industrial robot cables according to claim 1, characterized in that: The wire supply turntable is provided with several wire supply slides extending radially at equal angles. Each wire supply slide is slidably installed in a wire supply slider. The wire supply turntable is also provided with several wire tension adjustment drive devices (23). The wire tension adjustment drive devices can drive each wire supply slider to slide along the wire supply slide. Each conductor reel and elastic wire reel is installed on the wire supply slider in a corresponding manner. Several wire tension detection sensors are also provided. Each wire tension detection sensor can detect the tension of the wire drawn from each conductor reel and elastic wire reel. Each wire tension detection sensor communicates with the control system to transmit the tension data of each wire in real time. The control system controls the start, stop and forward / reverse operation of each wire tension adjustment drive device.
4. The industrial robot wire for cable automatic stranding machine according to claim 3, characterized in that: The wire tension adjustment drive device includes a motor and a lead screw and nut mechanism. The motor drives the lead screw of the lead screw and nut mechanism to rotate, and the nut of the lead screw and nut mechanism is fixedly connected to the wire supply slider.
5. The industrial robot wire for cable automatic stranding machine according to claim 4, characterized in that: The take-up turntable includes a winding roller and a wire-blocking plate. The two wire-blocking plates are detachably fixed on the outer sides of both ends of the winding roller. A space for the wire is formed between the two wire-blocking plates. The wire can be wound around the outer circumference of the winding roller. The equipment base is provided with a fifth support frame (24) between the third support frame and the fourth support frame. The fifth support frame is provided with a wire-laying slider (25) that can slide back and forth along a slide rail parallel to the axis of the winding roller. The wire-laying slider is provided with a wire-passing hole (26). The wire drawn out from the stranding lead-in mechanism passes through the wire-passing hole and is finally wound around the winding roller. The fifth support frame is also provided with a wire-laying drive device (27). The wire-laying drive device drives the wire-laying slider to slide back and forth so that the wire is evenly spaced and reciprocatedly wound along the axis of the winding roller.
6. The industrial robot wire for cable automatic stranding machine according to claim 1, characterized in that: It is also equipped with a meter counter and a stranded wire cutting device (36). The meter counter can measure the length of the stranded wire. A sixth support frame (37) is provided between the third support frame and the fifth support frame. The stranded wire cutting device is fixedly installed on the sixth support frame. The stranded wire cutting device can cut the stranded wire that is about to be wound on the winding roller.
7. The industrial robot wire for cable automatic stranding machine according to claim 1, characterized in that: It also includes a single-wire cutting assembly, including a wire cutting disc (28), a wire cutting blade (29), and a wire cutting drive device. The wire cutting disc is fixedly sleeved on the stranding spindle between the wire supply turntable and the stranding turntable. The wire cutting disc is provided with a number of wire cutting holes (30) that correspond one-to-one with the wire passing holes on the stranding turntable. A cutting groove (38) is formed on one side wall of the wire cutting hole, and a cutting receiving groove is provided on the other side wall of the wire cutting hole. The wire cutting blade can be accommodated in the cutting receiving groove. The wire cutting blade can extend along the cutting receiving groove toward the cutting groove to cut the wire passing through the wire cutting hole. The wire cutting drive device drives each wire cutting blade to move synchronously. The control system can control the start and stop of the wire cutting drive device.
8. The industrial robot wire for cable automatic stranding machine according to claim 7, characterized in that: The wire passage hole is also provided with a fixed wire clamp (31) and a movable wire clamp (32). The movable wire clamp can slide radially along the stranding turntable. The movable wire clamp and the fixed wire clamp can clamp the wire in the wire passage hole or loosen the wire in the wire passage hole. The stranding turntable is also provided with a wire clamping drive device. The wire clamping drive device drives the movable wire clamp to move. The control system controls the start and stop of the wire clamping drive device.
9. The industrial robot wire for cable automatic stranding machine according to claim 8, characterized in that: Both the tangent drive device and the clamping drive device include a second cylinder (35) fixedly installed inside the stranding spindle. A cone (39) is fixedly installed on the piston rod of the second cylinder. The side wall of the stranding spindle is provided with several clearance holes that are directly opposite to the tangent hole and the wire passage hole. The tangent plate and the stranding plate are respectively provided with several radial slides that are directly opposite to and communicate with the tangent hole and the wire passage hole. A drive rod (33) is slidably provided in the radial slide. One end of the drive rod is fixedly connected to the tangent knife and the movable wire clamp, and the other end of the drive rod is close to the outer surface of the cone. The tangent drive device and the clamping drive device also include a spring (34). The spring provides the drive rod with an elastic force to keep it in close contact with the cone. The extension and retraction movement of the piston rod of the second cylinder can drive each drive rod to slide synchronously along the radial slide, thereby enabling each tangent knife and the movable wire clamp to clamp the wire synchronously and cut the wire synchronously.
10. The industrial robot wire for cable automatic stranding machine according to claim 1, characterized in that: Two sets of wire guide wheels are spaced apart along the wire extension direction inside the wire passage hole. Each set of wire guide wheels consists of two wire guide wheels arranged radially at intervals along the stranding disc. Corresponding arc-shaped concave rings for the wire to pass through are provided on the outer periphery of each wire guide wheel.