CN106848801A - A kind of full-automatic twisted-pair feeder process equipment - Google Patents

Abstract

The invention discloses a kind of full-automatic twisted-pair feeder process equipment, including mainframe, workbench is installed on mainframe, the left positioned at workbench on mainframe is provided with alignment module；It is sequentially installed with front end arm in rotary moving, two-wire from left to right at collinear position with alignment module on the table and cuts module and rear end arm in rotary moving, the front for cutting module positioned at two-wire on the table is sequentially installed with from left to right wears bolt module, crimping module and front end transfer twisted wire module；The rear for cutting module positioned at two-wire on the table is sequentially installed with crimping module and wears bolt module from left to right；Right positioned at workbench on mainframe is provided with afer bay, is slided successively from left to right on afer bay and is provided with bracing wire module, rear end transfer module and high speed twisted wire module.Whole process fully achieves automation, and production efficiency is substantially improved, and machining accuracy is high, and steady quality type is good, low production cost.

Description

A kind of full-automatic twisted-pair feeder process equipment

Technical field

The present invention relates to wiring harness processing device technical field, and in particular to a kind of with the complete of lower wire crimp twisted wire function The stranded process equipment of automatic two-wire.

Background technology

Twisted-pair feeder is general to be formed by two wires according to certain pitch is stranded, extraneous dry using the stranded resistance of itself Disturb, with certain Anti-Jamming.In automotive electronics, the sensor such as engine crankshaft, radio and tape player, ABS system, CAN lines It is required for using twisted wire, and developing rapidly with automotive electronics, the technology such as Module part and CAN lines Deng modular system Using more and more extensively, stranded line loop is also more and more.The processing of current wire harness industry twisted-pair feeder is by under full-automatic first Line equipment is respectively completed two lower wire crimps of wire, then goes to twisted wire area week again, and manually completing twisted wire with wire twisting equipment makees Industry, the turnaround time is long, and low production efficiency, quality conformance is low, and Production requirement can not be met.

The content of the invention

The present invention is to solve existing wire harness twisted-pair feeder is district operation, the turnaround time is long, low production efficiency and quality The low technical problem of uniformity, so as to provide a kind of while realize two lower wire crimps of wire, and can be automatically performed stranded Operation, production efficiency full-automatic twisted-pair feeder process equipment high.

In order to solve the above technical problems, the technical solution adopted in the present invention is as follows：

A kind of full-automatic twisted-pair feeder process equipment, including mainframe, are provided with workbench, on mainframe on mainframe Alignment module is installed positioned at the left of workbench；It is located at alignment module on the table at collinear position by a left side extremely The right side is sequentially installed with front end arm in rotary moving, two-wire and cuts module and rear end arm in rotary moving, on the table positioned at double Line cut module front be sequentially installed with from left to right wear bolt module, crimping module and front end transfer twisted wire module；In work The rear for cutting module positioned at two-wire on platform is sequentially installed with crimping module and wears bolt module from left to right；Upper in mainframe Afer bay is installed in the right of workbench, is slided successively from left to right on afer bay and is provided with revolving die in bracing wire module, rear end Group and high speed twisted wire module.Rear end arm in rotary moving is identical with front end arm structure in rotary moving, but pacifies for reversely projecting Dress, realizes that wire cuts module in two-wire, wears bolt module, crimping module, the rotational positioning between front end transfer twisted wire module.

The alignment module includes main supporting plate, and the first inlet wire aligning mechanism and the second inlet wire are provided with main supporting plate Aligning mechanism, the first inlet wire aligning mechanism and the second inlet wire aligning mechanism are obliquely installed and extended line is intersecting；First inlet wire Aligning mechanism includes the first vertical swage, first level swage and the first directive wheel, the second inlet wire aligning mechanism bag Include the second vertical swage, the second horizontal swage and the second directive wheel, the first vertical swage, first level swage and One directive wheel is located along the same line, and the second vertical swage, the second horizontal swage and the second directive wheel are located at another same On straight line, two center lines of the straight line on main supporting plate plate face are symmetrical, and two intersection points of straight line are located at main supporting plate plate face Center line on, wire guide plate is installed in the point of intersection of two straight lines, be provided with wire guide on wire guide plate, wire guide revolves with front end The connecting rod clip claw mechanism for shifting arm of starting is corresponding.Two kinds of different wires are made respectively through two sets of alignments of inlet wire aligning mechanism With reaching straightened condition.

The front end arm in rotary moving includes installing plate, the first mounting hole and second is provided with a mounting board and is installed Hole, the first servomotor and the second servomotor are provided with installing plate lower end, and the output shaft of the first servomotor 208 is worn upwards Cross the first mounting hole to be connected with gear, gear is arranged in rotating disk by bearing, rotating disk is arranged on the first mounting hole；Rotation Rotating disk is connected by belt with driving wheel, and driving wheel is arranged in the second mounting hole and connects with the output shaft of the second servomotor Connect；Track plates are slidably mounted in the card of rotating disk, and tooth bar is provided with track plates lower surface, and rack and pinion is meshed； Be symmetrically arranged with two sets of clamp assemblies on track plates, the clamp assemblies include sliding block, connecting rod clip claw mechanism, contiguous block III, Slide rail and pen cylinder；Sliding block is fixedly mounted on track plates, and slide rail is slidably mounted on sliding block, in slide rail away from alignment module One end be connected with connecting rod clip claw mechanism by contiguous block III, pen cylinder is fixed on track plates near alignment mode by mounting blocks One end of group, the piston rod of pen cylinder is connected with contiguous block III；The thin cylinder of connecting rod clip claw mechanism sets with pen cylinder Put direction vertical.First servomotor drives pinion rotation, wheel and rack engagement so that rack linear movement, tooth bar is fixed On track plates, so the movement of tooth bar causes that move clamp assemblies integrally moves linearly on the rotating pan.Second servomotor Driving wheel is driven to rotate, driving wheel is rotated disk and rotates by belt pulley, the rotation of rotating disk causes that rotating disk and movement are pressed from both sides Hold the overall rotation on substrate of component.The flexible drive grip unit of pen cylinder is moved on track plates.

The two-wire cuts module includes servomotor, shaft coupling, left-right rotary ball screw, upper cutter component and lower cutter Component, servomotor is fixed on the cover plate of upper cutter component, and the output shaft of servomotor is passed down through cover plate by shaft coupling Device is connected with left-right rotary ball screw, and left-right rotary ball screw is arranged in upper cutter component and incision knife assembly and by upper cutter Component and incision knife assembly link together；The upper cutter component includes cover plate, upper mounted plate, epipleural I and epipleural II, Cover plate is arranged on upper mounted plate upper end, and epipleural I and epipleural II are separately mounted to the both sides of upper mounted plate, and in epipleural I Inner side is provided with slide rail I, is slidably mounted on upper slide rail I on top shoe I；Slide rail is installed in the inner side of epipleural II II, upper slide rail II is slidably mounted on top shoe II, and upper junction plate, upper company are provided with the top of top shoe I and top shoe II Fishplate bar links together top shoe I and top shoe II, and upper junction plate with it is left-handed installed in left-right rotary ball screw top Nut is fixedly connected；Upper knife-containing block is arranged on the lower end of top shoe I and top shoe II and connects top shoe I and top shoe II； Upper cutter is installed in the lower end of upper knife-containing block；

The incision knife assembly includes bottom plate, lower side panel I and lower side panel II, and lower side panel I and lower side panel II are pacified respectively Mounted in the both sides of bottom plate, and glidepath I is installed in the inner side of lower side panel I, sliding block I is slidably fitted with glidepath I； The inner side of lower side panel II is provided with glidepath II, and glidepath II is slidably mounted on sliding block II, in sliding block I and sliding block II Bottom lower connecting plate is installed, lower connecting plate links together sliding block I and sliding block II, and lower connecting plate be arranged on The right-handed nut of left-right rotary ball screw bottom is fixedly connected；Lower knife-containing block is arranged on the upper end of sliding block I and top shoe II simultaneously Sliding block I and sliding block II are connected；Lower cutter is installed in the upper end of lower knife-containing block, lower cutter is engaged with upper cutter；

Alignment pin is installed on lower knife-containing block, pin-and-hole is correspondingly arranged on upper knife-containing block, pin-and-hole matches with alignment pin Close positioning and guiding effect, it is ensured that the high accuracy of upper cutter and lower cutter cuts.

The bracing wire module includes air passage block, cylinder fixed seat, fixed plate and the bracing wire unit I be arrangeding in parallel and bracing wire Unit II, the bracing wire unit I includes clamping jaw module I, preceding spring I, compression axis I, rear spring I, floating junction I, single action cylinder I With check valve I；

The clamping jaw module I includes the first clamping jaw I, the second clamping jaw I, contiguous block I and connecting rod I, the first clamping jaw I and the second folder Pawl I is movably arranged on clamping jaw base by bearing pin respectively, and the rear end of the first clamping jaw I is hinged on one end of contiguous block I, the second folder The rear end of pawl I is hinged on the other end of contiguous block I, and the first clamping jaw I and the second clamping jaw I are parallel；Contiguous block I and connecting rod I One end is fixedly connected；And connecting rod I the other end insertion fixed plate in and with one end clamping of compression axis in fixed plate I, compress Axle I is provided with preceding spring I with the junction of connecting rod I；The other end of compression axis I stretches out fixed plate and passes through cylinder fixed seat and float Joint I is connected, and spring I after the part of cylinder fixed seat is arranged with is located on compression axis I；Floating junction I and single action cylinder I Piston rod is connected, and single action cylinder I is fixed in cylinder fixed seat；Check valve I is arranged in air passage block, and air passage block is fixed on cylinder Fixed seat lower end；

The bracing wire unit II includes clamping jaw module II, preceding spring II, compression axis II, rear spring II, floating junction II, list Take offence cylinder II and check valve II；

The clamping jaw module II includes the first clamping jaw II, the second clamping jaw II, contiguous block II and connecting rod II, the He of the first clamping jaw II Second clamping jaw II is movably arranged on clamping jaw base by bearing pin respectively, and the rear end of the first clamping jaw II is hinged on the one of contiguous block II End, the rear end of the second clamping jaw II is hinged on the other end of contiguous block II, and the first clamping jaw II and the second clamping jaw II are parallel；Connection Block II is fixedly connected with one end of connecting rod II, and the waist hole passed through for sinciput bar unit is provided with the side of connecting rod II；And connecting rod II The other end insertion fixed plate in and with one end clamping of compression axis in fixed plate II, set with the junction of connecting rod II in compression axis II It is equipped with preceding spring II；The other end of compression axis II stretches out fixed plate and is connected with floating junction II through cylinder fixed seat, in pressure Part on mandrel II positioned at cylinder fixed seat is arranged with rear spring II；Floating junction II connects with the piston rod of single action cylinder II Connect, single action cylinder II is fixed in cylinder fixed seat；Check valve II is arranged in air passage block, and air passage block is fixed on cylinder fixed seat Lower end；

Forward recess is provided with fixed plate, preceding two logical machine control valves I and preceding two logical machine control valve II are installed in forward recess, The side of fixed plate is provided with preceding patchhole I and preceding patchhole II, preceding patchhole I and preceding patchhole II it is parallel and respectively with it is preceding Groove is communicated, and dead plate upper end is provided with prelocalization hole I and prelocalization hole II, and prelocalization hole I is corresponding with preceding patchhole I simultaneously Vertically communicate；Prelocalization hole II is corresponding with preceding patchhole II and vertical communicates；

The sinciput bar unit includes preceding push rod long and preceding short push rod, and preceding push rod ecto-entad long sequentially passes through preceding patchhole I and connecting rod II on waist hole contacted with preceding two logical machine control valves I；Preceding short push rod ecto-entad sequentially passes through preceding patchhole II and connecting rod Waist hole on II is contacted with preceding two logical machine control valves II；With preceding ejector pin contact long in the insertion prelocalization of prelocalization pin I hole I；It is preceding fixed With preceding short ejector pin contact in position pin II insertion prelocalization hole II；

Rearward recess is provided with cylinder fixed seat, two logical machine control valves I and rear two logical machine control valve after being provided with rearward recess II, rear push rod unit is corresponding with rear two logical machine control valves I and rear two logical machine control valve II；After the side of cylinder fixed seat is provided with Patchhole I and rear patchhole II, rear patchhole I and rear patchhole II are parallel and communicate with rearward recess respectively, are fixed in cylinder Seat upper end is provided with rear location hole I and rear location hole II, and rear location hole I and rear patchhole I are corresponding and vertically communicate；After position Hole II is corresponding with rear patchhole II and vertical communicates；

The rear push rod unit include after push rod long and rear short push rod, rear push rod long is through rear patchhole I and rear two logical machines Control valve I is contacted；Short push rod is contacted through rear patchhole II with rear two logical machine control valves II afterwards；Location hole I after shop bolt I is inserted afterwards It is interior with rear ejector pin contact long；After shop bolt II is inserted afterwards in location hole II with rear short ejector pin contact；

Connecting plate is installed at the rear portion of cylinder fixed seat, Intake shaft is installed, in Intake shaft and connecting plate on connecting plate Air admission hole entrance connection, be divided into two-way in the outlet of air admission hole, lead up to wireway and connected with the entrance of check valve I, The outlet of check valve I be divided into three tunnels and respectively through wireway and single action cylinder I, preceding two logical machine control valves I and after the two logical companies of machine control valve I Connect；Separately lead up to wireway to be connected with the entrance of check valve II, the outlet of check valve II is divided into three tunnels and respectively through wireway It is connected with single action cylinder II, preceding two logical machine control valves II and rear two logical machine control valve II.Bracing wire module completes the conductor clamping for cutting simultaneously Coordinate the servomotor of afer bay that wire is pulled into designated length, and coordinate completion that wire transfer is paramount with rear end transfer module Fast twisted wire module.

The front end transfer twisted wire module includes that pulling force is surveyed and reflects module and twisted wire transfer module；Twisted wire transfer module be responsible for by The clamping of both threads material, double-rod cylinder is shunk the spacing of both threads is changed between pulling force surveys and reflect required for module after wire rod is clamped Away from pen cylinder stretches out this mechanism of promotion and is rotated in place；Pulling force is surveyed and reflects module after twisted wire transfer module is moved into place, clamping jaw machine Structure clamps wire rod, and motor rotation in rear end starts twisted wire.

Module is reflected in pulling force survey includes clip claw mechanism, middle fixed block, pulling force sensor, fixed block, and fixed block is fixed on strand On the top board of line transfer module, pulling force sensor is fixed on the side of fixed block, and middle fixed block is fixed on pulling force sensor side End, clip claw mechanism is relatively set with the two ends of middle fixed block；

Twisted wire transfer module includes transfer module, top board and riser；Riser is fixed on the base plate of transfer module, and top board is solid It is scheduled on riser；The transfer module includes base plate, pen cylinder I, double-rod cylinder, rotating shaft I, locating piece and clamp assembly, pen Shape cylinder I is inclined and mounted on base plate and the piston rod of pen cylinder I is hinged with the lower end of locating piece, and locating piece is arranged on rotating shaft On I and I rotate around the shaft, rotating shaft I is fixed on base plate；Double-rod cylinder, the work of double-rod cylinder are installed in the side of locating piece Stopper rod is connected with the first clamping unit of clamp assembly, and the clamp assembly includes the first clamping unit and the second clamping unit, First clamp assembly includes the first thin cylinder, and the first thin cylinder is vertically installed in the first fixed plate, the first fixed plate peace On the piston rod of double-rod cylinder, the first jaw is installed on the finger of the first thin cylinder；Second clamp assembly includes the Two thin cylinders, the second thin cylinder is vertically installed in the second fixed plate, and the second fixed plate is arranged on locating piece, and second is thin Second jaw is installed, the first jaw and the second jaw are parallel on the finger of type cylinder.

Twisted wire transfer module will go to pulling force and surveys and reflects module, high speed twisted wire mould in the wire of rear end arm clamping in rotary moving During group twisted wire, pulling force surveys the pulling force sensor reflected on module and can deliver a signal to control system, control system according to the change of pulling force System can realize that the advance and retreat of high speed twisted wire module realize twisted wire Real-time quality monitoring by controlling corresponding servomotor on afer bay.

The rear end transfer module includes base plate I, and top board is provided with the upper end of base plate I, and the lower surface of top board is provided with and pushes away Dynamic model group, is provided with the first rotary components and the second rotary components on the base plate I promoted below module, and rotating shaft is revolved through first Turn the turning arm of component and the substrate of the second rotary components links together the first rotary components and the second rotary components；

First rotary components include turning arm, square cylinder I, preceding clamp module, clamp module, rotary cylinder, upper synchronization Belt wheel, upper Timing Belt, middle synchronous pulley, middle Timing Belt and synchronous pulley II, square cylinder I are fixed on one end of turning arm, preceding clamp On the piston rod of the module side of being fixed on cylinder I, clamp module is vertically installed on preceding clamp module and the clamping jaw of preceding clamp module sets Put direction vertical with the clamping jaw setting direction of clamp module；Rotating shaft is vertically installed at the other end of turning arm, upper synchronous pulley peace In rotating shaft II and positioned at turning arm top, upper synchronous pulley is by the driving wheel on upper Timing Belt and rotary cylinder output shaft Connection；Rotary cylinder is fixed on base plate I；Middle synchronous pulley is arranged in rotating shaft II and positioned at turning arm lower section, the second rotation The surface of component, middle synchronous pulley is connected by middle synchronous pulley with synchronous pulley II, and synchronous pulley II is arranged on rotation Arm lower end；

Second rotary components include substrate, motor I, synchronous pulley I, lower Timing Belt and lower synchronous pulley, substrate One end is hinged on the lower end of base plate I；Motor I is arranged on base plate I and the output shaft of motor I is passed down through base plate I and synchronous pulley I Connection, synchronous pulley I is connected by lower Timing Belt and lower synchronous pulley, and lower synchronous pulley is arranged in rotating shaft II and positioned at substrate Lower section.

Transfer module in rear end will rotate 180 degree (line length be more than 800mm) or 90 degree after two conductor clampings (line length is less than 800mm) give high speed twisted wire module.

The high speed twisted wire module includes the clamping jaw module, gear line module and the motor module, clamping jaw module bag that are sequentially connected Clamp system, clamping jaw fixed block and push rod module are included, the right-hand member of clamp system is connected and is set in the left end of push rod module Inside clamping jaw fixed block；

The clamp system includes two handgrip arms, and block is arranged with the middle part of two handgrip arms, and the left end of handgrip arm sets There are clamping jaw and handgrip connecting rod, the clamping jaw on two handgrip arms is engaged, one end of handgrip connecting rod is hinged with clamping jaw, the other end and gear Block is hinged；The right-hand member of handgrip arm is equipped with connecting plate, and the right-hand member of connecting plate is hinged with push-and-pull block, right-hand member and the push rod module of push-and-pull block Cylinder extension rod is connected；

The push rod module includes bearing mounting blocks and floating junction contiguous block, and fourth bearing is provided with bearing mounting blocks, Cylinder extension rod is provided with inside fourth bearing, the left end of floating junction contiguous block is connected by screw with bearing mounting blocks, floated The right-hand member of dynamic joint contiguous block is provided with draw-in groove, and the first floating junction, the right-hand member and motor of the first floating junction are arranged with draw-in groove The cylinders of module connect；

The both sides of the clamping jaw fixed block are fixed with sliding block, and two sliding blocks match with the axle sleeve for keeping off line module respectively Close；

The gear line module includes bearing holder (housing, cover) and the first fixed block, clutch shaft bearing is arranged with bearing holder (housing, cover), in clutch shaft bearing Axle sleeve is arranged with, metal plate baffle plate is fixed with axle sleeve, metal plate baffle plate is set in the inside of clamping jaw fixed block, in the first fixed block Second bearing is provided with, pen type cylinder is provided with second bearing, the left end of pen type cylinder is connected with bearing holder (housing, cover), right-hand member and first solid Determine block to be connected, the first fixed block is connected by the axis of guide with bearing holder (housing, cover)；

Motor module includes housing, the second fixed block, motor fixed plate and air cylinder fixed plate, and the left end of housing and first are consolidated Determine that block is connected, right-hand member is connected with the second fixed block, 3rd bearing is provided with the second fixed block, set in 3rd bearing and housing There are front end assemblies, air cylinder fixed plate is connected by support shaft with the second fixed block, motor is provided with the left of air cylinder fixed plate and is consolidated Fixed board, right side are provided with cylinder, and cylinder is connected with push rod module, are fixed with servomotor on motor fixed plate, servomotor with The right-hand member of front end assemblies is connected, and the left end of front end assemblies is connected with clamping jaw fixed block；

The front end assemblies include contiguous block IV, and the two ends of contiguous block IV are arranged with bushing respectively, and cylinder extension rod is arranged In bushing；The left end of contiguous block IV is set in the first fixed block, and the right-hand member of contiguous block IV is set in the second fixed block；

The right-hand member of contiguous block IV is fixedly connected with big synchronous pulley, and the output end of servomotor is provided with small synchronous pulley, greatly Synchronous pulley is connected with small synchronous pulley by Timing Belt.

Gear line module is moved on clamping jaw module, and the wire harness that will stretch out clamping jaw module is kept off between metal plate baffle plate, prevents height Wire rod improves job security and stranded quality because being got rid of outside centrifugal force during speed rotation；Motor module is responsible for providing power, waits to keep off After line module is moved into place, servomotor starts high-speed rotation, drives clamping jaw module high-speed rotation to realize the stranded of both threads material, Rotating speed is up to 5000 revs/min, and operating efficiency is higher.

The afer bay includes frame body, is provided with three groups of slide track components frame body upper end is parallel, respectively before Slide track component, downslide rail assembly and aft ramp component, the preceding slide track component include preceding servomotor, preceding belt, preceding driving wheel And front driven wheel, preceding servomotor, preceding driving wheel and front driven wheel are separately mounted to frame body front end and preceding servomotor Output shaft is connected with preceding driving wheel, and preceding driving wheel is connected by preceding belt with front driven wheel, fixed before being provided with the preceding belt Block, preceding fixed block is fixedly connected with the housing of motor module in high speed twisted wire module；The downslide rail assembly includes being arranged on machine The sliding rail rack of frame body upper center, is provided with lower servomotor, lower driving wheel, lower driven pulley and hypodermis on sliding rail rack Band, the output end of lower servomotor is connected with lower driving wheel, and lower driving wheel is connected by lower belt with lower driven pulley, in lower belt On lower fixed block is installed, lower fixed block is fixedly connected with the top board of rear end transfer module；The aft ramp component is watched after including Motor, rear main wheel, back front driven wheel and rear belt are taken, rear servomotor, rear main wheel and back front driven wheel are separately mounted to frame Body rear end, and the output shaft of servomotor is connected with rear main wheel afterwards, rear main wheel is connected by rear belt with back front driven wheel, Fixed block after being provided with rear belt, rear fixed block is fixedly connected with the connecting plate of bracing wire module.

It is of the invention that two wires are cut into module through alignment module and front end arm arrival two-wire in rotary moving by hand, open Front end arm in rotary moving clamps both threads after dynamic equipment, and two-wire cuts module action and cuts away unnecessary line length, front end rotation Mobile arm upper gripper jaw mechanism is retreated two wire peelings, and then rotate counterclockwise, wears respectively two wires of bolt module are worn Bolt, continues to rotate counterclockwise to crimping module by two crimping terminal of wire after wearing bolt, and original position, bracing wire mould are returned to after the completion of crimping Group moves into place rear clip-claw closure and starts two conductor clampings to retreat, and stops when backing to preseting length, and rear end is in rotary moving Arm is by two conductor clampings, while the action of rear end transfer module is by 180 degree is rotated after two conductor clampings (line length is more than 800mm) or 90 degree (line lengths be less than 800mm) give high speed twisted wire module, then rear end arm in rotary moving by two wires Two-wire cuts module action by wire severing after clamping, moves real after front end arm in rotary moving and rear end arm difference in rotary moving The peeling of existing wire harness, front end arm rotate counterclockwise in rotary moving completes to return to original position after wearing bolt and crimp type terminal after peeling, after Arm rotate counterclockwise in rotary moving is held to complete to give front end transfer twisted wire module, front end transfer twisted wire after wearing bolt and crimp type terminal High speed twisted wire module starts rotation completion twisted wire after module clamps wire harness, completes front end transfer twisted wire module and high speed after twisted wire Twisted wire module clamping jaw unclamps, and the wire for completing twisted wire is fallen in receiving warehouse, and bracing wire module moves to front end and starts subsequent cycle.

The present invention completes the offline of two kinds of different conductors, peeling, wears bolt, crimping, twisted wire work simultaneously in same equipment Industry, whole process fully achieves automation, and production efficiency is substantially improved, and machining accuracy is high, and steady quality type is good, is produced into This is low.

Brief description of the drawings

The stranded process equipment dimensional structure diagram of the full-automatic two-wires of Fig. 1.

The stranded process equipment leading portion dimensional structure diagram of the full-automatic two-wires of Fig. 2.

The stranded process equipment back segment dimensional structure diagram of the full-automatic two-wires of Fig. 3.

Fig. 4 alignment module dimensional structure diagrams.

Fig. 5 front ends arm dimensional structure diagram in rotary moving.

Fig. 6 front ends arm explosive view in rotary moving

Fig. 7 rear ends arm three-dimensional structure diagram in rotary moving

Fig. 8 two-wires cut module three-dimensional structure diagram

Fig. 9 bracing wire module three-dimensional structure diagrams

Figure 10 bracing wire module explosive views

Figure 11 front ends transfer twisted wire module three-dimensional structure diagram

Figure 12 twisted wire transfer module three-dimensional structure diagrams

Figure 13 pulling force is surveyed and reflects module three-dimensional structure diagram

Figure 14 rear ends transfer module three-dimensional structure diagram one

Figure 15 rear ends transfer module three-dimensional structure diagram two

Figure 16 rear ends transfer module three-dimensional structure diagram three

Figure 17 high speed twisted wire module three-dimensional structure diagrams

Figure 18 clamping jaw module explosive views

Figure 19 keeps off line module explosive view

Figure 20 push rod module explosive views

Figure 21 motor module explosive views

Figure 22 front end assemblies explosive views

Figure 23 afer bays part explosive view.

Specific embodiment

As shown in Fig. 1-2 3, a kind of full-automatic twisted-pair feeder process equipment, including mainframe 1, work is installed on mainframe 1 Make platform 2, the left positioned at workbench 2 on mainframe 1 is provided with alignment module 10；With alignment module 10 on workbench 2 It is sequentially installed with front end arm 20, two-wire in rotary moving from left to right at collinear position and cuts module 30 and rear end rotation Arm 7 of starting is shifted, the front for cutting module 30 positioned at two-wire on workbench 2 is sequentially installed with from left to right wears bolt module 6, pressure Connect module 4 and front end transfer twisted wire module 50；Pacify successively from left to right at the rear for cutting module 30 positioned at two-wire on workbench 2 Module 4 and bolt module 6 is worn equipped with crimping；Afer bay 80, afer bay are installed in the right positioned at workbench 2 on mainframe 1 Slided successively from left to right on 80 and be provided with bracing wire module (40), rear end transfer module 60 and high speed twisted wire module 70.Revolve rear end Shift arm 7 of starting identical with the front end structure of arm 20 in rotary moving, but be reversely projecting installation, realize that wire cuts in two-wire Module 30, wear bolt module 6, crimping module 4, the rotational positioning between front end transfer twisted wire module 50.

The alignment module 10 include main supporting plate 101, be provided with main supporting plate 101 first inlet wire aligning mechanism and Second inlet wire aligning mechanism, the first inlet wire aligning mechanism and the second inlet wire aligning mechanism are obliquely installed and extended line is intersecting；It is described First inlet wire aligning mechanism includes the first vertical swage 102, the directive wheel 104 of first level swage 103 and first, described the Two inlet wire aligning mechanisms include the second vertical swage 105, the second horizontal swage 106 and the second directive wheel 107, and first is vertical Swage 102, the directive wheel 104 of first level swage 103 and first are located along the same line, the second vertical swage 105, Two horizontal swages 106 and the second directive wheel 107 are located on another same straight line, and two straight lines are on the plate face of main supporting plate 101 Center line it is symmetrical, and two intersection points of straight line are located on the center line of the plate face of main supporting plate 101, in two point of intersection of straight line Wire guide plate is installed, the connecting rod clip claw mechanism 202 of wire guide, wire guide and front end arm 20 in rotary moving is provided with wire guide plate It is corresponding.Two kinds of different wires reach straightened condition respectively through the alignment effect of two sets of inlet wire aligning mechanisms.

The front end arm 20 in rotary moving includes installing plate 205, and the first mounting hole and the are provided with installing plate 205 Two mounting holes, the first servomotor 208 and the second servomotor 207, the first servomotor are provided with the lower end of installing plate 205 208 output shaft is upward through the first mounting hole and is connected with gear 216, and gear 216 is arranged on rotating disk 212 by bearing 214 Interior, rotating disk 212 is arranged on the first mounting hole；Rotating disk 212 is connected by belt 201 with driving wheel, and driving wheel is arranged on It is connected in second mounting hole and with the output shaft of the second servomotor 207；Track plates 206 are slidably mounted on the disk of rotating disk 212 On face, tooth bar 2015 is installed in the lower surface of track plates 206, tooth bar 215 is meshed with gear 216；It is symmetrical on track plates 206 Two sets of clamp assemblies are provided with, the clamp assemblies include sliding block, connecting rod clip claw mechanism 202, contiguous block III 203, the and of slide rail 204 Pen cylinder 210；Sliding block is fixedly mounted on track plates 206, and slide rail 204 is slidably mounted on sliding block, in slide rail 204 away from school One end of straight module 10 is connected by contiguous block III 203 with connecting rod clip claw mechanism 202, and pen cylinder 210 is solid by mounting blocks 209 Track plates 206 are scheduled near one end of alignment module 10, the piston rod of pen cylinder 210 is connected with contiguous block III 203；Connecting rod is pressed from both sides The thin cylinder of pawl mechanism 202 is vertical with the setting direction of pen cylinder 210.First servomotor drives pinion rotation, gear Engaged with tooth bar so that rack linear is moved, and tooth bar is fixed on track plates, so the movement of tooth bar causes to move clamp assemblies It is overall to move linearly on the rotating pan.Second servomotor drives driving wheel to rotate, and driving wheel is rotated disk by belt pulley Rotate, the rotation of rotating disk causes rotating disk and the overall rotation on substrate of mobile clamp assemblies.The flexible drive of pen cylinder Grip unit is moved on track plates.

The two-wire cuts module 30 includes servomotor 301, shaft coupling 303, left-right rotary ball screw 310, upper cutter Component and incision knife assembly, servomotor 301 are fixed on the cover plate 302 of upper cutter component, and servomotor 301 output shaft It is passed down through cover plate 302 to be connected with left-right rotary ball screw 310 by shaft coupling 303, left-right rotary ball screw 310 is arranged on upper In cutter assembly and incision knife assembly and upper cutter component and incision knife assembly are linked together；The upper cutter component includes Cover plate 302, upper mounted plate 318, epipleural I 304 and epipleural II 317, cover plate 302 are arranged on the upper end of upper mounted plate 318, upside Plate I 304 and epipleural II 317 are separately mounted to the both sides of upper mounted plate 318, and are provided with slide rail in the inner side of epipleural I 304 I 307, it is slidably mounted on upper slide rail I 307 on top shoe I 308；Slide rail II 316 is installed in the inner side of epipleural II 317, Upper slide rail II 316 is slidably mounted on top shoe II 315, is provided with the top of top shoe I 308 and top shoe II 315 and connected Fishplate bar 305, upper junction plate 305 links together top shoe I 308 and top shoe II 315, and upper junction plate 305 be arranged on The left-handed nut 306 on the top of left-right rotary ball screw 310 is fixedly connected；Upper knife-containing block 309 is arranged on top shoe I 308 and upper cunning The lower end of block II 315 simultaneously connects top shoe I 308 and top shoe II 315；Upper cutter is installed in the lower end of upper knife-containing block 309 314；

The incision knife assembly includes bottom plate, lower side panel I and lower side panel II, and lower side panel I and lower side panel II are pacified respectively Mounted in the both sides of bottom plate, and glidepath I is installed in the inner side of lower side panel I, sliding block I is slidably fitted with glidepath I； The inner side of lower side panel II is provided with glidepath II, and glidepath II is slidably mounted on sliding block II, in sliding block I and sliding block II Bottom lower connecting plate is installed, lower connecting plate links together sliding block I and sliding block II, and lower connecting plate be arranged on The right-handed nut 312 of the bottom of left-right rotary ball screw 310 is fixedly connected；Lower knife-containing block 311 is arranged on sliding block I and top shoe II Upper end and sliding block I and sliding block II are connected；Lower cutter 313, lower cutter 313 are installed in the upper end of lower knife-containing block 311 It is engaged with upper cutter 314；

Alignment pin 319 is installed on lower knife-containing block 311, pin-and-hole is correspondingly arranged on upper knife-containing block 309, pin-and-hole with it is fixed Position pin 319 is engaged and plays positioning and guiding effect, it is ensured that the high accuracy of upper cutter and lower cutter cuts.

The bracing wire module 40 includes air passage block 409, cylinder fixed seat 418, fixed plate 419 and the bracing wire be arrangeding in parallel Unit I and bracing wire unit II, the bracing wire unit I include clamping jaw module I 401, preceding spring I 404, compression axis I 405, rear spring I 406th, floating junction I 407, single action cylinder I 408 and check valve I 411；

The clamping jaw module I 401 includes the first clamping jaw I 4011, the second clamping jaw I 4012, contiguous block I 4013 and connecting rod I 4014, the first clamping jaw I 4011 and the second clamping jaw I 4012 are movably arranged on clamping jaw base by bearing pin respectively, the first clamping jaw I 4011 rear end is hinged on one end of contiguous block I 4013, and the rear end of the second clamping jaw I 4012 is hinged on the another of contiguous block I 4013 End, and the first clamping jaw I 4011 and the second clamping jaw I 4012 are parallel；Contiguous block I 4013 is fixedly connected with one end of connecting rod I 4014； And connecting rod I 4014 the other end insertion fixed plate 419 in and with one end clamping of compression axis I 405 in fixed plate 419, compress Axle I 405 is provided with preceding spring I 404 with the junction of connecting rod I 4014；The other end of compression axis I 405 stretches out fixed plate 419 and passes through Cylinder fixed seat 418 is connected with floating junction I 407, after being arranged with positioned at the part of cylinder fixed seat 418 on compression axis I 405 Spring I 406；Floating junction I 407 is connected with the piston rod of single action cylinder I 408, and single action cylinder I 408 is fixed on cylinder fixed seat In 418；Check valve I 411 is arranged in air passage block 409, and air passage block 409 is fixed on the lower end of cylinder fixed seat 418；

The bracing wire unit II include clamping jaw module II 402, preceding spring II 421, compression axis II 420, rear spring II 423, Floating junction II 422, single action cylinder II 424 and check valve II 425；

The clamping jaw module II 402 includes the first clamping jaw II 4021, the second clamping jaw II 4022, contiguous block II 4023 and connecting rod II 4024, the first clamping jaw II 4021 and the second clamping jaw II 4022 are movably arranged on clamping jaw base 420 by bearing pin respectively, and first The rear end of clamping jaw II 4021 is hinged on one end of contiguous block II 4023, and the rear end of the second clamping jaw II 4022 is hinged on contiguous block II 4023 other end, and the first clamping jaw II 4021 and the second clamping jaw II 4022 are parallel；Contiguous block II 4023 and connecting rod II 4024 One end be fixedly connected, the waist hole passed through for sinciput bar unit is provided with the side of connecting rod II 4024；And connecting rod II 4024 is another In one end insertion fixed plate 419 and with one end clamping of compression axis II 420 in fixed plate 419, in compression axis II 420 and connecting rod II 4024 junctions are provided with preceding spring II 421；The other end of compression axis II 420 stretches out fixed plate 419 and passes through cylinder fixed seat 418 are connected with floating junction II 422, and spring II after the part of cylinder fixed seat 418 is arranged with is located on compression axis II 420 423；Floating junction II 422 is connected with the piston rod of single action cylinder II 424, and single action cylinder II 424 is fixed on cylinder fixed seat 418 It is interior；Check valve II 425 is arranged in air passage block 409, and air passage block 409 is fixed on the lower end of cylinder fixed seat 418；

It is provided with forward recess 4191 in fixed plate 419, preceding two logical machine control valves I 4121 and preceding is installed in forward recess 4191 Two logical machine control valves II 4122, patchhole I 4192 and preceding patchhole II 4193, preceding insertion before the side of fixed plate 419 is provided with Hole I 4192 and preceding patchhole II 4193 are parallel and communicate with forward recess 4191 respectively, fixed before the upper end of fixed plate 419 is provided with Position hole I 4194 and prelocalization hole II 4195, prelocalization hole I 4194 is corresponding with preceding patchhole I 4192 and vertical communicates；Prelocalization Hole II 4195 is corresponding with preceding patchhole II 4193 and vertical communicates；

The sinciput bar unit includes preceding push rod long 4151 and preceding short push rod 4171, and the preceding ecto-entad of push rod long 4151 is successively Contacted with preceding two logical machine control valves I 4121 through the waist hole on preceding patchhole I 4192 and connecting rod II 4024；Preceding short push rod 4171 is by outer The waist hole inwardly sequentially passed through on preceding patchhole II 4193 and connecting rod II 4024 is contacted with preceding two logical machine control valves II 4122；Prelocalization Contacted with preceding push rod long 4151 in the insertion prelocalization of pin I hole I 4194；In prelocalization pin II insertion prelocalization hole II 4195 with Preceding short push rod 4171 is contacted；

Two logical machine control valve I 4123 after being provided with rearward recess 4181, rearward recess 4181 is provided with cylinder fixed seat 418 With rear two logical machine control valves II 4124, it is corresponding that rear push rod unit leads to machine control valve II 4124 with rear two logical machine control valves I 4123 and rear two； Patchhole I 4182 and rear patchhole II 4183 after the side of cylinder fixed seat 418 is provided with, rear patchhole I 4182 are inserted with rear Enter hole II 4183 parallel and communicate with rearward recess 4181 respectively, the location hole I 4184 after the upper end of cylinder fixed seat 418 is provided with With rear location hole II 4185, rear location hole I 4184 and rear patchhole I 4182 are corresponding and vertically communicate；Location hole II 4185 afterwards It is corresponding with rear patchhole II 4183 and vertical communicate；

The rear push rod unit include after push rod long 4152 and rear short push rod 4172, rear push rod long 4152 pass through rear patchhole I 4182 contact with rear two logical machine control valves I 4123；Short push rod 4172 leads to machine control valves II through rear patchhole II 4183 and rear two afterwards 4124 contacts；Contacted with rear push rod long 4152 in location hole I 4184 after shop bolt I is inserted afterwards；After shop bolt II is inserted afterwards Contacted with rear short push rod 4172 in location hole II 4185；

Connecting plate 414 is installed at the rear portion of cylinder fixed seat 418, Intake shaft 413, air inlet are installed on connecting plate 414 Axle 413 is connected with the entrance of the air admission hole in connecting plate 414, and two-way is divided into the outlet of air admission hole, lead up to wireway with The entrance connection of check valve I 411, the outlet of check valve I 411 is divided into three tunnels and respectively through wireway and single action cylinder I 408, preceding Two logical machine control valves I 4121 and rear two logical machine control valve I 4123 are connected；The another wireway that leads up to connects with the entrance of check valve II 425 Logical, the outlet of check valve II 425 is divided into three tunnels and respectively through wireway and single action cylinder II 424, preceding two logical machine control valves II 4122 Connected with rear two logical machine control valves II 4124.The servomotor that bracing wire module 40 completes the conductor clamping for cutting and coordinates afer bay will Wire is pulled to designated length, and coordinates completion by wire transfer to high speed twisted wire module with rear end transfer module.

The front end transfer twisted wire module 50 includes that pulling force is surveyed and reflects module 501 and twisted wire transfer module 502；Revolving die in twisted wire Group 502 is responsible for the clamping of both threads material, and double-rod cylinder to be shunk be changed into pulling force by the spacing of both threads and survey and reflects mould after wire rod clamping Spacing required for group, pen cylinder stretches out this mechanism of promotion and is rotated in place；Pulling force is surveyed and reflects module 501 in twisted wire transfer module After 502 move into place, clip claw mechanism 503 clamps wire rod, and motor rotation in rear end starts twisted wire.

Module 501 is reflected in pulling force survey includes clip claw mechanism 503, middle fixed block 504, pulling force sensor 505, fixed block 506, Fixed block 506 is fixed on the top board 508 of twisted wire transfer module 502, and pulling force sensor 505 is fixed on the side of fixed block 506, Middle fixed block 504 is fixed on the side of pulling force sensor 505, and clip claw mechanism is relatively set with the two ends of middle fixed block 504 503；

Twisted wire transfer module 502 includes transfer module 507, top board 508 and riser 509；Riser 509 is fixed on transfer module On 507 base plate, top board 508 is fixed on riser 509；The transfer module 507 includes base plate, pen cylinder I 510, double-rod Cylinder 511, rotating shaft I 512, locating piece 513 and clamp assembly 514, pen cylinder I 510 are inclined and mounted on base plate and form of a stroke or a combination of strokes gas The piston rod of cylinder I 510 is hinged with the lower end of locating piece 513, and locating piece 513 is arranged in rotating shaft I 512 and I 512 turns around the shaft Dynamic, rotating shaft I 512 is fixed on base plate；Double-rod cylinder 511, the piston of double-rod cylinder 511 are installed in the side of locating piece 513 Bar is connected with the first clamping unit of clamp assembly, and the clamp assembly includes the first clamping unit and the second clamping unit, the One clamp assembly includes the first thin cylinder 515, and the first thin cylinder 515 is vertically installed in the first fixed plate, and first fixes Plate is arranged on the piston rod of double-rod cylinder 511, and the first jaw 516 is provided with the finger of the first thin cylinder 515；Second folder Tight component includes the second thin cylinder 517, and the second thin cylinder 517 is vertically installed in the second fixed plate, the second fixed plate peace On locating piece 513, the second jaw 518, the first jaw 516 and the second gas are installed on the finger of the second thin cylinder 517 Pawl 518 is parallel.

Pulling force is gone in the wire that twisted wire transfer module 502 clamps rear end arm 7 in rotary moving and is surveyed and reflect module 501, it is high During fast 70 twisted wire of twisted wire module, pulling force is surveyed the pulling force sensor 505 reflected on module 501 and can be delivered a signal to according to the change of pulling force Control system, control system can realize that the advance and retreat of high speed twisted wire module 70 are realized by controlling corresponding servomotor on afer bay Twisted wire Real-time quality monitoring.

The rear end transfer module 60 includes base plate I 617, and top board 606 is provided with the upper end of base plate I 617, top board 606 Lower surface is provided with promotion module 618, and the first rotary components and second are provided with the base plate I 617 promoted below module 618 Rotary components, rotating shaft through the rotary components of turning arm 601 and second of the first rotary components substrate 608 by the first rotary components Linked together with the second rotary components；

First rotary components include turning arm 601, square cylinder I 602, preceding clamp module 603, clamp module 604, rotation Cylinder 616, upper synchronous pulley 605, upper Timing Belt 612, middle synchronous pulley 619, middle Timing Belt 614 and synchronous pulley II 615, side Cylinder I 602 is fixed on one end of turning arm 601, on the piston rod of the side's of the being fixed on cylinder I 602 of preceding clamp module 603, clamp module 604 It is vertically installed on preceding clamp module 603 and the clamping jaw setting direction of preceding clamp module 603 is set with the clamping jaw of clamp module 604 Direction is vertical；Rotating shaft II 620 is vertically installed at the other end of turning arm 601, and upper synchronous pulley 605 is arranged in rotating shaft II 620 And positioned at the top of turning arm 601, upper synchronous pulley 605 is by the driving wheel on upper Timing Belt 612 and the output shaft of rotary cylinder 616 Connection；Rotary cylinder 616 is fixed on base plate I 617；Middle synchronous pulley 619 is arranged in rotating shaft II 620 and positioned at turning arm 601 lower sections, the top of substrate 608 of the second rotary components, middle synchronous pulley 619 is by middle synchronous pulley 619 and synchronous pulley II 615 connections, synchronous pulley II 615 is arranged on the lower end of turning arm 601；

Second rotary components include substrate 608, motor I 609, synchronous pulley I 610, lower Timing Belt 611 and lower synchronization Belt wheel 613, one end of substrate 608 is hinged on the lower end of base plate I 617；Motor I 609 is arranged on base plate I 617 and motor I 609 Output shaft is passed down through base plate I 617 and is connected with synchronous pulley I 610, and synchronous pulley I 610 is by lower Timing Belt 611 and lower synchronization Belt wheel 613 is connected, and lower synchronous pulley 613 is arranged in rotating shaft II and positioned at the lower section of substrate 608.

Rear end transfer module 60 will rotate 180 degree (line length be more than 800mm) or 90 degree after two conductor clampings (line length is small In 800mm) give high speed twisted wire module 70.

The high speed twisted wire module 70 includes the clamping jaw module 701, gear line module 702 and the motor module 703 that are sequentially connected, Clamping jaw module 701 includes clamp system, clamping jaw fixed block 724 and push rod module 726, the right-hand member and push rod module of clamp system 726 left end is connected and is set in inside clamping jaw fixed block 724；

The clamp system includes two handgrip arms 720, and the middle part of two handgrip arms 720 is arranged with block 721, handgrip arm 720 left end is provided with clamping jaw 718 and handgrip connecting rod 719, and the clamping jaw 718 on two handgrip arms 720 is engaged, handgrip connecting rod 719 One end be hinged with clamping jaw 718, the other end and block 721 are hinged；The right-hand member of handgrip arm 720 is equipped with connecting plate 722, connecting plate 722 Right-hand member be hinged with push-and-pull block 723, the right-hand member of push-and-pull block 723 is connected with the cylinder extension rod 727 of push rod module 726；

The push rod module 726 includes being set in bearing mounting blocks 728 and floating junction contiguous block 731, bearing mounting blocks 728 There is fourth bearing 730, cylinder extension rod 727 is provided with inside fourth bearing 730, the left end of floating junction contiguous block 731 passes through spiral shell Nail 729 is connected with bearing mounting blocks 728, and the right-hand member of floating junction contiguous block 731 is provided with draw-in groove, first is arranged with draw-in groove and is floated Dynamic joint 732, the right-hand member of the first floating junction 732 is connected with the cylinder 742 of motor module 703；

The both sides of the clamping jaw fixed block 724 are fixed with sliding block 725, two sliding blocks 725 respectively with gear line module 702 Axle sleeve 706 be engaged；

The gear line module 702 includes being arranged with clutch shaft bearing in the fixed block 712 of bearing holder (housing, cover) 708 and first, bearing holder (housing, cover) 708 707, axle sleeve 706 is arranged with clutch shaft bearing 707, metal plate baffle plate 704 is fixed with axle sleeve 706, metal plate baffle plate 704 is set in The inside of clamping jaw fixed block 724, is provided with second bearing 711, second bearing 711 in the first fixed block 712 and is provided with pen type cylinder 715, the left end of pen type cylinder 715 is connected with bearing holder (housing, cover) 708, right-hand member is connected with the first fixed block 712, the first fixed block 712 are connected by the axis of guide 713 with bearing holder (housing, cover) 708；

Motor module 703 includes housing 733, the second fixed block 735, motor fixed plate 740 and air cylinder fixed plate 741, shell The left end of body 733 is connected with the first fixed block 712, right-hand member is connected with the second fixed block 735, is set in the second fixed block 735 There is 3rd bearing 736, front end assemblies 734 are provided with 3rd bearing 736 and housing 733, air cylinder fixed plate 741 passes through support shaft 737 are connected with the second fixed block 735, and the left side of air cylinder fixed plate 741 is provided with motor fixed plate 740, right side and is provided with cylinder 742, cylinder 742 is connected with push rod module 726, is fixed with servomotor 743 on motor fixed plate 740, servomotor 743 with The right-hand member of front end assemblies 734 is connected, and the left end of front end assemblies 734 is connected with clamping jaw fixed block 724；

The front end assemblies 734 include contiguous block IV 746, and the two ends of contiguous block IV 746 are arranged with bushing 745, gas respectively Cylinder extension rod 727 is set in bushing 745；The left end of contiguous block IV 746 is set in the first fixed block 712, contiguous block IV 746 Right-hand member be set in the second fixed block 735；

The right-hand member of contiguous block IV 746 is fixedly connected with big synchronous pulley 739, and the output end of servomotor 743 is provided with small same Step belt wheel 744, big synchronous pulley 739 is connected with small synchronous pulley 744 by Timing Belt 738.

Gear line module is moved on clamping jaw module, and the wire harness that will stretch out clamping jaw module is kept off between metal plate baffle plate, prevents height Wire rod improves job security and stranded quality because being got rid of outside centrifugal force during speed rotation；Motor module is responsible for providing power, waits to keep off After line module is moved into place, servomotor starts high-speed rotation, drives clamping jaw module high-speed rotation to realize the stranded of both threads material, Rotating speed is up to 5000 revs/min, and operating efficiency is higher.

The afer bay 80 includes frame body, is provided with three groups of slide track components frame body upper end is parallel, respectively Preceding slide track component, downslide rail assembly and aft ramp component, the preceding slide track component include preceding servomotor 807, preceding belt 808, Preceding driving wheel and front driven wheel, preceding servomotor 807, preceding driving wheel and front driven wheel are separately mounted to frame body front end and preceding The output shaft of servomotor 807 is connected with preceding driving wheel, and preceding driving wheel is connected by preceding belt 808 with front driven wheel, in preceding skin Preceding fixed block is installed on band 808, preceding fixed block is fixedly connected with the housing 733 of motor module 703 in high speed twisted wire module 70； The downslide rail assembly includes the sliding rail rack 803 installed in frame body upper center, under being provided with sliding rail rack 803 Servomotor 810, lower driving wheel, lower driven pulley and lower belt 809, the output end of lower servomotor 810 are connected with lower driving wheel, Lower driving wheel is connected by lower belt 809 with lower driven pulley, is provided with lower fixed block on lower belt 809, lower fixed block with it is rear The top board 606 of end transfer module 60 is fixedly connected；The aft ramp component includes rear servomotor 811, rear main wheel, rear driven Wheel and rear belt 812, rear servomotor 811, rear main wheel and back front driven wheel are separately mounted to frame body rear end, and rear servo The output shaft of motor 811 is connected with rear main wheel, and rear main wheel is connected by rear belt 812 with back front driven wheel, in rear belt 812 On rear fixed block is installed, rear fixed block is fixedly connected with the connecting plate 410 of bracing wire module 40.

Two wires are reached into two-wire through alignment module and front end arm in rotary moving by hand and cuts module, starting device Front end arm in rotary moving clamps both threads afterwards, and two-wire cuts module action and cuts away unnecessary line length, front end hand in rotary moving Arm upper gripper jaw mechanism is retreated two wire peelings, and then rotate counterclockwise, bolt is worn two wires of bolt module are worn respectively, wears bolt After continue to rotate counterclockwise to crimping module by two crimping terminal of wire, original position, the movement of bracing wire module are returned to after the completion of crimping Rear clip-claw closure starts two conductor clampings to retreat in place, stops when backing to preseting length, and rear end arm in rotary moving will Two conductor clampings, at the same the action of rear end transfer module will be rotated after two conductor clampings 180 degree (line length be more than 800mm) or 90 degree (line lengths be less than 800mm) give high speed twisted wire module, and then rear end arm in rotary moving is by two-wire after two conductor clampings Module action is cut by wire severing, front end arm in rotary moving and rear end arm in rotary moving respectively after move and realize the stripping of wire harness Skin, front end arm rotate counterclockwise in rotary moving completes to return to original position after wearing bolt and crimp type terminal after peeling, and rear end is in rotary moving Arm rotate counterclockwise completes to wear give after bolt and crimp type terminal front end transfer twisted wire module, and front end transfer twisted wire module is by wire harness High speed twisted wire module starts rotation completion twisted wire after clamping, completes front end transfer twisted wire module and high speed twisted wire module folder after twisted wire Pawl unclamps, and the wire for completing twisted wire is fallen in receiving warehouse, and bracing wire module moves to front end and starts subsequent cycle.

Claims (9)

1. a kind of full-automatic twisted-pair feeder process equipment, it is characterised in that：Including mainframe (1), work is installed on mainframe (1) Make platform (2), the left positioned at workbench (2) on mainframe (1) is provided with alignment module (10)；On workbench (2) and school Straight module (10) is sequentially installed with front end arm in rotary moving (20), two-wire and cuts from left to right at collinear position Module (30) and rear end arm in rotary moving (7), the front for cutting module (30) positioned at two-wire on workbench (2) is from left to right It is sequentially installed with and wears bolt module (6), crimping module (4) and front end transfer twisted wire module (50)；Two-wire is located on workbench (2) The rear for cutting module (30) is sequentially installed with crimping module (4) and wears bolt module (6) from left to right；On mainframe (1) Afer bay (80) is installed positioned at the right of workbench (2), is slided successively from left to right on afer bay (80) and is provided with bracing wire mould Group (40), rear end transfer module (60) and high speed twisted wire module (70).

2. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The alignment module (10) Including main supporting plate (101), the first inlet wire aligning mechanism and the second inlet wire aligning mechanism are provided with main supporting plate (101), First inlet wire aligning mechanism and the second inlet wire aligning mechanism are obliquely installed and extended line is intersecting；The first inlet wire aligning mechanism bag Include the first vertical swage (102), first level swage (103) and the first directive wheel (104), the second inlet wire straightener Structure includes the second vertical swage (105), the second horizontal swage (106) and the second directive wheel (107), the first vertical swage (102), first level swage (103) and the first directive wheel (104) are located along the same line, the second vertical swage (105), On another same straight line, two straight lines are on main supporting plate for second horizontal swage (106) and the second directive wheel (107) (101) center line of plate face is symmetrical, and two intersection points of straight line are located on the center line of main supporting plate (101) plate face, at two The point of intersection of straight line is provided with wire guide plate, and wire guide, wire guide and front end arm in rotary moving (20) are provided with wire guide plate Connecting rod clip claw mechanism (202) is corresponding.

3. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The front end is in rotary moving Arm (20) includes installing plate (205), the first mounting hole and the second mounting hole is provided with installing plate (205), in installing plate (205) lower end is provided with the first servomotor (208) and the second servomotor (207), the output shaft of the first servomotor (208) It is upward through the first mounting hole to be connected with gear (216), gear (216) is interior installed in rotating disk (212) by bearing (214), Rotating disk (212) is on the first mounting hole；Rotating disk (212) is connected by belt (201) with driving wheel, and driving wheel is installed It is connected in the second mounting hole and with the output shaft of the second servomotor (207)；Track plates (206) are slidably mounted on rotating disk (212) in card, tooth bar (215) is installed in track plates (206) lower surface, tooth bar (215) is meshed with gear (216)； Be symmetrically arranged with two sets of clamp assemblies on track plates (206), the clamp assemblies include sliding block, connecting rod clip claw mechanism (202), Contiguous block III (203), slide rail (204) and pen cylinder (210)；Sliding block is fixedly mounted on track plates (206), slide rail (204) It is slidably mounted on sliding block, contiguous block III (203) and connecting rod clamping jaw is passed through away from one end of alignment module (10) in slide rail (204) Mechanism (202) connects, and pen cylinder (210) is fixed on track plates (206) near alignment module (10) by mounting blocks (209) One end, the piston rod of pen cylinder (210) is connected with contiguous block III (203)；The thin cylinder and pen of connecting rod clip claw mechanism (202) The setting direction of shape cylinder (210) is vertical.

4. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The two-wire cuts module (30) including servomotor (301), shaft coupling (303), left-right rotary ball screw (310), upper cutter component and incision knife assembly, Servomotor (301) is fixed on the cover plate of upper cutter component (302), and the output shaft of servomotor (301) is passed down through lid Plate (302) is connected by shaft coupling (303) with left-right rotary ball screw (310), and left-right rotary ball screw (310) is installed in above cutting In knife assembly and incision knife assembly and upper cutter component and incision knife assembly are linked together；The upper cutter component includes lid Plate (302), upper mounted plate (318), epipleural I (304) and epipleural II (317), cover plate (302) is installed in upper mounted plate (318) upper end, epipleural I (304) and epipleural II (317) are separately mounted to the both sides of upper mounted plate (318), and in epipleural I (304) inner side is provided with slide rail I (307), is slidably mounted on upper slide rail I (307) on top shoe I (308)；In epipleural Slide rail II (316) is installed, upper slide rail II (316) is slidably mounted on top shoe II (315), upper on the inside of II (317) The top of slider I (308) and top shoe II (315) is provided with upper junction plate (305), and upper junction plate (305) is by top shoe I (308) linked together with top shoe II (315), and upper junction plate (305) be arranged on left-right rotary ball screw (310) top Left-handed nut (306) be fixedly connected；Upper knife-containing block (309) is installed in top shoe I (308) and the lower end of top shoe II (315) And connect top shoe I (308) and top shoe II (315)；Upper cutter (314) is installed in the lower end of upper knife-containing block (309)；

The incision knife assembly includes bottom plate, lower side panel I and lower side panel II, and lower side panel I and lower side panel II are separately mounted to The both sides of bottom plate, and glidepath I is installed in the inner side of lower side panel I, sliding block I is slidably fitted with glidepath I；In downside The inner side of plate II is provided with glidepath II, and glidepath II is slidably mounted on sliding block II, under sliding block I and sliding block II Portion is provided with lower connecting plate, and lower connecting plate links together sliding block I and sliding block II, and lower connecting plate be arranged on left and right The right-handed nut (312) of rotary roll ballscrew (310) bottom is fixedly connected；Lower knife-containing block (311) is installed in sliding block I and top shoe II upper end simultaneously connects sliding block I and sliding block II；Lower cutter (313), incision are installed in the upper end of lower knife-containing block (311) Knife (313) is engaged with upper cutter (314)；

Alignment pin (319) is installed on lower knife-containing block (311), pin-and-hole is correspondingly arranged on upper knife-containing block (309), pin-and-hole with Alignment pin (319) is engaged.

5. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The bracing wire module (40) Including air passage block (409), cylinder fixed seat (418), fixed plate (419) and the bracing wire unit I and bracing wire unit that be arranged in parallel II, the bracing wire unit I includes clamping jaw module I (401), preceding spring I (404), compression axis I (405), rear spring I (406), floating Dynamic joint I (407), single action cylinder I (408) and check valve I (411)；

The clamping jaw module I (401) includes the first clamping jaw I (4011), the second clamping jaw I (4012), contiguous block I (4013) and connecting rod I (4014), the first clamping jaw I (4011) and the second clamping jaw I (4012) are movably arranged on clamping jaw base (420) by bearing pin respectively On, the rear end of the first clamping jaw I (4011) is hinged on one end of contiguous block I (4013), and the rear end of the second clamping jaw I (4012) is hinged on The other end of contiguous block I (4013), and the first clamping jaw I (4011) and the second clamping jaw I (4012) are parallel；Contiguous block I (4013) One end with connecting rod I (4014) is fixedly connected；And the other end of connecting rod I (4014) is inserted in fixed plate (419) and and fixed plate (419) one end clamping of interior compression axis I (405), preceding spring I is provided with compression axis I (405) and the junction of connecting rod I (4014) (404)；The other end of compression axis I (405) stretches out fixed plate (419) and through cylinder fixed seat (418) and floating junction I (407) connect, the part positioned at cylinder fixed seat (418) on compression axis I (405) is arranged with rear spring I (406)；Floating connects First I (407) is connected with the piston rod of single action cylinder I (408), and single action cylinder I (408) is fixed in cylinder fixed seat (418)；It is single To valve I (411) in air passage block (409), air passage block (409) is fixed on cylinder fixed seat (418) lower end；

The bracing wire unit II includes clamping jaw module II (402), preceding spring II (421), compression axis II (420), rear spring II (423), floating junction II (422), single action cylinder II (424) and check valve II (425)；

The clamping jaw module II (402) including the first clamping jaw II (4021), the second clamping jaw II (4022), contiguous block II (4023) and Connecting rod II (4024), the first clamping jaw II (4021) and the second clamping jaw II (4022) are movably arranged on clamping jaw base by bearing pin respectively On, the rear end of the first clamping jaw II (4021) is hinged on one end of contiguous block II (4023), the rear end hinge of the second clamping jaw II (4022) The other end of contiguous block II (4023) is connected on, and the first clamping jaw II (4021) and the second clamping jaw II (4022) are parallel；Contiguous block II (4023) is fixedly connected with one end of connecting rod II (4024), is provided with the side of connecting rod II (4024) and passed through for sinciput bar unit Waist hole；And the other end of connecting rod II (4024) insert in fixed plate (419) and with the interior compression axis II (420) of fixed plate (419) One end clamping, compression axis II (420) and the junction of connecting rod II (4024) are provided with preceding spring II (421)；Compression axis II (420) the other end stretches out fixed plate (419) and is connected with floating junction II (422) through cylinder fixed seat (418), is compressing Part on axle II (420) positioned at cylinder fixed seat (418) is arranged with rear spring II (423)；Floating junction II (422) and single action The piston rod connection of cylinder II (424), single action cylinder II (424) is fixed in cylinder fixed seat (418)；Check valve II (425) In air passage block (409), air passage block (409) is fixed on cylinder fixed seat (418) lower end；

It is provided with fixed plate (419) in forward recess (4191), forward recess (4191) and preceding two logical machine control valves I (4121) is installed With preceding two logical machine control valves II (4122), the side of fixed plate (419) is provided with preceding patchhole I (4192) and preceding patchhole II (4193), preceding patchhole I (4192) and preceding patchhole II (4193) are parallel and communicate with forward recess (4191) respectively, in fixation Plate (419) upper end is provided with prelocalization hole I (4194) and prelocalization hole II (4195), prelocalization hole I (4194) and preceding patchhole I (4192) it is corresponding and vertically communicate；Prelocalization hole II (4195) is corresponding with preceding patchhole II (4193) and vertical communicates；

The sinciput bar unit include preceding push rod (4151) long and preceding short push rod (4171), preceding push rod (4151) ecto-entad long according to The secondary waist hole through on preceding patchhole I (4192) and connecting rod II (4024) is contacted with preceding two logical machine control valves I (4121)；Preceding short push rod (4171) ecto-entad sequentially passes through the waist hole and preceding two logical machine control valves II on preceding patchhole II (4193) and connecting rod II (4024) (4122) contact；Contacted with preceding push rod (4151) long in the insertion prelocalization of prelocalization pin I hole I (4194)；Prelocalization pin II Contacted with preceding short push rod (4171) in insertion prelocalization hole II (4195)；

Two logical machine control valve I after being provided with rearward recess (4181), rearward recess (4181) is provided with cylinder fixed seat (418) (4123) and rear two logical machine control valve II (4124), rear push rod unit and rear two logical machine control valves I (4123) and rear two lead to machine control valve II (4124) it is corresponding；The side of cylinder fixed seat (418) is provided with rear patchhole I (4182) and rear patchhole II (4183), Patchhole I (4182) and rear patchhole II (4183) are parallel and communicate with rearward recess (4181) respectively afterwards, in cylinder fixed seat (418) upper end is provided with rear location hole I (4184) and rear location hole II (4185), rear location hole I (4184) and rear patchhole I (4182) it is corresponding and vertically communicate；Location hole II (4185) is corresponding with rear patchhole II (4183) afterwards and vertical communicates；

The rear push rod unit push rod (4152) long and rear short push rod (4172) after including, rear push rod (4152) long are inserted after passing through Hole I (4182) contacts with rear two logical machine control valves I (4123)；Short push rod (4172) is logical with rear two through rear patchhole II (4183) afterwards Machine control valve II (4124) is contacted；Contacted with rear push rod (4152) long in location hole I (4184) after shop bolt I is inserted afterwards；It is fixed afterwards Contacted with rear short push rod (4172) in location hole II (4185) after the pin II insertion of position；

Connecting plate (414) is installed at the rear portion of cylinder fixed seat (418), Intake shaft (413) is installed on connecting plate (414), Intake shaft (413) is connected with the entrance of the air admission hole in connecting plate (414), and two-way is divided into the outlet of air admission hole, is led up to Wireway is connected with the entrance of check valve I (411), and the outlet of check valve I (411) is divided into three tunnels and respectively through wireway and single action The logical machine control valve I (4121) of cylinder I (408), preceding two and rear two logical machine control valve I (4123) are connected；Separately lead up to wireway and list Connected to the entrance of valve II (425), the outlet of check valve II (425) is divided into three tunnels and respectively through wireway and single action cylinder II (424), preceding two logical machine control valves II (4122) and rear two logical machine control valve II (4124) are connected.

6. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The front end transfer twisted wire Module (50) is surveyed including pulling force and reflects module (501) and twisted wire transfer module (502)；

The pulling force is surveyed and reflects module (501) and include clip claw mechanism (503), middle fixed block (504), pulling force sensor (505), solid Determine block (506), fixed block (506) is fixed on the top board (508) of twisted wire transfer module (502), pulling force sensor (505) is fixed In the side of fixed block (506), middle fixed block (504) is fixed on pulling force sensor (505) side, in middle fixed block (504) two ends are relatively set with clip claw mechanism (503)；

Twisted wire transfer module (502) includes transfer module (507), top board (508) and riser (509)；During riser (509) is fixed on On the base plate of revolving die group (507), top board (508) is fixed on riser (509)；The transfer module (507) includes base plate, the form of a stroke or a combination of strokes Cylinder I (510), double-rod cylinder (511), rotating shaft I (512), locating piece (513) and clamp assembly (514), pen cylinder I (510) It is inclined and mounted on base plate and the piston rod of pen cylinder I (510) is hinged with the lower end of locating piece (513), locating piece (513) peace In rotating shaft I (512) and I (512) rotate around the shaft, rotating shaft I (512) is fixed on base plate；In the side of locating piece (513) Double-rod cylinder (511) is installed, the piston rod of double-rod cylinder (511) is connected with the first clamping unit of clamp assembly, the folder Tight component includes the first clamping unit and the second clamping unit, and the first clamp assembly includes the first thin cylinder (515), and first is thin Type cylinder (515) is vertically installed in the first fixed plate, and the first fixed plate is arranged on the piston rod of double-rod cylinder (511), the First jaw (516) is installed on the finger of one thin cylinder (515)；Second clamp assembly includes the second thin cylinder (517), Second thin cylinder (517) is vertically installed in the second fixed plate, and the second fixed plate is arranged on locating piece (513), and second is thin Second jaw (518) is installed, the first jaw (516) and the second jaw (518) are parallel on the finger of type cylinder (517).

7. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：The rear end transfer module (60) including base plate I (617), top board (606) is installed in the upper end of base plate I (617), the lower surface of top board (606) is provided with and pushes away Dynamic model group (618), the first rotary components and the second rotation group are provided with the base plate I (617) promoted below module (618) Part, rotating shaft through the first rotary components turning arm (601) and the second rotary components substrate (608) by the first rotary components with Second rotary components link together；

First rotary components include turning arm (601), square cylinder I (602), preceding clamp module (603), clamp module (604), Rotary cylinder (616), upper synchronous pulley (605), upper Timing Belt (612), middle synchronous pulley (619), middle Timing Belt (614) and same Step belt wheel II (615), square cylinder I (602) is fixed on one end of turning arm (601), preceding clamp module (603) side of being fixed on cylinder I (602) on piston rod, clamp module (604) be vertically installed on preceding clamp module (603) and preceding clamp module (603) folder Pawl setting direction is vertical with the clamping jaw setting direction of clamp module (604)；Rotating shaft II (620) is vertically installed at turning arm (601) The other end, upper synchronous pulley (605) in rotating shaft II (620) and positioned at turning arm (601) top, upper synchronous pulley (605) it is connected with the driving wheel on rotary cylinder (616) output shaft by upper Timing Belt (612)；Rotary cylinder (616) is fixed on On base plate I (617)；Middle synchronous pulley (619) is in rotating shaft II (620) and positioned at turning arm (601) lower section, the second rotation Substrate (608) top of component, middle synchronous pulley (619) is connected by middle synchronous pulley (619) with synchronous pulley II (615), Synchronous pulley II (615) is installed in turning arm (601) lower end；

Second rotary components include substrate (608), motor I (609), synchronous pulley I (610), lower Timing Belt (611) and under Synchronous pulley (613), one end of substrate (608) is hinged on the lower end of base plate I (617)；Motor I (609) is installed in base plate I (617) The output shaft of upper and motor I (609) is passed down through base plate I (617) and is connected with synchronous pulley I (610), and synchronous pulley I (610) leads to Timing Belt (611) and lower synchronous pulley (613) connection are crossed down, lower synchronous pulley (613) is in rotating shaft II and positioned at substrate (608) lower section.

8. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：

The high speed twisted wire module (70) includes the clamping jaw module (701), gear line module (702) and motor module that are sequentially connected (703), clamping jaw module (701) includes clamp system, clamping jaw fixed block (724) and push rod module (726), the right-hand member of clamp system It is connected and is set in clamping jaw fixed block (724) with the left end of push rod module (726) internal；

The clamp system includes two handgrip arms (720), and block (721), handgrip are arranged with the middle part of two handgrip arms (720) The left end of arm (720) is provided with clamping jaw (718) and handgrip connecting rod (719), and the clamping jaw (718) on two handgrip arms (720) is engaged, One end of handgrip connecting rod (719) is hinged with clamping jaw (718), the other end and block (721) are hinged；The right-hand member of handgrip arm (720) is equal Connecting plate (722) is provided with, the right-hand member of connecting plate (722) is hinged with push-and-pull block (723), right-hand member and the push rod module of push-and-pull block (723) (726) cylinder extension rod (727) is connected；

The push rod module (726) includes bearing mounting blocks (728) and floating junction contiguous block (731), bearing mounting blocks (728) Inside it is provided with inside fourth bearing (730), fourth bearing (730) and is provided with cylinder extension rod (727), floating junction contiguous block (731) Left end be connected with bearing mounting blocks (728) by screw (729), the right-hand member of floating junction contiguous block (731) is provided with draw-in groove, The first floating junction (732), the right-hand member of the first floating junction (732) and the cylinder of motor module (703) are arranged with draw-in groove (742) it is connected；

The both sides of the clamping jaw fixed block (724) are fixed with sliding block (725), two sliding blocks (725) respectively with gear line module (702) axle sleeve (706) is engaged；

Gear line module (702) includes being arranged with first in bearing holder (housing, cover) (708) and the first fixed block (712), bearing holder (housing, cover) (708) Axle sleeve (706) is arranged with bearing (707), clutch shaft bearing (707), metal plate baffle plate (704), metal plate are fixed with axle sleeve (706) Golden baffle plate (704) is set in the inside of clamping jaw fixed block (724), the first fixed block (712) and is provided with second bearing (711), the Be provided with pen type cylinder (715) in two bearings (711), the left end of pen type cylinder (715) is connected with bearing holder (housing, cover) (708), right-hand member and First fixed block (712) is connected, and the first fixed block (712) is connected by the axis of guide (713) with bearing holder (housing, cover) (708)；

Motor module (703) includes housing (733), the second fixed block (735), motor fixed plate (740) and air cylinder fixed plate (741), the left end of housing (733) is connected with the first fixed block (712), right-hand member is connected with the second fixed block (735), and second 3rd bearing (736) is provided with fixed block (735), front end assemblies (734), gas are provided with 3rd bearing (736) and housing (733) Cylinder fixed plate (741) is connected by support shaft (737) with the second fixed block (735), and air cylinder fixed plate is provided with the left of (741) Motor fixed plate (740), right side are provided with cylinder (742), and cylinder (742) is connected with push rod module (726), motor fixed plate (740) servomotor (743) is fixed with, servomotor (743) is connected with the right-hand member of front end assemblies (734), front end assemblies (734) left end is connected with clamping jaw fixed block (724)；

The front end assemblies (734) include contiguous block IV (746), and the two ends of contiguous block IV (746) are arranged with bushing respectively (745), cylinder extension rod (727) is set in bushing (745)；The left end of contiguous block IV (746) is set in the first fixed block (712) in, the right-hand member of contiguous block IV (746) is set in the second fixed block (735)；

The right-hand member of contiguous block IV (746) is fixedly connected with big synchronous pulley (739), and the output end of servomotor (743) is provided with small Synchronous pulley (744), big synchronous pulley (739) is connected with small synchronous pulley (744) by Timing Belt (738).

9. a kind of full-automatic twisted-pair feeder process equipment according to claim 1, it is characterised in that：Afer bay (80) bag Including rack body, is provided with three groups of slide track components frame body upper end is parallel, respectively preceding slide track component, downslide rail assembly and Aft ramp component, the preceding slide track component includes preceding servomotor (807), preceding belt (808), preceding driving wheel and front driven wheel, Preceding servomotor (807), preceding driving wheel and front driven wheel are separately mounted to the defeated of frame body front end and preceding servomotor (807) Shaft is connected with preceding driving wheel, and preceding driving wheel is connected by preceding belt (808) with front driven wheel, is installed on preceding belt (808) There is preceding fixed block, preceding fixed block is fixedly connected with the housing (733) of motor module (703) in high speed twisted wire module (70)；It is described Downslide rail assembly includes the sliding rail rack (803) installed in frame body upper center, under being provided with sliding rail rack (803) Servomotor (810), lower driving wheel, lower driven pulley and lower belt (809), output end and the lower active of lower servomotor (810) Wheel connection, lower driving wheel is connected by lower belt (809) with lower driven pulley, and lower fixed block is provided with lower belt (809), under Fixed block is fixedly connected with the top board (606) of rear end transfer module (60)；The aft ramp component includes rear servomotor (811), rear main wheel, back front driven wheel and rear belt (812), rear servomotor (811), rear main wheel and back front driven wheel are pacified respectively Mounted in frame body rear end, and the output shaft of rear servomotor (811) is connected with rear main wheel, and rear main wheel passes through rear belt (812) it is connected with back front driven wheel, the company of rear fixed block, rear fixed block and bracing wire module (40) is installed on rear belt (812) Fishplate bar (410) is fixedly connected.