Automatic concentric stranded wire arranging device

Abstract

The utility model provides a kind of concentric stranded conductor automatic wire arranging device, utilize X-axis linear module to drive Y-axis linear module accurate movement along X-axis, Y-axis linear module drives Z-axis linear module moves along Y-axis, Z-axis linear module drives guiding module along Z-axis lifting.Industrial camera module can real-time collect the image of concentric stranded conductor on the wire storage wheel.Control system and industrial camera module, the servo driver of each axis linear module are connected by Ethernet or fieldbus, complete image processing and motion control.When working, concentric stranded conductor is wound to the rotating wire storage wheel after guiding module.Industrial camera module real-time shoots the image of concentric stranded conductor on the wire storage wheel, control system judges whether the current wire arranging position needs to change layer according to image, and corrects X, Y, Z three-axis coordinates, so that the next concentric stranded conductor is accurately adhered to the previous one, realizes automatic wire arranging without overlapping and gap.Through automatic adjustment of concentric stranded conductor position, ensure that wire arranging is neat.

Description

Technical Field

[0001] This utility model belongs to the field of automatic wire laying technology, and specifically relates to an automatic wire laying device for concentric stranded wires. Background Technology

[0002] Concentric stranded conductors require each individual wire to be tightly and evenly twisted together, and neat wiring is fundamental to achieving this goal. Neat wiring ensures that each wire experiences uniform stress during stranding, avoiding localized stress concentrations or loose stranding caused by uneven wire arrangement, thus improving the conductor's stranding quality and mechanical properties. During production, uneven wiring can lead to tangling and knotting of the concentric stranded conductors during unwinding or rewinding, requiring frequent shutdowns to address these issues and significantly reducing production speed. Neat wiring avoids these problems, allowing production equipment to operate continuously and stably, thereby improving overall production efficiency.

[0003] However, current concentric winding equipment has significant limitations. Once the winding pitch is set, it remains fixed, lacking flexibility. Because it cannot automatically adjust the winding path according to actual production conditions, the winding effect is messy and disorganized, failing to meet the requirements of neat winding for high-quality production. This problem is particularly pronounced in situations with unusual production layouts, such as when the distance between the wire storage reel and the take-up mechanism is relatively large.

[0004] In this situation, because the output position of the wire storage reel cannot be adjusted accordingly, the concentric stranded wire is prone to having an excessively small bending radius during its journey from the reel to the take-up mechanism. An excessively small bending radius can cause wire damage, which not only affects the appearance of the concentric stranded wire, causing surface scratches and indentations, but more seriously, may damage the internal structure of the cable, reducing its electrical performance and mechanical strength. This ultimately affects the overall quality and service life of the concentric stranded wire, causing numerous inconveniences and potential quality risks in production. Therefore, there is an urgent need for an improved wire routing device or method that can solve these problems. Utility Model Content

[0005] The purpose of this invention is to provide an automatic concentric stranded wire laying device that automatically adjusts the position of the concentric stranded wires to ensure neat wiring.

[0006] To solve the above technical problems, this utility model provides an automatic wire laying device for concentric stranded wires, including: a wire laying mechanism, the wire laying mechanism including a base, an X-axis linear module, a Y-axis linear module, a Z-axis linear module, an industrial camera module, a guide module and a control system;

[0007] The fixed end of the X-axis linear module is disposed on the base. The movable end of the X-axis linear module is connected to the fixed end of the Y-axis linear module and is used to drive the fixed end of the Y-axis linear module to move along the X-axis direction. The movable end of the Y-axis linear module is connected to the fixed end of the Z-axis linear module and is used to drive the fixed end of the Z-axis linear module to move along the Y-axis direction. The movable end of the Z-axis linear module is connected to the fixed end of the guide module and is used to drive the fixed end of the guide module to move along the Z-axis direction. The X-axis, Y-axis and Z-axis are perpendicular to each other.

[0008] The industrial camera module is used to acquire the position of the concentric stranded wire on the wire storage wheel in real time.

[0009] The guiding module is used to guide the concentric stranded wire;

[0010] The control system is used to control the start and stop of the X-axis linear module, the Y-axis linear module, and the Z-axis linear module based on the data transmitted by the industrial camera module.

[0011] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the X-axis linear module, the Y-axis linear module and / or the Z-axis linear module include a laying drive motor and a ball screw structure connected to the laying drive motor.

[0012] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the guide module includes a support plate and several guide wheels, the movable end of the Z-axis linear module is connected to the support plate, and a channel for the concentric stranded wire is formed between the several guide wheels.

[0013] Optionally, in the above-mentioned automatic wiring device for concentric stranded wires, the guide module further includes a turning drive motor, a turning plate, a first gear, a second gear, and a wiring conduit. The fixed end of the turning drive motor is disposed on the support plate, and the movable end is connected to the first gear. The first gear and the second gear are connected in a transmission manner. The second gear is connected to the turning plate, and the wiring conduit is sleeved on the outside of the concentric stranded wire.

[0014] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the guide module further includes a turning pressure roller and / or a laser rangefinder;

[0015] The turning pressure roller is located on the side of the turning plate near the wire storage roller;

[0016] The laser rangefinder is used to measure the distance between itself and the line storage reel.

[0017] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the industrial camera module includes a 2D industrial camera and a 3D industrial camera. The 2D industrial camera and the 3D industrial camera are set in different positions and are used to determine whether the concentric stranded wire is wound to the edge on the wire storage wheel. When both the 2D industrial camera and the 3D industrial camera determine that the concentric stranded wire has reached the edge, they feed back to the control system for automatic reversal.

[0018] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the laying mechanism is covered with a dustproof cover.

[0019] Optionally, the above-mentioned automatic concentric stranded wire laying device further includes a gantry take-up mechanism. The gantry take-up mechanism includes a gantry frame, a take-up motor, and a wire storage wheel. The two ends of the wire storage wheel are rotatably mounted on two columns of the gantry frame via rotating shafts. The fixed end of the take-up motor is connected to the columns, and the movable end of the take-up motor is connected to the rotating shaft of the wire storage wheel.

[0020] Optionally, in the above-mentioned automatic concentric stranded wire laying device, the industrial camera module is disposed on the fixed end of the guide module;

[0021] Alternatively, the industrial camera module may be fixed in front of and / or behind the gantry take-up mechanism.

[0022] Optionally, the above-mentioned automatic concentric stranded wire laying device also includes a wire pressing mechanism, which is used to assist in laying the wires and guide the concentric stranded wires to be neatly arranged on the wire storage wheel, so as to avoid tangled wires or overlap.

[0023] This utility model provides an automatic wire laying device for concentric stranded wires, which has the following advantages:

[0024] The X-axis linear module drives the Y-axis linear module to move precisely along the X-axis, the Y-axis linear module drives the Z-axis linear module to move along the Y-axis, and the Z-axis linear module drives the guide module to move up and down along the Z-axis. The industrial camera module can capture images of concentric stranded wires on the wire storage reel in real time. The control system is connected to the industrial camera module and the servo drives of each axis linear module via Ethernet or fieldbus to complete image processing and motion control.

[0025] During operation, the concentric stranded wire is guided by the guide module and wound onto a rotating storage wheel. An industrial camera module captures real-time images of the concentric stranded wire on the storage wheel. The control system uses these images to determine if a layer change is needed and immediately corrects the X, Y, and Z axis coordinates to ensure the next turn of concentric stranded wire accurately aligns with the previous turn, achieving automatic wiring without overlap or gaps. By automatically adjusting the position of the concentric stranded wire, neat wiring is guaranteed. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 A front view of an automatic concentric stranded wire laying device provided for an embodiment of this utility model;

[0028] Figure 2 A top view of an automatic wire laying device for concentric stranded wires provided in an embodiment of this utility model;

[0029] Figure 3 A schematic diagram of the structure of an automatic wire laying device for concentric stranded conductors provided in this embodiment of the utility model;

[0030] Figure 4 A top view of the gantry winding mechanism and electrical box provided for an embodiment of this utility model;

[0031] Figure 5 A schematic diagram of the gantry winding mechanism and electrical box provided in this embodiment of the utility model;

[0032] Figure 6 Front view of the gantry winding mechanism and electrical box provided in the embodiment of this utility model;

[0033] Figure 7 A schematic diagram of the gantry winding mechanism provided in this embodiment of the utility model;

[0034] Figure 8 This is a schematic diagram of the commutation module provided in an embodiment of the present utility model;

[0035] Figure 9 This is a schematic diagram of the commutation module provided in an embodiment of the present invention.

[0036] In the image above:

[0037] 100 - Wire pressing mechanism;

[0038] 200-Cable laying mechanism; 210-Base; 220-X-axis linear module; 230-Y-axis linear module; 240-Z-axis linear module; 250-Guide module; 251-Support plate; 252-Guide wheel; 253-First gear; 254-Second gear; 255-Cable laying conduit; 256-Tilting pressure roller; 257-Laser rangefinder;

[0039] 300-Gantry cable reel mechanism;

[0040] 400 - Control Cabinet;

[0041] 500-Concentric stranded wire. Detailed Implementation

[0042] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0043] The core of this utility model is to provide an automatic wiring device for concentric stranded wires, which ensures neat wiring by automatically adjusting the position of the concentric stranded wires.

[0044] To enable those skilled in the art to better understand the technical solutions provided by this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] For details, please refer to Figures 1-9 The present invention provides an automatic wire laying device for concentric stranded wires, comprising: a wire laying mechanism 200, the wire laying mechanism 200 including a base 210, an X-axis linear module 220, a Y-axis linear module 230, a Z-axis linear module 240, an industrial camera module, a guide module 250, and a control system.

[0046] The base 210 is fixed to the ground, providing rigid support for the entire wiring mechanism 200.

[0047] X-axis linear module 220: Its fixed end is mounted on the base 210, and its movable end is connected to the fixed end of the Y-axis linear module 230, used to drive the entire Y-axis linear module 230 to move along the X-axis direction, as shown in the figure, where the X-axis direction is horizontal. During the winding process, the winding speed is automatically tracked according to the wire diameter, and the distance of the winding is automatically adjusted to ensure more accurate and tight winding.

[0048] Y-axis linear module 230: Its movable end is connected to the fixed end of Z-axis linear module 240, and it is used to drive the entire Z-axis linear module 240 to move along the Y-axis direction. As shown in the figure, the Y-axis direction is horizontal and longitudinal, perpendicular to the X-axis. During the winding process, the position of the wire outlet is automatically adjusted according to the change in the bottom diameter of the wire storage wheel to ensure tight wire winding along the length of the wire storage wheel.

[0049] Z-axis linear module 240: Its movable end is connected to the fixed end of guide module 250, and it is used to drive the entire guide module 250 to move along the Z-axis direction, as shown in the figure, the Z-axis direction is the vertical direction. During the winding process, the height of the cable exit port is automatically adjusted according to the diameter of different cable storage wheels and the number of winding layers.

[0050] The X, Y, and Z axes are perpendicular to each other, forming a three-dimensional rectangular coordinate motion system, which enables the guide module 250 to be precisely positioned at any spatial location in front of the end face of the wire storage wheel.

[0051] The directions represented by the X-axis, Y-axis, and Z-axis mentioned in this embodiment of the present invention are merely examples and are not intended to be specific.

[0052] An industrial camera module (not shown separately in the figure) is used to acquire real-time images of the position of the concentric stranded wire 500 on the wire storage reel. It captures images of the end face of the wire storage reel and the wound concentric stranded wire, and feeds the data back to the control system. The control system uses image processing algorithms to determine the actual position of the concentric stranded wire on the wire storage reel, the wire pitch, and whether it has been wound to the edge of the reel. It should be noted that the aforementioned image processing algorithm and position determination method are existing technologies and are not the focus of protection in this case.

[0053] The guide module 250 is used to guide the concentric stranded wire 500.

[0054] The control system is used to control the start and stop of the X-axis linear module 220, Y-axis linear module 230, and Z-axis linear module 240 based on the data transmitted by the industrial camera module. It receives image data from the industrial camera module, calculates the cable routing deviation in real time, and outputs control commands to the servo drives of the X-axis, Y-axis, and Z-axis linear modules to achieve closed-loop position correction, synchronizing the cable routing at the concentric stranded wire outlet of the guide module 250 with the actual position on the cable storage reel.

[0055] The automatic concentric stranded wire laying device provided in this solution utilizes an X-axis linear module 220 to drive a Y-axis linear module 230 to move precisely along the X-axis. The Y-axis linear module 230 drives a Z-axis linear module 240 to move along the Y-axis, and the Z-axis linear module 240 drives a guide module 250 to move up and down along the Z-axis. An industrial camera module can capture real-time images of the concentric stranded wire 500 on the wire storage reel. The control system (such as an industrial PC or PLC) is connected to the industrial camera module and the servo drives of each axis linear module via Ethernet or fieldbus to complete image processing and motion control.

[0056] During operation, the concentric stranded wire 500 is wound onto the rotating storage reel after passing through the guide module 250. The industrial camera module captures real-time images of the concentric stranded wire 500 on the storage reel. The control system determines whether a layer change is needed based on the images and immediately corrects the X, Y, and Z axis coordinates to ensure the next turn of concentric stranded wire 500 accurately aligns with the previous turn, achieving automatic wiring without overlap or gaps. By automatically adjusting the position of the concentric stranded wire, neat wiring is ensured.

[0057] In a specific embodiment, the X-axis linear module 220, the Y-axis linear module 230, and / or the Z-axis linear module 240 include a cable-driven motor and a ball screw structure connected to the cable-driven motor. Specifically, the X-axis linear module 220 adopts a servo motor-driven ball screw structure, which can drive the Y-axis linear module 230 to move precisely along the X-axis. The Y-axis linear module 230 is also driven by a servo motor, driving the Z-axis linear module 240 to move along the Y-axis. The Z-axis linear module 240 then drives the guide module 250 to move up and down along the Z-axis.

[0058] In a specific embodiment, the guide module 250 includes a support plate 251 and a plurality of guide wheels 252. The movable end of the Z-axis linear module 240 is connected to the support plate 251, and a channel for the concentric stranded wire 500 is formed between the plurality of guide wheels 252. The guide module 250 forms a guide channel for the concentric stranded wire 500 to pass through through a series of guide wheels 252, arranged from the wire exit mechanism to the wire exit of the wire laying mechanism, constraining the direction of the concentric stranded wire 500 before it enters the wire storage wheel, and simultaneously performing straightening, tensioning and other functional processing on the concentric stranded wire 500 to ensure that the concentric stranded wire fits the wheel surface of the wire storage wheel at a set angle.

[0059] In a further embodiment, in order to enable the concentric stranded wire 500 to reach the edge of the wire storage wheel, the guide module 250 further includes a flipping drive motor, a flipping plate, a first gear 253, a second gear 254, and a wire guide 255. The fixed end of the flipping drive motor is disposed on the support plate 251, and the movable end is connected to the first gear 253. The first gear 253 and the second gear 254 are connected in a transmission manner. The second gear 254 is connected to the flipping plate, and the wire guide 255 is sleeved on the outside of the concentric stranded wire 500.

[0060] The first gear 253 rotates synchronously with the output shaft of the tilting drive motor, and the second gear 254 meshes with the first gear 253 to achieve speed reduction and torque increase. The cable guide 255 is roughly cylindrical and is sleeved on the outside of the concentric stranded wire 500 to provide support for the concentric stranded wire 500. The end of the tilting plate is fixedly connected to the second gear 254 and can rotate 180° (or a set angle) around its own axis under the drive of the second gear 254 to complete the instantaneous tilting of the exit angle of the concentric stranded wire 500.

[0061] When the industrial camera module detects that the concentric stranded wire 500 is about to reach the edge of the wire storage wheel, the control system immediately sends a pulse signal to the flipping drive motor. The flipping drive motor drives the wire guide 255 to rotate through the first gear 253 and the second gear 254, causing the output direction of the concentric stranded wire 500 to reverse instantaneously, thereby realizing the reversal of the concentric stranded wire 500 and continuing to the next layer of wire laying. The flipping action works in coordination with the X, Y, and Z three-axis linear modules to ensure that the layer changing and reversal process is continuous and without wire overlap.

[0062] With the above structure, this utility model can automatically adjust the three-dimensional coordinates of the guide module according to the width of the storage wheel, the diameter of the concentric stranded wire, and the real-time winding state during the stranding process, so that the concentric stranded wire is evenly arranged layer by layer and turn by turn on the storage wheel, avoiding wire overlap and pressing, and significantly improving the stranding quality and production efficiency of the concentric stranded wire.

[0063] In addition, the guide module 250 also includes a turning pressure roller 256 and / or a laser rangefinder 257.

[0064] To improve the stability of the concentric stranded conductor 500 during flipping, a flipping pressure roller 256 is added. The flipping pressure roller 256 is located on the side of the support plate 251 near the wire storage roller, and can be composed of two pressure rollers that can clamp the concentric stranded conductor 500, ensuring stable wire output during the flipping process.

[0065] The laser rangefinder 257 is used to measure the distance between itself and the wire storage wheel. Based on the distance measured by the laser rangefinder 257 from the wire outlet to the edge of the wire storage wheel, it is determined whether the wire outlet needs to be flipped over to change direction, thereby ensuring that the wire outlet moves back and forth at a fixed distance.

[0066] As the number of cable layers increases, the distance from the outlet to the center of the storage wheel will increase. Therefore, the outlet needs to be moved back synchronously to ensure the angle and tension of the concentric stranded wires on the outlet and the storage wheel.

[0067] In a specific embodiment, the industrial camera module includes a 2D industrial camera and a 3D industrial camera. The 2D and 3D industrial cameras are positioned at different locations and are used to determine whether the concentric stranded wire 500 has reached the edge on the wire storage reel. When both the 2D and 3D industrial cameras determine that the concentric stranded wire 500 has reached the edge, feedback is sent to the control system for automatic reversal. The industrial camera module can be mounted above the guide module 250 via a bracket, with the lens facing the end face of the wire storage reel 100.

[0068] Preferably, the vision solution employs a combination of 2D and 3D vision inspection. A 2D industrial camera is positioned in front of the wire reel to capture images of the wire take-up process and perform edge detection. A 3D industrial camera is positioned behind the wire reel as a second layer of protection, in case the 2D camera fails to correctly determine the edge. In actual use, during wire take-up, since edge detection occurs on the left or right side of the reel, when the first loop of the next layer is completed, the concentric stranded wire will climb onto the first loop of the next layer without manual intervention. Therefore, this condition can be used to determine edge detection. Of course, there is also the possibility that the concentric stranded wire may not climb onto the first loop, which can also be considered an edge detection condition. The 3D industrial camera acts as a second layer of protection; if the 2D industrial camera fails to make a correct judgment, the 3D industrial camera can perform a secondary judgment to ensure timely warning and handling of anomalies. Specifically, the 3D industrial camera can be a 3D laser camera.

[0069] To avoid external influences, the entire wiring mechanism 200 is equipped with a dustproof cover.

[0070] To prevent wear on the concentric stranded wires, the outer layer of the turning pressure roller 256 and / or guide roller 252 is covered with a cushioning pad. The cushioning pad is made of an elastic and removable material, such as a rubber pad.

[0071] This solution also includes a gantry take-up mechanism 300, which includes a gantry frame, a take-up motor, and a wire storage wheel. The two ends of the wire storage wheel are rotatably mounted on two columns of the gantry frame via rotating shafts. The fixed end of the take-up motor is connected to the columns, and the movable end of the take-up motor is connected to the rotating shaft of the wire storage wheel.

[0072] The control system is also used to control the start and stop of the take-up motor.

[0073] Specifically, the industrial camera module is mounted on the fixed end of the guide module 250. Alternatively, the industrial camera module is fixed in front of and / or behind the gantry take-up mechanism 300. Of course, guide rails can also be installed on the ground. When the industrial camera module is needed, it can be positioned as required using the guide rails. When not in use, the industrial camera module and the gantry take-up mechanism 300 can be moved together to a spare position.

[0074] This solution also includes a wire pressing mechanism 100, placed between the gantry take-up mechanism 300 and the wire laying mechanism 200. This mechanism assists in wire laying and guides the concentric stranded wires 500 to be neatly arranged on the wire storage reel, preventing tangled or overlapping wires. If the wire laying mechanism 200 malfunctions during normal operation, the wire pressing mechanism 100 can remain in the center, while the gantry take-up mechanism 300 can be quickly moved off-line, ensuring normal production line operation.

[0075] The control cabinet 400 houses an industrial computer, controllers, and other electrical devices. The industrial computer runs artificial intelligence algorithms and 3D industrial camera edge detection algorithms, and connects to the controller via a network to send edge signals and feedback to the controller in real time, enabling the cable laying mechanism 200 to perform cable pulling and automatic steering.

[0076] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0077] In the description of this application, "multiple" means two or more. If "first" or "second" is mentioned, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0078] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0079] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0080] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0082] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. An automatic concentric stranding device for a stranded conductor, characterized in that include: The cable laying mechanism (200) includes a base (210), an X-axis linear module (220), a Y-axis linear module (230), a Z-axis linear module (240), an industrial camera module, a guide module (250), and a control system. The fixed end of the X-axis linear module (220) is disposed on the base (210). The movable end of the X-axis linear module (220) is connected to the fixed end of the Y-axis linear module (230) and is used to drive the fixed end of the Y-axis linear module (230) to move along the X-axis direction. The movable end of the Y-axis linear module (230) is connected to the fixed end of the Z-axis linear module (240) and is used to drive the fixed end of the Z-axis linear module (240) to move along the Y-axis direction. The movable end of the Z-axis linear module (240) is connected to the fixed end of the guide module (250) and is used to drive the fixed end of the guide module (250) to move along the Z-axis direction. The X-axis, Y-axis and Z-axis are perpendicular to each other. The industrial camera module is used to acquire the position of the concentric stranded wire (500) on the wire storage reel in real time; The guide module (250) is used to guide the concentric stranded wire (500); The control system is used to control the start and stop of the X-axis linear module (220), the Y-axis linear module (230), and the Z-axis linear module (240) according to the data transmitted by the industrial camera module.

2. The concentric stranding automatic laying device of claim 1, wherein, The X-axis linear module (220), the Y-axis linear module (230), and / or the Z-axis linear module (240) include a cable drive motor and a ball screw structure connected to the cable drive motor.

3. The concentric stranding automatic laying device of claim 1, wherein, The guide module (250) includes a support plate (251) and a plurality of guide wheels (252). The movable end of the Z-axis linear module (240) is connected to the support plate (251), and a channel is formed between the plurality of guide wheels (252) through which a concentric stranded wire (500) passes.

4. The concentric stranding automatic laying device of claim 3, wherein, The guide module (250) also includes a turning drive motor, a turning plate, a first gear (253), a second gear (254), and a cable conduit (255). The fixed end of the turning drive motor is disposed on the support plate (251), and the movable end is connected to the first gear (253). The first gear (253) and the second gear (254) are connected in a transmission manner. The second gear (254) is connected to the turning plate. The cable conduit (255) is sleeved on the outside of the concentric stranded wire (500).

5. The concentric stranding automatic laying device of claim 4, wherein, The guide module (250) also includes a turning pressure roller (256) and / or a laser rangefinder (257); The turning pressure roller (256) is located on the side of the turning plate near the wire storage roller; The laser rangefinder (257) is used to measure the distance between the laser rangefinder and the line storage reel.

6. The concentric stranding automatic laying device of claim 1, wherein, The industrial camera module includes a 2D industrial camera and a 3D industrial camera. The 2D industrial camera and the 3D industrial camera are set in different positions and are used to determine whether the concentric stranded wire (500) is wound to the edge on the wire storage wheel. When both the 2D industrial camera and the 3D industrial camera determine that the concentric stranded wire (500) has reached the edge, they feed back to the control system for automatic reversal.

7. The concentric stranding automatic laying device of claim 1, wherein, The wiring mechanism (200) is covered with a dustproof cover.

8. The concentric stranding automatic laying device of claim 1, wherein, It also includes a gantry take-up mechanism (300), which includes a gantry frame, a take-up motor and a wire storage wheel. The two ends of the wire storage wheel are rotatably mounted on two columns of the gantry frame via a rotating shaft. The fixed end of the take-up motor is connected to the column, and the movable end of the take-up motor is connected to the rotating shaft of the wire storage wheel.

9. The concentric stranding automatic laying device of claim 8, wherein, The industrial camera module is mounted on the fixed end of the guide module (250); Alternatively, the industrial camera module may be fixed in front of and / or behind the gantry take-up mechanism (300).

10. The concentric stranding automatic laying device of claim 1, wherein, It also includes a wire clamping mechanism (100) for clamping the concentric stranded wire (500).

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