CN106848801B

CN106848801B - Full-automatic twisted pair processing equipment

Info

Publication number: CN106848801B
Application number: CN201710140990.2A
Authority: CN
Inventors: 李德阳; 邢秀春; 蒋会胜; 刘德行; 郭得岁; 武锦涛; 闫超炯; 李振涛; 王建
Original assignee: Hebi Haichang Intelligent Technology Co ltd
Current assignee: Hebi Haichang Intelligent Technology Co ltd
Priority date: 2017-03-10
Filing date: 2017-03-10
Publication date: 2023-04-14
Anticipated expiration: 2037-03-10
Also published as: CN106848801A

Abstract

The invention discloses full-automatic twisted pair processing equipment, which comprises a main frame, wherein a workbench is arranged on the main frame, and a straightening module is arranged on the main frame on the left of the workbench; a front end rotating and moving arm, a double-wire cutting module and a rear end rotating and moving arm are sequentially arranged on the workbench from left to right at the position which is on the same straight line with the straightening module, and a bolt penetrating module, a crimping module and a front end transferring stranded wire module are sequentially arranged on the workbench from left to right in front of the double-wire cutting module; a crimping module and a bolt penetrating module are sequentially arranged behind the double-wire cutting module on the workbench from left to right; the rear frame is arranged on the main frame and positioned on the right side of the workbench, and the pull wire module, the rear end transfer module and the high-speed wire stranding module are sequentially arranged on the rear frame in a sliding mode from left to right. The whole process is completely automated, the production efficiency is greatly improved, the processing precision is high, the quality stability is good, and the production cost is low.

Description

Full-automatic twisted pair processing equipment

Technical Field

The invention relates to the technical field of wire harness processing equipment, in particular to full-automatic double-wire stranding processing equipment with a wire inserting and wire pressing and stranding function.

Background

The twisted pair is generally formed by twisting two conductors according to a certain pitch, resists external interference by utilizing the self twisting, and has a certain anti-interference effect. In automotive electronics, stranded wires are needed to be used for sensor systems such as engine crankshafts, a radio and tape player, an ABS (anti-lock braking system) system and a CAN (controller area network) line, along with the rapid development of automotive electronics, the application of technologies such as modular devices and CAN lines is more and more extensive, and stranded wire loops are more and more. At present, the processing of the twisted pair in the wire harness industry firstly finishes the off-line crimping of two wires by full-automatic off-line equipment respectively, then turns over to a twisted pair area, manually finishes the twisting operation by using the twisted pair equipment, has long turn-over time, low production efficiency and low quality consistency, and cannot meet the production requirement.

Disclosure of Invention

The invention aims to solve the technical problems that the existing wire harness twisted pair is in partition operation, the turnover time is long, the production efficiency is low, the quality consistency is low and the like, so that the full-automatic twisted pair processing equipment which can simultaneously realize the off-line crimping of two wires, automatically complete the twisting operation and has high production efficiency is provided.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a full-automatic twisted pair processing device comprises a main frame, wherein a workbench is arranged on the main frame, and a straightening module is arranged on the main frame on the left of the workbench; a front end rotating and moving arm, a double-wire cutting module and a rear end rotating and moving arm are sequentially arranged on the workbench from left to right at the position which is on the same straight line with the straightening module, and a bolt penetrating module, a crimping module and a front end transferring stranded wire module are sequentially arranged on the workbench from left to right in front of the double-wire cutting module; a crimping module and a bolt penetrating module are sequentially arranged behind the double-wire cutting module on the workbench from left to right; the rear rack is arranged on the main rack on the right side of the workbench, and the pull wire module, the rear end transfer module and the high-speed wire stranding module are sequentially arranged on the rear rack in a sliding mode from left to right. The rear end rotating and moving arm and the front end rotating and moving arm are identical in structure, but are reversely hung, and the rotating and positioning of the lead among the double-wire cutting module, the bolt penetrating module, the crimping module and the front end wire twisting module are realized.

The straightening module comprises a main supporting plate, a first incoming wire straightening mechanism and a second incoming wire straightening mechanism are arranged on the main supporting plate, the first incoming wire straightening mechanism and the second incoming wire straightening mechanism are obliquely arranged, and extension lines of the first incoming wire straightening mechanism and the second incoming wire straightening mechanism are intersected;

the first inlet wire straightening mechanism comprises a first vertical straightener, a first horizontal straightener and a first guide wheel, the second inlet wire straightening mechanism comprises a second vertical straightener, a second horizontal straightener and a second guide wheel, the first vertical straightener, the first horizontal straightener and the first guide wheel are positioned on the same straight line, the second vertical straightener, the second horizontal straightener and the second guide wheel are positioned on the other same straight line, the two straight lines are symmetrical about the center line of the main support plate surface, the intersection point of the two straight lines is positioned on the center line of the main support plate surface, a wire guide plate is installed at the intersection point of the two straight lines, a wire guide hole is formed in the wire guide plate, and the wire guide hole corresponds to a connecting rod clamping jaw mechanism of a front end rotating and moving arm. Two different wires reach a straight state through the straightening action of the two sets of wire inlet straightening mechanisms respectively.

The front end rotating and moving arm comprises a mounting plate, a first mounting hole and a second mounting hole are formed in the mounting plate, a first servo motor and a second servo motor are mounted at the lower end of the mounting plate, an output shaft of the first servo motor 208 upwards penetrates through the first mounting hole to be connected with a gear, the gear is mounted in a rotating disc through a bearing, and the rotating disc is mounted on the first mounting hole; the rotating disc is connected with a driving wheel through a belt, and the driving wheel is arranged in the second mounting hole and connected with an output shaft of the second servo motor; the track plate is arranged on the disc surface of the rotating disc in a sliding mode, a rack is arranged on the lower end surface of the track plate, and the rack is meshed with the gear; two sets of clamping components are symmetrically arranged on the track plate, and each clamping component comprises a sliding block, a connecting rod clamping jaw mechanism, a connecting block III, a sliding rail and a pen-shaped air cylinder; the sliding block is fixedly arranged on the track plate, the sliding rail is slidably arranged on the sliding block, one end, far away from the straightening module, of the sliding rail is connected with the connecting rod clamping jaw mechanism through a connecting block III, the pen-shaped air cylinder is fixed at one end, close to the straightening module, of the track plate through an installation block, and a piston rod of the pen-shaped air cylinder is connected with the connecting block III; the thin cylinder of the connecting rod clamping jaw mechanism is vertical to the setting direction of the pen-shaped cylinder. The first servo motor drives the gear to rotate, the gear is meshed with the rack, the rack moves linearly and is fixed on the track plate, and the moving of the rack enables the moving clamping assembly to move linearly on the rotating disc integrally. The second servo motor drives the driving wheel to rotate, the driving wheel drives the rotating disc to rotate through the belt pulley, and the rotating disc and the movable clamping assembly integrally rotate on the substrate due to the rotation of the rotating disc. The pen-shaped cylinder stretches and retracts to drive the clamping unit to move on the track plate.

The double-line cutting module comprises a servo motor, a coupler, a left-right rotating ball screw, an upper cutter assembly and a lower cutter assembly, wherein the servo motor is fixed on a cover plate of the upper cutter assembly, an output shaft of the servo motor downwards penetrates through the cover plate and is connected with the left-right rotating ball screw through the coupler, and the left-right rotating ball screw is installed in the upper cutter assembly and the lower cutter assembly and connects the upper cutter assembly and the lower cutter assembly together; the upper cutter assembly comprises a cover plate, an upper fixing plate, an upper side plate I and an upper side plate II, wherein the cover plate is installed at the upper end of the upper fixing plate, the upper side plate I and the upper side plate II are respectively installed on two sides of the upper fixing plate, an upper slide rail I is installed on the inner side of the upper side plate I, and the upper slide rail I is installed on an upper slide block I in a sliding mode; an upper slide rail II is arranged on the inner side of the upper side plate II, the upper slide rail II is slidably arranged on an upper slide block II, an upper connecting plate is arranged on the upper portions of the upper slide block I and the upper slide block II, the upper connecting plate connects the upper slide block I and the upper slide block II together, and the upper connecting plate is fixedly connected with a left-handed nut arranged on the upper portion of a left-handed and right-handed ball screw; the upper tool mounting block is arranged at the lower ends of the upper sliding block I and the upper sliding block II and connects the upper sliding block I with the upper sliding block II; an upper cutter is arranged at the lower end of the upper cutter loading block;

the lower cutter assembly comprises a lower fixing plate, a lower side plate I and a lower side plate II, the lower side plate I and the lower side plate II are respectively installed on two sides of the lower fixing plate, a lower sliding rail I is installed on the inner side of the lower side plate I, and a lower sliding block I is installed on the lower sliding rail I in a sliding mode; a lower slide rail II is arranged on the inner side of the lower side plate II, the lower slide rail II is slidably arranged on a lower sliding block II, a lower connecting plate is arranged at the lower parts of the lower sliding block I and the lower sliding block II, the lower connecting plate connects the lower sliding block I and the lower sliding block II together, and the lower connecting plate is fixedly connected with a right-handed nut arranged at the lower part of a left-handed and right-handed ball screw; the lower tool mounting block is arranged at the upper ends of the lower sliding block I and the lower sliding block II and connects the lower sliding block I with the lower sliding block II; the upper end of the lower knife block is provided with a lower cutter which is matched with the upper cutter;

the lower cutter loading block is provided with a positioning pin, the upper cutter loading block is correspondingly provided with a pin hole, and the pin hole is matched with the positioning pin to play a positioning and guiding role, so that the high-precision cutting of the upper cutter and the lower cutter is ensured.

The pull wire module comprises a gas path block, a cylinder fixing seat, a fixing plate, a pull wire unit I and a pull wire unit II which are arranged in parallel, wherein the pull wire unit I comprises a clamping jaw module I, a front spring I, a pressing shaft I, a rear spring I, a floating joint I, a single-action cylinder I and a one-way valve I;

the clamping jaw module I comprises a first clamping jaw I, a second clamping jaw I, a connecting block I and a connecting rod I, wherein the first clamping jaw I and the second clamping jaw I are movably arranged on a clamping jaw base through pin shafts respectively; the connecting block I is fixedly connected with one end of the connecting rod I; the other end of the connecting rod I is inserted into the fixed plate and clamped with one end of a pressing shaft I in the fixed plate, and a front spring I is arranged at the joint of the pressing shaft I and the connecting rod I; the other end of the pressing shaft I extends out of the fixing plate and penetrates through the cylinder fixing seat to be connected with the floating joint I, and a rear spring I is sleeved on the part, located on the cylinder fixing seat, of the pressing shaft I; the floating joint I is connected with a piston rod of a single-acting cylinder I, and the single-acting cylinder I is fixed in a cylinder fixing seat; the check valve I is arranged in the air path block, and the air path block is fixed at the lower end of the air cylinder fixing seat;

the wire pulling unit II comprises a clamping jaw module II, a front spring II, a pressing shaft II, a rear spring II, a floating joint II, a single-action cylinder II and a one-way valve II;

the clamping jaw module II comprises a first clamping jaw II, a second clamping jaw II, a connecting block II and a connecting rod II, the first clamping jaw II and the second clamping jaw II are movably mounted on the clamping jaw base through pin shafts respectively, the rear end of the first clamping jaw II is hinged to one end of the connecting block II, the rear end of the second clamping jaw II is hinged to the other end of the connecting block II, and the first clamping jaw II is parallel to the second clamping jaw II; the connecting block II is fixedly connected with one end of the connecting rod II, and a waist hole for the front ejector rod unit to pass through is formed in the side end of the connecting rod II; the other end of the connecting rod II is inserted into the fixed plate and is clamped with one end of a pressing shaft II in the fixed plate, and a front spring II is arranged at the joint of the pressing shaft II and the connecting rod II; the other end of the pressing shaft II extends out of the fixing plate and penetrates through the air cylinder fixing seat to be connected with the floating joint II, and a rear spring II is sleeved on the part, located on the air cylinder fixing seat, of the pressing shaft II; the floating joint II is connected with a piston rod of a single-acting cylinder II, and the single-acting cylinder II is fixed in a cylinder fixing seat; the check valve II is arranged in the air path block, and the air path block is fixed at the lower end of the air cylinder fixing seat;

the fixing plate is provided with a front groove, a front two-way machine control valve I and a front two-way machine control valve II are installed in the front groove, a front insertion hole I and a front insertion hole II are formed in the side end of the fixing plate, the front insertion hole I and the front insertion hole II are parallel and are respectively communicated with the front groove, a front positioning hole I and a front positioning hole II are formed in the upper end of the fixing plate, and the front positioning hole I corresponds to and is vertically communicated with the front insertion hole I; the front positioning hole II corresponds to and is vertically communicated with the front insertion hole II;

the front ejector rod unit comprises a front long ejector rod and a front short ejector rod, and the front long ejector rod sequentially penetrates through the front insertion hole I and the waist hole in the connecting rod II from outside to inside to be in contact with the front two-way machine control valve I; the front short ejector rod sequentially penetrates through the front insertion hole II and the waist hole in the connecting rod II from outside to inside to be in contact with the front two-way machine control valve II; a front positioning pin I is inserted into the front positioning hole I and contacts with the front long ejector rod; a front positioning pin II is inserted into the front positioning hole II to be contacted with the front short ejector rod;

a rear groove is formed in the air cylinder fixing seat, a rear two-way machine control valve I and a rear two-way machine control valve II are installed in the rear groove, and a rear ejector rod unit corresponds to the rear two-way machine control valve I and the rear two-way machine control valve II; a rear insertion hole I and a rear insertion hole II are formed in the side end of the air cylinder fixing seat, the rear insertion hole I and the rear insertion hole II are parallel to each other and are communicated with the rear groove respectively, a rear positioning hole I and a rear positioning hole II are formed in the upper end of the air cylinder fixing seat, and the rear positioning hole I and the rear insertion hole I correspond to each other and are vertically communicated with each other; the rear positioning hole II corresponds to and is vertically communicated with the rear insertion hole II;

the rear ejector rod unit comprises a rear long ejector rod and a rear short ejector rod, and the rear long ejector rod penetrates through the rear insertion hole I to be in contact with the rear two-way machine control valve I; the rear short ejector rod penetrates through the rear insertion hole II to be in contact with a rear two-way machine control valve II; the rear positioning pin I is inserted into the rear positioning hole I and contacts with the rear long ejector rod; the rear positioning pin II is inserted into the rear positioning hole II and contacts with the rear short ejector rod;

the rear part of the cylinder fixing seat is provided with a connecting plate, the connecting plate is provided with an air inlet shaft, the air inlet shaft is connected with an inlet of an air inlet in the connecting plate, an outlet of the air inlet is divided into two paths, one path is communicated with an inlet of a one-way valve I through an air guide pipe, an outlet of the one-way valve I is divided into three paths and is respectively connected with a single-acting cylinder I, a front two-way valve control valve I and a rear two-way valve control valve I through air guide pipes; the other path is communicated with an inlet of a one-way valve II through an air guide tube, and an outlet of the one-way valve II is divided into three paths and is respectively connected with a single-acting cylinder II, a front two-way machine control valve II and a rear two-way machine control valve II through the air guide tube. The wire clamping module finishes the clamping of the cut wire, the wire is pulled to a specified length by matching with a servo motor of the rear rack, and the wire is transferred to the high-speed wire stranding module by matching with the rear transfer module.

The front-end transfer stranded wire module comprises a tension mapping module and a stranded wire transfer module; the wire twisting transfer module is responsible for clamping two wires, after the wires are clamped, the double-rod cylinder contracts to change the distance between the two wires into the distance required by the tension measuring and mapping module, and the pen-shaped cylinder stretches out to push the mechanism to rotate to the position; after the tension mapping module moves in place in the wire stranding transfer module, the wire is clamped by the clamping jaw mechanism, and the wire stranding is started by the rotation of the rear end motor.

The tension measuring and mapping module comprises a clamping jaw mechanism, an intermediate fixing block, a tension sensor and a fixing block, wherein the fixing block is fixed on a top plate of the stranded wire transfer module, the tension sensor is fixed at the side end of the fixing block, the intermediate fixing block is fixed at the side end of the tension sensor, and the clamping jaw mechanism is oppositely arranged at two ends of the intermediate fixing block;

the stranded wire transfer module comprises a transfer module, a top plate and a vertical plate; the vertical plate is fixed on the bottom plate of the transfer module, and the top plate is fixed on the vertical plate; the transfer module comprises a bottom plate, a pen-shaped air cylinder I, a double-rod air cylinder, a rotating shaft I, a positioning block and a clamping assembly, wherein the pen-shaped air cylinder I is obliquely arranged on the bottom plate, a piston rod of the pen-shaped air cylinder I is hinged with the lower end of the positioning block, the positioning block is arranged on the rotating shaft I and rotates around the rotating shaft I, and the rotating shaft I is fixed on the bottom plate; a double-rod cylinder is mounted at the side end of the positioning block, a piston rod of the double-rod cylinder is connected with a first clamping unit of a clamping assembly, the clamping assembly comprises a first clamping unit and a second clamping unit, the first clamping unit comprises a first thin cylinder, the first thin cylinder is vertically mounted on a first fixing plate, the first fixing plate is mounted on the piston rod of the double-rod cylinder, and a first pneumatic claw is mounted on a finger of the first thin cylinder; the second clamping unit comprises a second thin cylinder, the second thin cylinder is vertically arranged on a second fixing plate, the second fixing plate is arranged on the positioning block, a second pneumatic claw is arranged on a finger of the second thin cylinder, and the first pneumatic claw is parallel to the second pneumatic claw.

The wire transfer module transfers the wire clamped by the rear end rotating and moving arm to the tension measuring and mapping module, when the high-speed wire twisting module twists a wire, a tension sensor on the tension measuring and mapping module can transmit a signal to the control system according to the change of tension, and the control system can realize the advance and retreat of the high-speed wire twisting module through controlling a corresponding servo motor on the rear rack to realize the real-time monitoring of the wire twisting quality.

The rear-end transfer module comprises a bottom plate I, a top plate is mounted at the upper end of the bottom plate I, a pushing module is mounted on the lower end face of the top plate, a first rotating assembly and a second rotating assembly are mounted on the bottom plate I below the pushing module, and a rotating shaft penetrates through a rotating arm of the first rotating assembly and a base plate of the second rotating assembly to connect the first rotating assembly and the second rotating assembly together;

the first rotating assembly comprises a rotating arm, a square cylinder I, a front wire clamping module, a rotating cylinder, an upper synchronous belt wheel, an upper synchronous belt, a middle synchronous belt wheel, a middle synchronous belt and a synchronous belt wheel II, the square cylinder I is fixed at one end of the rotating arm, the front wire clamping module is fixed on a piston rod of the square cylinder I, the wire clamping module is vertically installed on the front wire clamping module, and the clamping jaw setting direction of the front wire clamping module is perpendicular to the clamping jaw setting direction of the wire clamping module; the rotating shaft is vertically arranged at the other end of the rotating arm, the upper synchronous belt wheel is arranged on the rotating shaft II and is positioned above the rotating arm, and the upper synchronous belt wheel is connected with a driving wheel on an output shaft of the rotating cylinder through an upper synchronous belt; the rotary cylinder is fixed on the bottom plate I; the middle synchronous belt wheel is arranged on the rotating shaft II and is positioned below the rotating arm and above the substrate of the second rotating assembly, the middle synchronous belt wheel is connected with the synchronous belt wheel II through the middle synchronous belt wheel, and the synchronous belt wheel II is arranged at the lower end of the rotating arm;

the second rotating assembly comprises a base plate, a motor I, a synchronous belt wheel I, a lower synchronous belt and a lower synchronous belt wheel, and one end of the base plate is hinged to the lower end of the base plate I; motor I installs on bottom plate I and motor I's output shaft passes bottom plate I downwards and is connected with synchronous pulley I, and synchronous pulley I is connected with lower synchronous pulley through lower synchronous belt, and lower synchronous pulley is installed on pivot II and is located the base plate below.

The rear end transfer module clamps two wires and then rotates 180 degrees (the wire length is more than 800 mm) or the 90-degree wire length is less than 800 mm) to the high-speed wire stranding module. The high-speed wire stranding module comprises a clamping jaw module, a wire blocking module and a motor module which are sequentially connected, the clamping jaw module comprises a clamping mechanism, a clamping jaw fixing block and a push rod module, and the right end of the clamping mechanism is connected with the left end of the push rod module and sleeved in the clamping jaw fixing block;

the clamping mechanism comprises two grabbing arms, a stop block is clamped in the middle of each grabbing arm, clamping jaws and a grabbing connecting rod are arranged at the left ends of the grabbing arms, the clamping jaws on the two grabbing arms are matched, one end of each grabbing connecting rod is hinged to the corresponding clamping jaw, and the other end of each grabbing connecting rod is hinged to the corresponding stop block; the right ends of the grabbing arms are provided with connecting plates, the right ends of the connecting plates are hinged with push-pull blocks, and the right ends of the push-pull blocks are connected with cylinder extension rods of the push rod modules;

the push rod module comprises a bearing installation block and a floating joint connection block, a fourth bearing is arranged in the bearing installation block, a cylinder extension rod is arranged in the fourth bearing, the left end of the floating joint connection block is connected with the bearing installation block through a screw, a clamping groove is arranged at the right end of the floating joint connection block, a first floating joint is clamped in the clamping groove, and the right end of the first floating joint is connected with a cylinder of the motor module;

the two sides of the clamping jaw fixing block are respectively fixedly provided with a sliding block, and the two sliding blocks are respectively matched with the shaft sleeves of the wire blocking module;

the wire blocking module comprises a bearing sleeve and a first fixing block, wherein a first bearing is sleeved in the bearing sleeve, a shaft sleeve is sleeved in the first bearing, a sheet metal baffle is fixedly arranged on the shaft sleeve, the sheet metal baffle is sleeved in the clamping jaw fixing block, a second bearing is arranged in the first fixing block, a pen-shaped air cylinder is arranged in the second bearing, the left end of the pen-shaped air cylinder is connected with the bearing sleeve, the right end of the pen-shaped air cylinder is connected with the first fixing block, and the first fixing block is connected with the bearing sleeve through a guide shaft;

the motor module comprises a shell, a second fixed block, a motor fixed plate and a cylinder fixed plate, wherein the left end of the shell is connected with the first fixed block, the right end of the shell is connected with the second fixed block, a third bearing is arranged in the second fixed block, the third bearing and the shell are internally provided with a front end assembly, the cylinder fixed plate is connected with the second fixed block through a support shaft, the left side of the cylinder fixed plate is provided with the motor fixed plate, the right side of the cylinder fixed plate is provided with a cylinder, the cylinder is connected with the push rod module, a servo motor is fixed on the motor fixed plate and connected with the right end of the front end assembly, and the left end of the front end assembly is connected with the clamping jaw fixed block;

the front end assembly comprises a connecting block IV, two ends of the connecting block IV are respectively sleeved with a lining, and a cylinder extension rod is sleeved in the lining; the left end of the connecting block IV is sleeved in the first fixing block, and the right end of the connecting block IV is sleeved in the second fixing block;

the right end of the connecting block IV is fixedly connected with a large synchronous belt pulley, the output end of the servo motor is provided with a small synchronous belt pulley, and the large synchronous belt pulley and the small synchronous belt pulley are connected through a synchronous belt.

The wire blocking module moves on the clamping jaw module, and the wire harness extending out of the clamping jaw module is blocked between the metal plate baffles, so that wires are prevented from being thrown outwards due to centrifugal force during high-speed rotation, and the working safety and the twisting quality are improved; the motor module is responsible for providing power, and after the line blocking module moved to target in place, servo motor began high-speed rotation, and the high-speed transposition that realizes two wires of rotation of drive clamping jaw module is rotated to the rotational speed, and the rotational speed is up to 5000 rpm, and work efficiency is higher.

The rear rack comprises a rack body, three groups of sliding rail assemblies are arranged in parallel at the upper end of the rack body and respectively comprise a front sliding rail assembly, a lower sliding rail assembly and a rear sliding rail assembly, the front sliding rail assembly comprises a front servo motor, a front belt, a front driving wheel and a front driven wheel, the front servo motor, the front driving wheel and the front driven wheel are respectively arranged at the front end of the rack body, an output shaft of the front servo motor is connected with the front driving wheel, the front driving wheel is connected with the front driven wheel through the front belt, a front fixing block is arranged on the front belt, and the front fixing block is fixedly connected with a shell of a motor module in the high-speed stranded wire module; the lower sliding rail assembly comprises a sliding rail support arranged in the middle of the upper end of the rack body, a lower servo motor, a lower driving wheel, a lower driven wheel and a lower belt are arranged on the sliding rail support, the output end of the lower servo motor is connected with the lower driving wheel, the lower driving wheel is connected with the lower driven wheel through the lower belt, a lower fixed block is arranged on the lower belt, and the lower fixed block is fixedly connected with a top plate of the rear-end transfer module; the rear sliding rail assembly comprises a rear servo motor, a rear driving wheel, a rear driven wheel and a rear belt, the rear servo motor, the rear driving wheel and the rear driven wheel are respectively installed at the rear end of the rack body, an output shaft of the rear servo motor is connected with the rear driving wheel, the rear driving wheel is connected with the rear driven wheel through the rear belt, a rear fixing block is installed on the rear belt, and the rear fixing block is fixedly connected with a connecting plate of the wire pulling module.

The invention manually leads two leads to pass through a straightening module and a front end rotating and moving arm to reach a double-wire cutting module, the front end rotating and moving arm clamps the two leads after starting equipment, the double-wire cutting module acts to cut off redundant leads, a clamping jaw mechanism on the front end rotating and moving arm retreats to peel off the two leads, then the two leads rotate anticlockwise, two leads are respectively threaded through a bolt penetrating module, the two leads are continuously rotated anticlockwise to a crimping module to crimp the two leads, the two leads are returned to the original position after crimping is finished, a clamping jaw is closed after the wire pulling module moves to the original position to clamp the two leads, the two leads are stopped when the two leads retreat to the set length, the rear end rotating and moving arm clamps the two leads, and simultaneously the rear end transferring module acts to clamp the two leads by rotating 180 degrees (the length of the leads is more than 800 mm) or 90 degrees (the length of the leads is less than 800 mm) and then delivers the two leads to a high-speed wire stranding module, then the rear end rotary moving arm clamps two wires and then the action of the double-wire cutting module cuts the wires, the front end rotary moving arm and the rear end rotary moving arm respectively move backwards to peel the wire harness, the front end rotary moving arm rotates anticlockwise to complete threading of the bolt and return to the original position after crimping of the terminal after peeling, the rear end rotary moving arm rotates anticlockwise to complete threading of the bolt and the crimping of the terminal and then gives the front end transfer stranded wire module, the front end transfer stranded wire module clamps the wire harness and then the high-speed stranded wire module starts to rotate to complete stranded wires, the front end transfer stranded wire module and the high-speed stranded wire module clamping jaw loosen after stranded wires are completed, the wires which complete stranded wires fall into a receiving bin, and the stranded wire module moves to the front end to start the next cycle.

The invention can simultaneously complete the operations of inserting wires, peeling, inserting bolts, crimping and stranding of two different wires on the same equipment, the whole process is completely automated, the production efficiency is greatly improved, the processing precision is high, the quality stability is good, and the production cost is low.

Drawings

Fig. 1 is a schematic perspective view of a full-automatic double-strand twisting apparatus.

Fig. 2 is a schematic front-section three-dimensional structure of the full-automatic double-wire twisting processing equipment.

Fig. 3 is a schematic diagram of a rear-section three-dimensional structure of the full-automatic double-strand stranding apparatus.

Fig. 4 is a perspective view of an alignment module.

Fig. 5 is a schematic perspective view of the front rotating arm.

FIG. 6 is an exploded view of a front rotating arm

Fig. 7 a perspective view of the rear end of the arm

FIG. 8 is a three-dimensional structure of a two-line cutting module

FIG. 9 is a perspective view of a wire drawing module

FIG. 10 is an exploded view of a pull wire module

Fig. 11 is a three-dimensional structure diagram of a front end transit stranding module

Fig. 12 a three-dimensional structure diagram of stranded wire transfer module

FIG. 13 is a perspective view of a tension mapping module

FIG. 14 is a perspective view of a rear end transfer module

Fig. 15 is a perspective view of the rear end transfer module

Fig. 16 three-dimensional structure diagram of rear end transfer module

FIG. 17 is a perspective view of a high-speed wire-stranding module

Figure 18 exploded view of jaw module

FIG. 19 is an exploded view of a wire blocking module

FIG. 20 is an exploded view of a putter module

FIG. 21 is an exploded view of a motor module

FIG. 22 is a front end module exploded view

Fig. 23 is an exploded view of the rear housing portion.

Detailed Description

As shown in fig. 1-23, a full-automatic twisted pair processing apparatus includes a main frame 1, a worktable 2 is installed on the main frame 1, and a straightening module 10 is installed on the main frame 1 at the left of the worktable 2; a front end rotating and moving arm 20, a double-wire cutting module 30 and a rear end rotating and moving arm 7 are sequentially arranged on the workbench 2 from left to right at the position on the same straight line with the straightening module 10, and a bolt penetrating module 6, a crimping module 4 and a front end transfer stranding module 50 are sequentially arranged on the workbench 2 from left to right in front of the double-wire cutting module 30; a crimping module 4 and a bolt penetrating module 6 are sequentially arranged behind the double-wire cutting module 30 on the workbench 2 from left to right; a rear frame 80 is arranged on the main frame 1 on the right side of the workbench 2, and a stay wire module (40), a rear end transfer module 60 and a high-speed wire stranding module 70 are arranged on the rear frame 80 in a sliding mode from left to right in sequence. The rear end rotating and moving arm 7 has the same structure as the front end rotating and moving arm 20, but is reversely mounted upside down, so that the wires are rotatably positioned among the double-wire cutting module 30, the bolt penetrating module 6, the crimping module 4 and the front end wire twisting module 50.

The straightening module 10 comprises a main support plate 101, a first incoming wire straightening mechanism and a second incoming wire straightening mechanism are arranged on the main support plate 101, the first incoming wire straightening mechanism and the second incoming wire straightening mechanism are obliquely arranged, and extension lines of the first incoming wire straightening mechanism and the second incoming wire straightening mechanism are intersected; the first incoming line straightening mechanism comprises a first vertical straightener 102, a first horizontal straightener 103 and a first guide wheel 104, the second incoming line straightening mechanism comprises a second vertical straightener 105, a second horizontal straightener 106 and a second guide wheel 107, the first vertical straightener 102, the first horizontal straightener 103 and the first guide wheel 104 are located on the same straight line, the second vertical straightener 105, the second horizontal straightener 106 and the second guide wheel 107 are located on the other same straight line, the two straight lines are symmetrical about the center line of the main support plate 101, the intersection point of the two straight lines is located on the center line of the main support plate 101, a wire guide plate is installed at the intersection point of the two straight lines, a wire guide hole is formed in the wire guide plate, and the wire guide hole corresponds to the connecting rod clamping jaw mechanism 202 of the front end rotating and moving arm 20. Two different wires reach a straight state through the straightening action of the two sets of wire inlet straightening mechanisms respectively.

The front end rotating and moving arm 20 comprises a mounting plate 205, a first mounting hole and a second mounting hole are formed in the mounting plate 205, a first servo motor 208 and a second servo motor 207 are mounted at the lower end of the mounting plate 205, an output shaft of the first servo motor 208 penetrates through the first mounting hole upwards to be connected with a gear 216, the gear 216 is mounted in a rotating disc 212 through a bearing 214, and the rotating disc 212 is mounted on the first mounting hole; the rotating disc 212 is connected with a driving wheel through a belt 201, and the driving wheel is installed in the second installation hole and connected with an output shaft of the second servo motor 207; the track plate 206 is slidably mounted on the disc surface of the rotating disc 212, a rack 2015 is mounted on the lower end surface of the track plate 206, and the rack 215 is meshed with the gear 216; two sets of clamping components are symmetrically arranged on the track plate 206, and each clamping component comprises a sliding block, a connecting rod clamping jaw mechanism 202, a connecting block III 203, a sliding rail 204 and a pen-shaped air cylinder 210; the sliding block is fixedly arranged on the track plate 206, the sliding rail 204 is slidably arranged on the sliding block, one end, far away from the straightening module 10, of the sliding rail 204 is connected with the connecting rod clamping jaw mechanism 202 through a connecting block III 203, the pen-shaped air cylinder 210 is fixed at one end, close to the straightening module 10, of the track plate 206 through an installation block 209, and a piston rod of the pen-shaped air cylinder 210 is connected with the connecting block III 203; the thin cylinder of the connecting rod gripper mechanism 202 is perpendicular to the direction in which the pen cylinder 210 is disposed. The first servo motor drives the gear to rotate, the gear is meshed with the rack, so that the rack moves linearly and is fixed on the track plate, and the moving of the rack enables the whole moving clamping assembly to move linearly on the rotating disc. The second servo motor drives the driving wheel to rotate, the driving wheel drives the rotating disc to rotate through the belt pulley, and the rotating disc and the movable clamping assembly integrally rotate on the substrate due to the rotation of the rotating disc. The pen-shaped cylinder stretches and retracts to drive the clamping unit to move on the track plate.

The double-wire cutting module 30 comprises a servo motor 301, a coupler 303, a left-right-handed ball screw 310, an upper cutter assembly and a lower cutter assembly, wherein the servo motor 301 is fixed on a cover plate 302 of the upper cutter assembly, an output shaft of the servo motor 301 downwards penetrates through the cover plate 302 and is connected with the left-right-handed ball screw 310 through the coupler 303, and the left-right-handed ball screw 310 is installed in the upper cutter assembly and the lower cutter assembly and connects the upper cutter assembly and the lower cutter assembly together; the upper cutter assembly comprises a cover plate 302, an upper fixing plate 318, an upper side plate I304 and an upper side plate II 317, wherein the cover plate 302 is installed at the upper end of the upper fixing plate 318, the upper side plate I304 and the upper side plate II 317 are respectively installed at two sides of the upper fixing plate 318, an upper sliding rail I307 is installed on the inner side of the upper side plate I304, and the upper sliding rail I307 is installed on an upper sliding block I308 in a sliding mode; an upper sliding rail II 316 is arranged on the inner side of the upper side plate II 317, the upper sliding rail II 316 is slidably arranged on an upper sliding block II 315, an upper connecting plate 305 is arranged on the upper portions of an upper sliding block I308 and the upper sliding block II 315, the upper connecting plate 305 connects the upper sliding block I308 and the upper sliding block II 315 together, and the upper connecting plate 305 is fixedly connected with a left-handed nut 306 arranged on the upper portion of a left-handed and right-handed ball screw 310; the upper knife loading block 309 is arranged at the lower ends of the upper sliding block I308 and the upper sliding block II 315 and connects the upper sliding block I308 with the upper sliding block II 315; an upper cutter 314 is arranged at the lower end of the upper cutter loading block 309;

the lower cutter assembly comprises a lower fixing plate, a lower side plate I and a lower side plate II, the lower side plate I and the lower side plate II are respectively arranged on two sides of the lower fixing plate, a lower sliding rail I is arranged on the inner side of the lower side plate I, and a lower sliding block I is arranged on the lower sliding rail I in a sliding manner; a lower sliding rail II is arranged on the inner side of the lower side plate II, the lower sliding rail II is slidably arranged on a lower sliding block II, lower connecting plates are arranged at the lower parts of the lower sliding block I and the lower sliding block II, the lower connecting plates connect the lower sliding block I and the lower sliding block II together, and the lower connecting plates are fixedly connected with a right-handed nut 312 arranged at the lower part of a left-handed and right-handed ball screw 310; the lower tool mounting block 311 is arranged at the upper ends of the lower sliding block I and the lower sliding block II and connects the lower sliding block I with the lower sliding block II; a lower cutter 313 is arranged at the upper end of the lower cutter loading block 311, and the lower cutter 313 is matched with the upper cutter 314;

the lower cutter loading block 311 is provided with a positioning pin 319, the upper cutter loading block 309 is correspondingly provided with a pin hole, and the pin hole is matched with the positioning pin 319 to play a positioning and guiding role, so that the high-precision cutting of the upper cutter and the lower cutter is ensured.

The wire pulling module 40 comprises an air path block 409, an air cylinder fixing seat 418, a fixing plate 419, a wire pulling unit I and a wire pulling unit II which are arranged in parallel, wherein the wire pulling unit I comprises a clamping jaw module I401, a front spring I404, a pressing shaft I405, a rear spring I406, a floating joint I407, a single-action air cylinder I408 and a one-way valve I411;

the clamping jaw module I401 comprises a first clamping jaw I4011, a second clamping jaw I4012, a connecting block I4013 and a connecting rod I4014, the first clamping jaw I4011 and the second clamping jaw I4012 are movably mounted on a clamping jaw base through pin shafts respectively, the rear end of the first clamping jaw I4011 is hinged to one end of the connecting block I4013, the rear end of the second clamping jaw I4012 is hinged to the other end of the connecting block I4013, and the first clamping jaw I4011 is parallel to the second clamping jaw I4012; the connecting block I4013 is fixedly connected with one end of a connecting rod I4014; the other end of the connecting rod I4014 is inserted into the fixed plate 419 and is clamped with one end of a pressing shaft I405 in the fixed plate 419, and a front spring I404 is arranged at the joint of the pressing shaft I405 and the connecting rod I4014; the other end of the pressing shaft I405 extends out of the fixing plate 419 and penetrates through the cylinder fixing seat 418 to be connected with the floating joint I407, and a rear spring I406 is sleeved on the portion, located on the cylinder fixing seat 418, of the pressing shaft I405; the floating joint I407 is connected with a piston rod of a single-acting cylinder I408, and the single-acting cylinder I408 is fixed in a cylinder fixing seat 418; the check valve I411 is arranged in the air path block 409, and the air path block 409 is fixed at the lower end of the air cylinder fixing seat 418;

the wire pulling unit II comprises a clamping jaw module II 402, a front spring II 421, a pressing shaft II 420, a rear spring II 423, a floating joint II 422, a single-acting cylinder II 424 and a one-way valve II 425;

the clamping jaw module II 402 comprises a first clamping jaw II 4021, a second clamping jaw II 4022, a connecting block II 4023 and a connecting rod II 4024, the first clamping jaw II 4021 and the second clamping jaw II 4022 are respectively movably mounted on a clamping jaw base through a pin shaft, the rear end of the first clamping jaw II 4021 is hinged to one end of the connecting block II 4023, the rear end of the second clamping jaw II 4022 is hinged to the other end of the connecting block II 4023, and the first clamping jaw II 4021 is parallel to the second clamping jaw II 4022; the connecting block II 4023 is fixedly connected with one end of the connecting rod II 4024, and a waist hole for the front ejector rod unit to pass through is formed in the side end of the connecting rod II 4024; the other end of the connecting rod II 4024 is inserted into the fixed plate 419 and is clamped with one end of a pressing shaft II 420 in the fixed plate 419, and a front spring II 421 is arranged at the joint of the pressing shaft II 420 and the connecting rod II 4024; the other end of the pressing shaft II 420 extends out of the fixing plate 419 and penetrates through the cylinder fixing seat 418 to be connected with the floating joint II 422, and a rear spring II 423 is sleeved on the part, located on the cylinder fixing seat 418, of the pressing shaft II 420; the floating joint II 422 is connected with a piston rod of a single-acting cylinder II 424, and the single-acting cylinder II 424 is fixed in the cylinder fixing seat 418; the one-way valve II 425 is arranged in the air path block 409, and the air path block 409 is fixed at the lower end of the air cylinder fixing seat 418; a front groove 4191 is arranged on the fixing plate 419, a front two-way machine control valve I4121 and a front two-way machine control valve II 4122 are installed in the front groove 4191, a front insertion hole I4192 and a front insertion hole II 4193 are arranged at the side end of the fixing plate 419, the front insertion hole I4192 and the front insertion hole II 4193 are parallel and are respectively communicated with the front groove 4191, a front positioning hole I4194 and a front positioning hole II 4195 are arranged at the upper end of the fixing plate 419, and the front positioning hole I4194 corresponds to the front insertion hole I4192 and is vertically communicated with the front insertion hole I4192; the front positioning hole II 4195 corresponds to the front insertion hole II 4193 and is vertically communicated with the front insertion hole II 4193;

the front ejector rod unit comprises a front long ejector rod 4151 and a front short ejector rod 4171, and the front long ejector rod 4151 sequentially penetrates through a front insertion hole I4192 and a waist hole in a connecting rod II 4024 from outside to inside to be in contact with a front two-way machine control valve I4121; the front short ejector rod 4171 sequentially penetrates through the front insertion hole II 4193 and a waist hole in the connecting rod II 4024 from outside to inside to be in contact with the front two-way machine control valve II 4122; the front positioning pin I is inserted into the front positioning hole I4194 to be contacted with the front long ejector rod 4151; the front positioning pin II is inserted into the front positioning hole II 4195 to be contacted with the front short ejector rod 4171;

a rear groove 4181 is formed in the cylinder fixing seat 418, a rear two-way machine control valve I4123 and a rear two-way machine control valve II 4124 are installed in the rear groove 4181, and a rear ejector rod unit corresponds to the rear two-way machine control valve I4123 and the rear two-way machine control valve II 4124; a rear insertion hole I4182 and a rear insertion hole II 4183 are formed in the side end of the air cylinder fixing seat 418, the rear insertion hole I4182 and the rear insertion hole II 4183 are parallel to each other and are respectively communicated with the rear groove 4181, a rear positioning hole I4184 and a rear positioning hole II 4185 are formed in the upper end of the air cylinder fixing seat 418, and the rear positioning hole I4184 and the rear insertion hole I4182 correspond to each other and are vertically communicated with each other; the rear positioning hole II 4185 corresponds to the rear insertion hole II 4183 and is vertically communicated with the rear insertion hole II 4183;

the rear ejector rod unit comprises a rear long ejector rod 4152 and a rear short ejector rod 4172, and the rear long ejector rod 4152 penetrates through the rear insertion hole I4182 to be in contact with the rear two-way machine control valve I4123; the rear short ejector rod 4172 penetrates through the rear insertion hole II 4183 to be in contact with a rear two-way machine control valve II 4124; the rear positioning pin I is inserted into the rear positioning hole I4184 and contacts with the rear long ejector rod 4152; the rear positioning pin II is inserted into the rear positioning hole II 4185 to be contacted with the rear short ejector rod 4172;

a connecting plate 414 is installed at the rear part of the cylinder fixing seat 418, an air inlet shaft 413 is installed on the connecting plate 414, the air inlet shaft 413 is connected with an inlet of an air inlet in the connecting plate 414, an outlet of the air inlet is divided into two paths, one path is communicated with an inlet of a one-way valve I411 through an air guide tube, an outlet of the one-way valve I411 is divided into three paths and is respectively connected with a single-action cylinder I408, a front two-way valve control valve I4121 and a rear two-way valve control valve I4123 through the air guide tube; the other path is communicated with an inlet of a one-way valve II 425 through a gas guide tube, an outlet of the one-way valve II 425 is divided into three paths, and the three paths are respectively connected with a single-action cylinder II 424, a front two-way machine control valve II 4122 and a rear two-way machine control valve II 4124 through the gas guide tube. The wire clamping module 40 clamps the cut wire, pulls the wire to a specified length by matching with a servo motor of the rear frame, and transfers the wire to the high-speed wire stranding module by matching with the rear transfer module.

The front-end transfer stranded wire module 50 comprises a tension mapping module 501 and a stranded wire transfer module 502; the wire twisting transfer module 502 is responsible for clamping two wires, after the wires are clamped, the double-rod cylinder contracts to change the distance between the two wires into the distance required by the tension measuring and mapping module, and the pen-shaped cylinder extends out to push the mechanism to rotate to the position; after the tension measuring and mapping module 501 moves in place in the wire stranding transfer module 502, the clamping jaw mechanism 503 clamps the wire material, and the rear end motor rotates to start wire stranding.

The tension mapping module 501 comprises a clamping jaw mechanism 503, a middle fixing block 504, a tension sensor 505 and a fixing block 506, wherein the fixing block 506 is fixed on a top plate 508 of the stranded wire transfer module 502, the tension sensor 505 is fixed at the side end of the fixing block 506, the middle fixing block 504 is fixed at the side end of the tension sensor 505, and the clamping jaw mechanism 503 is oppositely arranged at two ends of the middle fixing block 504;

the stranded wire transfer module 502 comprises a transfer module 507, a top plate 508 and a vertical plate 509; the vertical plate 509 is fixed on the bottom plate of the transfer module 507, and the top plate 508 is fixed on the vertical plate 509; the transfer module 507 comprises a bottom plate, a pen-shaped cylinder I510, a double-rod cylinder 511, a rotating shaft I512, a positioning block 513 and a clamping assembly 514, wherein the pen-shaped cylinder I510 is obliquely arranged on the bottom plate, a piston rod of the pen-shaped cylinder I510 is hinged with the lower end of the positioning block 513, the positioning block 513 is arranged on the rotating shaft I512 and rotates around the rotating shaft I512, and the rotating shaft I512 is fixed on the bottom plate; a double-rod cylinder 511 is mounted at the side end of the positioning block 513, a piston rod of the double-rod cylinder 511 is connected with a first clamping unit of a clamping assembly, the clamping assembly comprises a first clamping unit and a second clamping unit, the first clamping unit comprises a first thin cylinder 515, the first thin cylinder 515 is vertically mounted on a first fixing plate, the first fixing plate is mounted on the piston rod of the double-rod cylinder 511, and a first air claw 516 is mounted on a finger of the first thin cylinder 515; the second clamping unit comprises a second thin cylinder 517, the second thin cylinder 517 is vertically installed on a second fixing plate, the second fixing plate is installed on the positioning block 513, and the second thin cylinder 517

The finger of (1) is fitted with a second gas claw 518, the first gas claw 516 being parallel to the second gas claw 518.

The stranded wire transfer module 502 transfers the lead clamped by the rear end rotating and moving arm 7 to the tension measuring and mapping module 501, when the high-speed stranded wire module 70 is stranded, the tension sensor 505 on the tension measuring and mapping module 501 can transmit a signal to the control system according to the change of tension, and the control system can realize the advance and retreat of the high-speed stranded wire module 70 by controlling the corresponding servo motor on the rear rack to realize the real-time stranded wire quality monitoring.

The rear end transfer module 60 comprises a bottom plate I617, a top plate 606 is mounted at the upper end of the bottom plate I617, a pushing module 618 is mounted on the lower end surface of the top plate 606, a first rotating assembly and a second rotating assembly are mounted on the bottom plate I617 below the pushing module 618, and a rotating shaft penetrates through a rotating arm 601 of the first rotating assembly and a base plate 608 of the second rotating assembly to connect the first rotating assembly and the second rotating assembly together; the first rotating assembly comprises a rotating arm 601, a square cylinder I602, a front wire clamping module 603, a wire clamping module 604, a rotating cylinder 616, an upper synchronous pulley 605, an upper synchronous belt 612, a middle synchronous pulley 619, a middle synchronous belt 614 and a synchronous pulley II 615, wherein the square cylinder I602 is fixed at one end of the rotating arm 601, the front wire clamping module 603 is fixed on a piston rod of the square cylinder I602, the wire clamping module 604 is vertically arranged on the front wire clamping module 603, and the clamping jaw arrangement direction of the front wire clamping module 603 is perpendicular to the clamping jaw arrangement direction of the wire clamping module 604; a rotating shaft II is vertically arranged at the other end of the rotating arm 601, an upper synchronous belt pulley 605 is arranged on the rotating shaft II and is positioned above the rotating arm 601, and the upper synchronous belt pulley 605 is connected with a driving wheel on an output shaft of the rotating cylinder 616 through an upper synchronous belt 612; the rotary cylinder 616 is fixed on the base plate I617; the middle synchronous pulley 619 is installed on the rotating shaft II and located below the rotating arm 601 and above the base plate 608 of the second rotating assembly, the middle synchronous pulley 619 is connected with a synchronous pulley II 615 through a middle synchronous belt 614, and the synchronous pulley II 615 is installed at the lower end of the rotating arm 601;

the second rotating assembly comprises a base plate 608, a motor I609, a synchronous belt wheel I610, a lower synchronous belt 611 and a lower synchronous belt wheel 613, wherein one end of the base plate 608 is hinged to the lower end of a bottom plate I617; motor I609 is installed on bottom plate I617 and the output shaft of motor I609 passes bottom plate I617 downwards and is connected with synchronous pulley I610, and synchronous pulley I610 passes through lower synchronous belt 611 and lower synchronous pulley 613 and is connected, and lower synchronous pulley 613 is installed on pivot II and is located the base plate 608 below.

The rear end transfer module 60 clamps the two wires and then turns 180 degrees (the wire length is greater than 800 mm) or 90 degrees (the wire length is less than 800 mm) to the high-speed wire stranding module 70.

The high-speed wire stranding module 70 comprises a clamping jaw module 701, a wire blocking module 702 and a motor module 703 which are sequentially connected, the clamping jaw module 701 comprises a clamping mechanism, a clamping jaw fixing block 724 and a push rod module 726, and the right end of the clamping mechanism is connected with the left end of the push rod module 726 and is sleeved inside the clamping jaw fixing block 724;

the clamping mechanism comprises two grabbing arms 720, a stop block 721 is clamped in the middle of each grabbing arm 720, a clamping jaw 718 and a grabbing connecting rod 719 are arranged at the left end of each grabbing arm 720, the clamping jaws 718 on the two grabbing arms 720 are matched, one end of each grabbing connecting rod 719 is hinged to the clamping jaw 718, and the other end of each grabbing connecting rod 719 is hinged to the stop block 721; the right ends of the grabbing arms 720 are respectively provided with a connecting plate 722, the right ends of the connecting plates 722 are hinged with a push-pull block 723, and the right ends of the push-pull blocks 723 are connected with an air cylinder extension rod 727 of a push rod module 726;

the push rod module 726 comprises a bearing installation block 728 and a floating joint connection block 731, wherein a fourth bearing 730 is arranged in the bearing installation block 728, an air cylinder extension rod 727 is arranged in the fourth bearing 730, the left end of the floating joint connection block 731 is connected with the bearing installation block 728 through a screw 729, a clamping groove is arranged at the right end of the floating joint connection block 731, a first floating joint 732 is clamped in the clamping groove, and the right end of the first floating joint 732 is connected with an air cylinder 742 of the motor module 703;

two sides of the clamping jaw fixing block 724 are respectively fixedly provided with a sliding block 725, and the two sliding blocks 725 are respectively matched with the shaft sleeve 706 of the wire blocking module 702;

the wire blocking module 702 comprises a bearing sleeve 708 and a first fixing block 712, wherein a first bearing 707 is sleeved in the bearing sleeve 708, a shaft sleeve 706 is sleeved in the first bearing 707, a sheet metal baffle 704 is fixedly arranged on the shaft sleeve 706, the sheet metal baffle 704 is sleeved in a clamping jaw fixing block 724, a second bearing 711 is arranged in the first fixing block 712, a pen-shaped cylinder 715 is arranged in the second bearing 711, the left end of the pen-shaped cylinder 715 is connected with the bearing sleeve 708, the right end of the pen-shaped cylinder 715 is connected with the first fixing block 712, and the first fixing block 712 is connected with the bearing sleeve 708 through a guide shaft 713;

the motor module 703 comprises a housing 733, a second fixing block 735, a motor fixing plate 740 and a cylinder fixing plate 741, the left end of the housing 733 is connected with the first fixing block 712, the right end is connected with the second fixing block 735, a third bearing 736 is arranged in the second fixing block 735, a front end assembly 734 is arranged in the third bearing 736 and the housing 733, the cylinder fixing plate 741 is connected with the second fixing block 735 through a support shaft 737, the motor fixing plate 740 is arranged on the left side of the cylinder fixing plate 741, a cylinder 742 is arranged on the right side of the cylinder fixing plate 741, the cylinder 742 is connected with the tappet module 726, a servo motor 743 is fixed on the motor fixing plate 740, the servo motor 743 is connected with the right end of the front end assembly 734, and the left end of the front end assembly is connected with the clamping jaw fixing block 724;

the front end assembly 734 comprises a connecting block IV 746, two ends of the connecting block IV 746 are respectively sleeved with a lining 745, and an air cylinder extension rod 727 is sleeved in the lining 745; the left end of a connecting block IV 746 is sleeved in the first fixing block 712, and the right end of the connecting block IV 746 is sleeved in the second fixing block 735;

the right end of the connecting block IV 746 is fixedly connected with a large synchronous belt wheel 739, the output end of the servo motor 743 is provided with a small synchronous belt wheel 744, and the large synchronous belt wheel 739 is connected with the small synchronous belt wheel 744 through a synchronous belt 738. The wire blocking module moves on the clamping jaw module, and the wire harness extending out of the clamping jaw module is blocked between the metal plate baffles, so that wires are prevented from being thrown outwards due to centrifugal force during high-speed rotation, and the working safety and the twisting quality are improved; the motor module is responsible for providing power, and after the line blocking module moved to target in place, servo motor began high-speed rotation, and the high-speed transposition that realizes two wires of rotation of drive clamping jaw module is rotated to the rotational speed, and the rotational speed is up to 5000 rpm, and work efficiency is higher.

The rear rack 80 comprises a rack body, three groups of sliding rail assemblies, namely a front sliding rail assembly, a lower sliding rail assembly and a rear sliding rail assembly, are arranged at the upper end of the rack body in parallel, the front sliding rail assembly comprises a front servo motor 807, a front belt 808, a front driving wheel and a front driven wheel, the front servo motor 807, the front driving wheel and the front driven wheel are respectively arranged at the front end of the rack body, an output shaft of the front servo motor 807 is connected with the front driving wheel, the front driving wheel is connected with the front driven wheel through the front belt 808, a front fixing block is arranged on the front belt 808, and the front fixing block is fixedly connected with a shell 733 of a motor module 703 in the high-speed stranded wire module 70; the lower sliding rail assembly comprises a sliding rail support 803 arranged in the middle of the upper end of the rack body, a lower servo motor 810, a lower driving wheel, a lower driven wheel and a lower belt 809 are arranged on the sliding rail support 803, the output end of the lower servo motor 810 is connected with the lower driving wheel, the lower driving wheel is connected with the lower driven wheel through the lower belt 809, a lower fixing block is arranged on the lower belt 809, and the lower fixing block is fixedly connected with a top plate 606 of the rear-end transfer module 60; the rear sliding rail assembly comprises a rear servo motor 811, a rear driving wheel, a rear driven wheel and a rear belt 812, the rear servo motor 811, the rear driving wheel and the rear driven wheel are respectively installed at the rear end of the rack body, an output shaft of the rear servo motor 811 is connected with the rear driving wheel, the rear driving wheel is connected with the rear driven wheel through the rear belt 812, a rear fixing block is installed on the rear belt 812, and the rear fixing block is fixedly connected with the second connecting plate 410 of the stay wire module 40. Manually leading two leads to pass through a straightening module and a front end rotating and moving arm to reach a double-wire cutting module, starting equipment, then leading the front end rotating and moving arm to clamp the two leads tightly, cutting off redundant wires by the action of the double-wire cutting module, retreating a clamping jaw mechanism on the front end rotating and moving arm to strip the two leads, then anticlockwise rotating the clamping jaw mechanism on the front end rotating and moving arm, respectively threading the two leads on a threading module, then anticlockwise rotating the threading module to press the two leads to terminals, returning to the original position after the pressing is finished, after the pulling module moves to the right position, closing the clamping jaw to clamp the two leads tightly, retreating the clamping jaw mechanism to the preset length, stopping when retreating to the preset length, leading the rear end rotating and moving arm to clamp the two leads tightly, and simultaneously leading the rear end transferring module to rotate the two leads by 180 degrees (the length of the leads is more than 800 mm) or 90 degrees (the length of the leads is less than 800 mm) to a high-speed stranding module after the two leads are clamped, then the rear end rotary moving arm clamps two wires and then the action of the double-wire cutting module cuts the wires, the front end rotary moving arm and the rear end rotary moving arm respectively move backwards to peel the wire harness, the front end rotary moving arm rotates anticlockwise to complete threading of the bolt and return to the original position after crimping of the terminal after peeling, the rear end rotary moving arm rotates anticlockwise to complete threading of the bolt and the crimping of the terminal and then gives the front end transfer stranded wire module, the front end transfer stranded wire module clamps the wire harness and then the high-speed stranded wire module starts to rotate to complete stranded wires, the front end transfer stranded wire module and the high-speed stranded wire module clamping jaw loosen after stranded wires are completed, the wires which complete stranded wires fall into a receiving bin, and the stranded wire module moves to the front end to start the next cycle.

Claims

1. A full-automatic twisted pair processing equipment is characterized in that: the device comprises a main frame (1), wherein a workbench (2) is arranged on the main frame (1), and a straightening module (10) is arranged on the main frame (1) and positioned on the left side of the workbench (2); a front-end rotating and moving arm (20), a double-wire cutting module (30) and a rear-end rotating and moving arm (7) are sequentially arranged on the workbench (2) from left to right at the position which is on the same straight line with the straightening module (10), and a bolt penetrating module (6), a crimping module (4) and a front-end transit stranded wire module (50) are sequentially arranged on the workbench (2) from left to right in front of the double-wire cutting module (30); a crimping module (4) and a bolt penetrating module (6) are sequentially arranged on the workbench (2) from left to right behind the double-wire cutting module (30); a rear rack (80) is arranged on the main rack (1) and positioned on the right side of the workbench (2), and a stay wire module (40), a rear end transfer module (60) and a high-speed stranded wire module (70) are sequentially arranged on the rear rack (80) in a sliding manner from left to right;

the front end rotating and moving arm (20) comprises a mounting plate (205), a first mounting hole and a second mounting hole are formed in the mounting plate (205), a first servo motor (208) and a second servo motor (207) are mounted at the lower end of the mounting plate (205), an output shaft of the first servo motor (208) upwards penetrates through the first mounting hole to be connected with a gear (216), the gear (216) is mounted in a rotating disc (212) through a bearing (214), and the rotating disc (212) is mounted on the first mounting hole; the rotating disc (212) is connected with a driving wheel through a belt (201), and the driving wheel is installed in the second installation hole and connected with an output shaft of the second servo motor (207); the track plate (206) is slidably mounted on the disc surface of the rotating disc (212), a rack (215) is mounted on the lower end surface of the track plate (206), and the rack (215) is meshed with the gear (216); two sets of clamping components are symmetrically arranged on the track plate (206), and each clamping component comprises a sliding block, a connecting rod clamping jaw mechanism (202), a connecting block III (203), a sliding rail (204) and a pen-shaped air cylinder (210); the sliding block is fixedly installed on the track plate (206), the sliding rail (204) is installed on the sliding block in a sliding mode, one end, far away from the straightening module (10), of the sliding rail (204) is connected with the connecting rod clamping jaw mechanism (202) through a connecting block III (203), the pen-shaped air cylinder (210) is fixed at one end, close to the straightening module (10), of the track plate (206) through an installing block (209), and a piston rod of the pen-shaped air cylinder (210) is connected with the connecting block III (203); the thin cylinder of the connecting rod clamping jaw mechanism (202) is vertical to the setting direction of the pen-shaped cylinder (210);

the straightening module (10) comprises a main support plate (101), wherein a first incoming wire straightening mechanism and a second incoming wire straightening mechanism are arranged on the main support plate (101), the first incoming wire straightening mechanism and the second incoming wire straightening mechanism are obliquely arranged, and extension wires are intersected.

2. The fully automatic twisted pair processing apparatus of claim 1, wherein: the first incoming line straightening mechanism comprises a first vertical straightener (102), a first horizontal straightener (103) and a first guide wheel (104), the second incoming line straightening mechanism comprises a second vertical straightener (105), a second horizontal straightener (106) and a second guide wheel (107), the first vertical straightener (102), the first horizontal straightener (103) and the first guide wheel (104) are located on the same straight line, the second vertical straightener (105), the second horizontal straightener (106) and the second guide wheel (107) are located on the other same straight line, the two straight lines are symmetrical about the center line of the main support plate (101) plate, the intersection point of the two straight lines is located on the center line of the main support plate (101) plate, a wire guide plate is installed at the intersection point of the two straight lines, a wire guide hole is formed in the wire guide plate, and the wire guide hole corresponds to a connecting rod clamping jaw mechanism (202) of the front end rotary moving arm (20).

3. The fully automatic twisted pair processing apparatus of claim 1, wherein: the double-line cutting module (30) comprises a servo motor (301), a coupler (303), a left-right-handed ball screw (310), an upper cutter assembly and a lower cutter assembly, wherein the servo motor (301) is fixed on a cover plate (302) of the upper cutter assembly, an output shaft of the servo motor (301) downwards penetrates through the cover plate (302) and is connected with the left-right-handed ball screw (310) through the coupler (303), and the left-right-handed ball screw (310) is arranged in the upper cutter assembly and the lower cutter assembly and connects the upper cutter assembly and the lower cutter assembly together; the upper cutter assembly comprises a cover plate (302), an upper fixing plate (318), an upper side plate I (304) and an upper side plate II (317), wherein the cover plate (302) is installed at the upper end of the upper fixing plate (318), the upper side plate I (304) and the upper side plate II (317) are respectively installed on two sides of the upper fixing plate (318), an upper sliding rail I (307) is installed on the inner side of the upper side plate I (304), and the upper sliding rail I (307) is installed on an upper sliding block I (308) in a sliding mode; an upper slide rail II (316) is arranged on the inner side of the upper side plate II (317), the upper slide rail II (316) is arranged on the upper slide block II (315) in a sliding manner, an upper connecting plate (305) is arranged on the upper parts of the upper slide block I (308) and the upper slide block II (315), the upper connecting plate (305) connects the upper slide block I (308) and the upper slide block II (315) together, and the upper connecting plate (305) is fixedly connected with a left-handed nut (306) arranged on the upper part of a left-handed and right-handed ball screw (310); the upper tool block (309) is arranged at the lower ends of the upper sliding block I (308) and the upper sliding block II (315) and connects the upper sliding block I (308) with the upper sliding block II (315); an upper cutter (314) is arranged at the lower end of the upper cutter loading block (309);

the lower cutter assembly comprises a lower fixing plate, a lower side plate I and a lower side plate II, the lower side plate I and the lower side plate II are respectively installed on two sides of the lower fixing plate, a lower sliding rail I is installed on the inner side of the lower side plate I, and a lower sliding block I is installed on the lower sliding rail I in a sliding mode; a lower sliding rail II is arranged on the inner side of the lower side plate II, the lower sliding rail II is slidably arranged on a lower sliding block II, lower connecting plates are arranged on the lower portions of the lower sliding block I and the lower sliding block II, the lower connecting plates connect the lower sliding block I and the lower sliding block II together, and the lower connecting plates are fixedly connected with right-handed nuts (312) arranged on the lower portions of left-handed and right-handed ball screws (310); the lower knife loading block (311) is arranged at the upper ends of the lower sliding block I and the lower sliding block II and connects the lower sliding block I and the lower sliding block II; a lower cutter (313) is arranged at the upper end of the lower cutter loading block (311), and the lower cutter (313) is matched with the upper cutter (314);

the lower cutter loading block (311) is provided with a positioning pin (319), the upper cutter loading block (309) is correspondingly provided with a pin hole, and the pin hole is matched with the positioning pin (319).

4. The fully automatic twisted pair processing apparatus of claim 1, wherein: the wire pulling module (40) comprises a gas circuit block (409), a cylinder fixing seat (418), a fixing plate (419), a wire pulling unit I and a wire pulling unit II which are arranged in parallel, wherein the wire pulling unit I comprises a clamping jaw module I (401), a front spring I (404), a pressing shaft I (405), a rear spring I (406), a floating joint I (407), a single-acting cylinder I (408) and a one-way valve I (411);

the clamping jaw module I (401) comprises a first clamping jaw I (4011), a second clamping jaw I (4012), a connecting block I (4013) and a connecting rod I (4014), the first clamping jaw I (4011) and the second clamping jaw I (4012) are movably mounted on a clamping jaw base through a pin shaft respectively, the rear end of the first clamping jaw I (4011) is hinged to one end of the connecting block I (4013), the rear end of the second clamping jaw I (4012) is hinged to the other end of the connecting block I (4013), and the first clamping jaw I (4011) and the second clamping jaw I (4012) are parallel; the connecting block I (4013) is fixedly connected with one end of the connecting rod I (4014); the other end of the connecting rod I (4014) is inserted into the fixed plate (419) and is clamped with one end of a pressing shaft I (405) in the fixed plate (419), and a front spring I (404) is arranged at the joint of the pressing shaft I (405) and the connecting rod I (4014); the other end of the pressing shaft I (405) extends out of the fixing plate (419) and penetrates through the cylinder fixing seat (418) to be connected with the floating joint I (407), and the pressing shaft I is connected with the floating joint I

(405) A rear spring I (406) is sleeved on the part of the upper part of the cylinder fixing seat (418); the floating joint I (407) is connected with a piston rod of a single-acting cylinder I (408), and the single-acting cylinder I (408) is fixed in a cylinder fixing seat (418); the check valve I (411) is arranged in an air path block (409), and the air path block (409) is fixed at the lower end of the air cylinder fixing seat (418);

the wire pulling unit II comprises a clamping jaw module II (402), a front spring II (421), a pressing shaft II (420), a rear spring II (423), a floating joint II (422), a single-action cylinder II (424) and a one-way valve II (425);

the clamping jaw module II (402) comprises a first clamping jaw II (4021), a second clamping jaw II (4022), a connecting block II (4023) and a connecting rod II (4024), the first clamping jaw II (4021) and the second clamping jaw II (4022) are movably mounted on the clamping jaw base through a pin shaft respectively, the rear end of the first clamping jaw II (4021) is hinged to one end of the connecting block II (4023), the rear end of the second clamping jaw II (4022) is hinged to the other end of the connecting block II (4023), and the first clamping jaw II (4021) is parallel to the second clamping jaw II (4022); the connecting block II (4023) is fixedly connected with one end of the connecting rod II (4024), and a waist hole for the front ejector rod unit to pass through is formed in the side end of the connecting rod II (4024); the other end of the connecting rod II (4024) is inserted into the fixed plate (419) and is clamped with one end of a pressing shaft II (420) in the fixed plate (419), and a front spring II (421) is arranged at the joint of the pressing shaft II (420) and the connecting rod II (4024); the other end of the pressing shaft II (420) extends out of the fixing plate (419) and penetrates through the cylinder fixing seat (418) to be connected with the floating joint II (422), and a rear spring II (423) is sleeved on the part, located on the cylinder fixing seat (418), of the pressing shaft II (420); the floating joint II (422) is connected with a piston rod of a single-acting cylinder II (424), and the single-acting cylinder II (424) is fixed in a cylinder fixing seat (418); the one-way valve II (425) is arranged in the air path block (409);

the fixing plate (419) is provided with a front groove (4191), a front two-way machine control valve I (4121) and a front two-way machine control valve II (4122) are installed in the front groove (4191), a front insertion hole I (4192) and a front insertion hole II (4193) are arranged at the side end of the fixing plate (419) and are parallel to each other and are respectively communicated with the front groove (4191), a front positioning hole I (4194) and a front positioning hole II (4195) are arranged at the upper end of the fixing plate (419), and the front positioning hole I (4194) corresponds to and is vertically communicated with the front insertion hole I (4192); the front positioning hole II (4195) corresponds to the front insertion hole II (4193) and is vertically communicated with the front insertion hole II;

the front ejector rod unit comprises a front long ejector rod (4151) and a front short ejector rod (4171), and the front long ejector rod (4151) sequentially penetrates through a front insertion hole I (4192) and a waist hole in a connecting rod II (4024) from outside to inside to be in contact with a front two-way computer control valve I (4121); the front short ejector rod (4171) sequentially penetrates through the front insertion hole II (4193) and the waist hole in the connecting rod II (4024) from outside to inside to be in contact with the front two-way machine control valve II (4122); the front positioning pin I is inserted into the front positioning hole I (4194) and is contacted with the front long ejector rod (4151); the front positioning pin II is inserted into the front positioning hole II (4195) to be contacted with the front short ejector rod (4171);

a rear groove (4181) is formed in the air cylinder fixing seat (418), a rear two-way machine control valve I (4123) and a rear two-way machine control valve II (4124) are installed in the rear groove (4181), and the rear ejector rod unit corresponds to the rear two-way machine control valve I (4123) and the rear two-way machine control valve II (4124); a rear insertion hole I (4182) and a rear insertion hole II (4183) are formed in the side end of the air cylinder fixing seat (418), the rear insertion hole I (4182) and the rear insertion hole II (4183) are parallel to each other and are respectively communicated with the rear groove (4181), a rear positioning hole I (4184) and a rear positioning hole II (4185) are formed in the upper end of the air cylinder fixing seat (418), and the rear positioning hole I (4184) and the rear insertion hole I (4182) correspond to each other and are vertically communicated with each other; the rear positioning hole II (4185) corresponds to the rear insertion hole II (4183) and is vertically communicated with the rear insertion hole II;

the rear ejector rod unit comprises a rear long ejector rod (4152) and a rear short ejector rod (4172), and the rear long ejector rod (4152) penetrates through the rear insertion hole I (4182) to be in contact with the rear two-way machine control valve I (4123); the rear short ejector rod (4172) penetrates through the rear insertion hole II (4183) to be in contact with the rear two-way machine control valve II (4124); the rear positioning pin I is inserted into the rear positioning hole I (4184) to be in contact with the rear long ejector rod (4152); the rear positioning pin II is inserted into the rear positioning hole II (4185) to be contacted with the rear short ejector rod (4172);

the rear part of the cylinder fixing seat (418) is provided with a connecting plate (414), the connecting plate (414) is provided with an air inlet shaft (413), the air inlet shaft (413) is connected with an inlet of an air inlet in the connecting plate (414), an outlet of the air inlet is divided into two paths, one path is communicated with an inlet of a one-way valve I (411) through an air guide pipe, an outlet of the one-way valve I411 is divided into three paths and is respectively connected with a single-acting cylinder I (408), a front two-way machine control valve I (4121) and a rear two-way machine control valve I (4123) through air guide pipes; the other path is communicated with an inlet of a one-way valve II (425) through an air duct, an outlet of the one-way valve II (425) is divided into three paths and is respectively connected with a single-acting cylinder II (424), a front two-way machine control valve II (4122) and a rear two-way machine control valve II (4124) through the air duct;

the rear end transfer module (60) comprises a bottom plate I (617), a top plate (606) is mounted at the upper end of the bottom plate I (617), a pushing module (618) is mounted on the lower end face of the top plate (606), a first rotating assembly and a second rotating assembly are mounted on the bottom plate I (617) below the pushing module (618), and a rotating shaft II penetrates through a rotating arm (601) of the first rotating assembly and a base plate (608) of the second rotating assembly to connect the first rotating assembly and the second rotating assembly together;

the first rotating assembly comprises a rotating arm (601), a square cylinder I (602), a front wire clamping module (603), a wire clamping module (604), a rotating cylinder (616), an upper synchronous pulley (605), an upper synchronous belt (612), a middle synchronous pulley (619), a middle synchronous belt (614) and a synchronous pulley II (615), wherein the square cylinder I (602) is fixed at one end of the rotating arm (601), the front wire clamping module (603) is fixed on a piston rod of the square cylinder I (602), the wire clamping module (604) is vertically installed on the front wire clamping module (603), and the clamping jaw setting direction of the front wire clamping module (603) is perpendicular to the clamping jaw setting direction of the wire clamping module (604); the rotating shaft II is vertically arranged at the other end of the rotating arm (601), the upper synchronous belt wheel (605) is arranged on the rotating shaft II and is positioned above the rotating arm (601), and the upper synchronous belt wheel (605) is connected with a driving wheel on an output shaft of the rotating cylinder (616) through an upper synchronous belt (612); the rotary cylinder (616) is fixed on the base plate I (617); the middle synchronous pulley (619) is arranged on the rotating shaft II and is positioned below the rotating arm (601) and above the substrate (608) of the second rotating assembly, the middle synchronous pulley (619) is connected with the second synchronous pulley (615) through a middle synchronous belt (614), and the second synchronous pulley (615) is arranged at the lower end of the rotating arm (601);

the second rotating assembly comprises a base plate (608), a motor I (609), a synchronous belt wheel I (610), a lower synchronous belt (611) and a lower synchronous belt wheel (613), and one end of the base plate (608) is hinged to the lower end of the bottom plate I (617); the motor I (609) is installed on the base plate I (617), an output shaft of the motor I (609) penetrates through the base plate I (617) downwards to be connected with the synchronous belt wheel I (610), the synchronous belt wheel I (610) is connected with the lower synchronous belt wheel (613) through the lower synchronous belt (611), and the lower synchronous belt wheel (613) is installed on the rotating shaft II and located below the base plate (608).

5. The fully automatic twisted pair processing apparatus of claim 1, wherein: the front end transfer stranded wire module (50) comprises a tension mapping module (501) and a stranded wire transfer module (502); the tension mapping module (501) comprises a clamping jaw mechanism (503), a middle fixing block (504), a tension sensor (505) and a fixing block (506), wherein the fixing block (506) is fixed on a top plate (508) of the stranded wire transfer module (502), the tension sensor (505) is fixed at the side end of the fixing block (506), the middle fixing block (504) is fixed at the side end of the tension sensor (505), and the clamping jaw mechanism (503) is oppositely arranged at two ends of the middle fixing block (504);

the stranded wire transfer module (502) comprises a transfer module (507), a top plate (508) and a vertical plate (509); the vertical plate (509) is fixed on the bottom plate of the transfer module (507), and the top plate (508) is fixed on the vertical plate (509); the transfer module (507) comprises a bottom plate, a pen-shaped air cylinder I (510), a double-rod air cylinder (511), a rotating shaft I (512), a positioning block (513) and a clamping assembly (514), wherein the pen-shaped air cylinder I (510) is obliquely arranged on the bottom plate, a piston rod of the pen-shaped air cylinder I (510) is hinged to the lower end of the positioning block (513), the positioning block (513) is arranged on the rotating shaft I (512) and rotates around the rotating shaft I (512), and the rotating shaft I (512) is fixed on the bottom plate; a double-rod cylinder (511) is mounted at the side end of the positioning block (513), a piston rod of the double-rod cylinder (511) is connected with a first clamping unit of the clamping assembly, the clamping assembly comprises a first clamping unit and a second clamping unit, the first clamping unit comprises a first thin cylinder (515), the first thin cylinder (515) is vertically mounted on a first fixing plate, the first fixing plate is mounted on the piston rod of the double-rod cylinder (511), and a first pneumatic claw (516) is mounted on a finger of the first thin cylinder (515); the second clamping unit comprises a second thin cylinder (517), the second thin cylinder (517) is vertically installed on a second fixing plate, the second fixing plate is installed on the positioning block (513), a second pneumatic claw (518) is installed on a finger of the second thin cylinder (517), and the first pneumatic claw (516) is parallel to the second pneumatic claw (518).

6. The fully automatic twisted pair processing apparatus of claim 4, wherein: the high-speed wire stranding module (70) comprises a clamping jaw module (701), a wire blocking module (702) and a motor module (703) which are sequentially connected, the clamping jaw module (701) comprises a clamping mechanism, a clamping jaw fixing block (724) and a push rod module (726), and the right end of the clamping mechanism is connected with the left end of the push rod module (726) and is sleeved inside the clamping jaw fixing block (724);

the clamping mechanism comprises two grabbing arms (720), a stop block (721) is clamped in the middle of each grabbing arm (720), a clamping jaw (718) and a grabbing connecting rod (719) are arranged at the left end of each grabbing arm (720), the clamping jaws (718) on the two grabbing arms (720) are matched, one end of each grabbing connecting rod (719) is hinged to the clamping jaw (718), and the other end of each grabbing connecting rod is hinged to the stop block (721); the right ends of the grabbing arms (720) are provided with connecting plates (722), the right ends of the connecting plates (722) are hinged with push-pull blocks (723), and the right ends of the push-pull blocks (723) are connected with cylinder extension rods (727) of the push rod modules (726);

push rod module (726) includes bearing installation piece (728) and unsteady joint connecting block (731), is equipped with fourth bearing (730) in bearing installation piece (728), and fourth bearing (730) inside is equipped with cylinder extension rod (727), and the left end that floats joint connecting block (731) is connected with bearing installation piece (728) through screw (729), and the right-hand member that floats joint connecting block (731) is equipped with the draw-in groove, and the draw-in groove inside callipers are equipped with first unsteady joint

(732) The right end of the first floating joint (732) is connected with a cylinder (742) of the motor module (703); two sides of the clamping jaw fixing block (724) are respectively and fixedly provided with a sliding block (725), and the two sliding blocks (725) are respectively matched with a shaft sleeve (706) of the wire blocking module (702); the cable blocking module (702) comprises a bearing sleeve (708) and a first fixing block (712), a first bearing (707) is sleeved in the bearing sleeve (708), a shaft sleeve (706) is sleeved in the first bearing (707), a sheet metal baffle (704) is fixedly arranged on the shaft sleeve (706), the sheet metal baffle (704) is sleeved in a clamping jaw fixing block (724), a second bearing (711) is arranged in the first fixing block (712), a pen-shaped air cylinder (715) is arranged in the second bearing (711), the left end of the pen-shaped air cylinder (715) is connected with the bearing sleeve (708), the right end of the pen-shaped air cylinder is connected with the first fixing block (712), and the first fixing block (712) is connected with the bearing sleeve (708) through a guide shaft (713);

the motor module (703) comprises a shell (733), a second fixed block (735), a motor fixing plate (740) and a cylinder fixing plate (741), wherein the left end of the shell (733) is connected with the first fixed block (712), the right end of the shell (733) is connected with the second fixed block (735), a third bearing (736) is arranged in the second fixed block (735), a front end component (734) is arranged in the third bearing (736) and the shell (733), the cylinder fixing plate (741) is connected with the second fixed block (735) through a supporting shaft (737), the left side of the cylinder fixing plate (741) is provided with the motor fixing plate (740), the right side of the cylinder fixing plate (741) is provided with the cylinder (742), the cylinder (742) is connected with the push rod module (726), the motor fixing plate (740) is fixedly provided with the servo motor (743), the servo motor (743) is connected with the right end of the front end component (734), and the left end of the front end component (734) is connected with the clamping jaw fixing block (724);

the front end assembly (734) comprises a connecting block IV (746), two ends of the connecting block IV (746) are respectively sleeved with a lining (745), and the cylinder extension rod (727) is sleeved in the lining (745); the left end of the connecting block IV (746) is sleeved in the first fixing block (712), and the right end of the connecting block IV (746) is sleeved in the second fixing block (735);

the right end of the connecting block IV (746) is fixedly connected with a large synchronous pulley (739), the output end of the servo motor (743) is provided with a small synchronous pulley (744), and the large synchronous pulley (739) is connected with the small synchronous pulley (744) through a synchronous belt (738).

7. The fully automatic twisted pair processing apparatus of claim 6, wherein: the rear rack (80) comprises a rack body, three groups of sliding rail assemblies are arranged at the upper end of the rack body in parallel and respectively comprise a front sliding rail assembly, a lower sliding rail assembly and a rear sliding rail assembly, the front sliding rail assembly comprises a front servo motor (807), a front belt (808), a front driving wheel and a front driven wheel, the front servo motor (807), the front driving wheel and the front driven wheel are respectively arranged at the front end of the rack body, an output shaft of the front servo motor (807) is connected with the front driving wheel, the front driving wheel is connected with the front driven wheel through the front belt (808), a front fixing block is arranged on the front belt (808), and the front fixing block is fixedly connected with a shell (733) of a motor module (703) in the high-speed stranded wire module (70); the lower sliding rail component comprises a sliding rail support (803) arranged in the middle of the upper end of the rack body, a lower servo motor (810), a lower driving wheel, a lower driven wheel and a lower belt (809) are arranged on the sliding rail support (803), the output end of the lower servo motor (810) is connected with the lower driving wheel, the lower driving wheel is connected with the lower driven wheel through the lower belt (809), and a lower fixed block is arranged on the lower belt (809); the rear sliding rail assembly comprises a rear servo motor (811), a rear driving wheel, a rear driven wheel and a rear belt (812), the rear servo motor (811), the rear driving wheel and the rear driven wheel are respectively installed at the rear end of the rack body, an output shaft of the rear servo motor (811) is connected with the rear driving wheel, the rear driving wheel is connected with the rear driven wheel through the rear belt (812), and a rear fixing block is installed on the rear belt (812).

8. The fully automatic twisted pair processing apparatus of claim 7, wherein: the lower fixing block is fixedly connected with a top plate (606) of the rear end transfer module (60).

9. The fully automatic twisted pair processing apparatus of claim 7, wherein: the stay wire module (40) further comprises a second connecting plate (410), and the rear fixing block is fixedly connected with the second connecting plate (410).