CN111908255B

CN111908255B - Intelligent cable winding device

Info

Publication number: CN111908255B
Application number: CN202010828569.2A
Authority: CN
Inventors: 华亮; 袁银龙; 张泽光; 季霆; 杨慧; 言淳恺; 郭广森
Original assignee: Nantong University
Current assignee: Nantong University
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2022-05-13
Anticipated expiration: 2040-08-18
Also published as: CN111908255A

Abstract

The invention relates to the technical field of full-automatic production and processing of cables, in particular to an intelligent cable winding device, which comprises a fixed outer frame, a winding wooden disc, a wooden disc fixing and driving device, a wire taking and feeding module, a wire collecting module and an identification module, wherein the winding wooden disc, the wooden disc fixing and driving device, the wire taking and feeding module, the wire collecting module and the identification module are arranged on the fixed outer frame; the fixed outer frame is of an open frame structure formed by a bottom plate, a rear plate and a top plate. According to the invention, the wire taking and feeding module grabs the cable head to move to the wire taking-up module, the wire taking-up module fixes one end of the cable by moving the cable head and extruding, and then the rotating module and the wire taking and feeding module move in a combined manner to wind the cable on the rotary shaft of the roller. The intelligent cable winding device is tight in control, high in automation level, simple to operate and high in machining efficiency.

Description

Intelligent cable winding device

Technical Field

The invention relates to the technical field of full-automatic production and processing of cables, in particular to an intelligent cable winding device.

Background

The winding work of cable in the past is most for semi-automatization preparation, needs the manual work to fix cable one end and the manual work removes the cable position when the wire winding, and in this kind of processing situation, the staff need do some repetition and simple things, has increased irrelevant cost of labor. Meanwhile, the manual operation may cause fatigue, and when a fault occurs in the winding process, the final winding may fail, resulting in low winding efficiency.

Disclosure of Invention

Aiming at the problems, the invention provides the intelligent cable winding device which is tight in control, high in automation level, simple in operation and high in processing efficiency.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

an intelligent cable winding device comprises a fixed outer frame, a winding wooden disc, a wooden disc fixing and driving device, a wire taking and feeding module, a wire collecting module and an identification module, wherein the winding wooden disc, the wooden disc fixing and driving device, the wire taking and feeding module, the wire collecting module and the identification module are arranged on the fixed outer frame; the fixed outer frame is of an open frame structure formed by a bottom plate, a rear plate and a top plate.

Preferably, the winding wood disc is of an H-shaped structure, the winding wood disc comprises a first end face, a second end face and a circular roller, the first end face and the second end face are oppositely arranged, the circular roller is arranged between the first end face and the second end face and is connected with the first end face and the second end face, and the circular roller is of a hollow structure; a first circular through hole is formed above the joint of the second end face and the circular roller, and a second circular through hole is formed below the joint of the second end face and the circular roller.

Preferably, the wooden disc fixing and driving device includes a restriction unit provided at the first end surface and a driving unit provided at the second end surface; the limiting unit comprises a first conical head and a second left-right driving unit, wherein the first conical head is coaxially arranged with the winding wooden disc, the second left-right driving unit is arranged on the bottom plate, the first conical head is connected with the second left-right driving unit through a connecting rod, the second left-right driving unit drives the first conical head to be close to or far away from the driving unit, and the winding wooden disc is installed and detached.

Preferably, the drive unit includes with the rotatory drive unit of the collineation of wire reel axis second, second toper head and can block the actuating lever of the circular through-hole of second terminal surface into, the actuating lever is connected through the connecting plate with second toper head, second toper head and actuating lever block respectively and are hollow structure's circular cylinder and the circular through-hole of second after, by the rotatory wire reel that drives through the actuating lever of second rotation drive unit rotates.

Preferably, the wire taking and feeding module is arranged below the top plate and comprises a three-joint mechanical arm with three-dimensional omnidirectional motion and a manipulator holder with a pneumatic valve, wherein the manipulator holder is arranged at the tail end of the three-joint mechanical arm and is provided with a crawler belt, and the manipulator holder can realize the wire feeding function through the inner crawler belt.

Preferably, the wire take-up module is perpendicular to the second end face, the wire take-up module comprises a semicircular triangular shell, a driving motor arranged in the semicircular triangular shell and a roller sleeved outside the driving motor, a strain gauge is arranged at the inner triangle of the semicircular triangular shell, and a piezoelectric sensor is arranged at the bottom of the semicircular triangular shell.

Preferably, the outer surface of the roller is provided with an air bag rough layer, and the distance between the outer surface of the roller and the inner wall of the semicircular triangular shell is equal to the diameter of the cable to be wound.

Preferably, a bottom corner of one side of the semicircular triangular shell, which is close to the second end face, is a cable sending port, a bottom corner of one side of the semicircular triangular shell, which is far away from the second end face, is a cable sending port, and the cable sending port is arranged corresponding to the first circular through hole.

Preferably, the identification module is a network camera with a function of transmitting information through a network.

Preferably, the second rotary drive unit is a rotary electric machine.

The invention has the beneficial effects that:

1. according to the intelligent cable winding device provided by the invention, firstly, the cable is moved to the fixing device by the cable taking and feeding device, the fixing device extrudes and fixes the fed cable after the cable is rotated to drive the cable to have enough length, then the cable is moved to the roller by the cable taking and feeding device, the roller starts to rotate, the cable taking and feeding device reciprocates along the axis of the roller, and the cable is wound on the rotating shaft of the roller, so that the full-automatic cable winding operation of the cable is realized by the intelligent cable winding device, and unnecessary labor cost is reduced;

2. the device operation has guaranteed the stability of cable translation rate in the wire winding process, has improved wire winding success rate.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic front view of FIG. 1;

FIG. 3 is a cross-sectional view of a second end face of the present invention;

FIG. 4 is a schematic structural view of a wire take-up module of the present invention;

fig. 5 is a schematic view of the structure of the robot gripper of the present invention.

In the figure: 1-fixed outer frame, 11-bottom plate, 12-back plate, 13-top plate, 2-wire-wound wooden disc, 21-first end surface, 22-second end surface, 23-circular roller, 24-first circular through hole, 25-second circular through hole, 3-wooden disc fixing and driving device, 31-limiting unit, 311-first conical head, 312-second left and right driving unit, 32-driving unit, 321-second rotary driving unit, 322-second conical head, 323-driving rod, 4-wire-taking and wire-feeding module, 41-three-joint mechanical arm, 42-mechanical arm holder, 43-crawler belt, 5-wire-taking-up module, 51-driving motor, 52-roller, 53-semicircular shell, 54-strain gauge, 55-piezoelectric sensor, 56-cable inlet, 57-cable outlet and 6-identification module.

Detailed Description

The technical solution of the present invention is described below with reference to the accompanying drawings and examples.

Referring to fig. 1, the intelligent cable winding device of the invention comprises a fixed outer frame 1, and further comprises a winding wooden disc 2, a wooden disc fixing and driving device 3, a wire taking and feeding module 4, a wire winding module 5 and an identification module 6 which are arranged on the fixed outer frame 1; the fixed outer frame 1 is an open frame structure formed by a bottom plate 11, a back plate 12 and a top plate 13.

Referring to fig. 1, 2 and 3, in particular, the winding log tray 2 is in an H-shaped structure, the winding log tray 2 includes a first end surface 21, a second end surface 22 and a circular drum 23, the first end surface 21 and the second end surface 22 are arranged oppositely, the circular drum 23 is arranged between the first end surface 21 and the second end surface 22 and is connected with the first end surface 21 and the second end surface 22, and each of the first end surface 21 and the second end surface 22 is composed of two circular baffles and is used for limiting the winding range of cables; the round roller 23 is of a hollow structure; a first circular through hole 24 is formed above the joint of the second end surface 22 and the circular roller 23, the first circular through hole 24 is used for allowing a cable to pass through, a second circular through hole 25 is formed below the joint of the second end surface 22 and the circular roller 23, and the second circular through hole 25 is used for fixing a winding wooden disc.

Referring to fig. 1 and 2, in particular, the wooden disc fixing and driving device 3 includes a limiting unit 31 provided at the first end face 21 and a driving unit 32 provided at the second end face 22; the limiting unit 31 comprises a first conical head 311 coaxially arranged with the winding wooden disc 2 and a second left-right driving unit 312 installed on the bottom plate 11, the first conical head 311 is connected with the second left-right driving unit 312 through a connecting rod, the second left-right driving unit 312 drives the first conical head 311 to be close to or far away from the driving unit 32, and the winding wooden disc 2 is installed and detached.

Referring to fig. 1 and 2, specifically, the driving unit 32 includes a second rotary driving unit 321 collinear with the axis of the winding reel 2, a second conical head 322, and a driving rod 323 capable of being clamped into the second circular through hole 25 of the second end face 22, the driving rod 323 is connected with the second conical head 322 through a connecting plate, after the second conical head 322 and the driving rod 323 are respectively clamped into the circular drum 23 and the second circular through hole 25 which are hollow structures, the second rotary driving unit 321 rotates to drive the winding reel 2 to rotate through the driving rod 323. Wherein the second rotation driving unit 321 is a rotating electric machine.

Referring to fig. 1 and 5, specifically, the wire taking and feeding module 4 is arranged below the top plate 13, the wire taking and feeding module 4 includes a three-joint mechanical arm 41 moving in three-dimensional and omni-directional directions and a manipulator holder 42 with a pneumatic valve and mounted at the end of the three-joint mechanical arm 41, a crawler 43 is arranged inside the manipulator holder 42, and the manipulator holder 42 can realize a wire feeding function through the inner crawler 43. The wire taking and feeding module 4 identifies the head position of the cable to be wound through machine vision to grab and feed the cable to the first circular through hole.

Referring to fig. 4, specifically, the wire rewinding module 5 is perpendicular to the second end surface 22, and the wire rewinding module 5 includes a semicircular triangular shell 53, a driving motor 51 disposed inside the semicircular triangular shell 53, and a roller 52 sleeved outside the driving motor 51, wherein a strain gauge 54 is disposed at an inner triangle of the semicircular triangular shell 53, and a piezoelectric sensor 55 is disposed at a bottom of the semicircular triangular shell 53.

The outer surface of the roller 52 is provided with an air bag rough layer, and the distance between the outer surface of the roller 52 and the inner wall of the semicircular triangular shell 53 is equal to the diameter of the cable to be wound.

The bottom corner of one side of the semicircular triangular shell 53 close to the second end face 22 is a cable inlet 56, the bottom corner of one side of the semicircular triangular shell 53 far away from the second end face 22 is a cable outlet 57, and the cable inlet 56 is arranged corresponding to the first circular through hole 24.

In this embodiment, the wire rewinding module 5 is configured to receive the cable transmitted by the first circular through hole 24, and start the motor to fix the cable. The driving motor 51 can drive the roller 52 to rotate forward or backward, when a cable enters the cable sending-in port 56 of the semicircular triangular shell 53, the piezoelectric sensor 55 is stressed and deformed and sends out a signal, the driving motor 51 is started to drive the cable to move through the roller 52 and come out from the cable sending-out port 57, the roller 52 stops moving, and due to the effect of the strain gauge 54, the cable can be fixed inside the triangular shell.

The identification module 6 is a network camera with a network information transmission function.

When the cable is wound, the second left and right driving unit 312 firstly runs in the direction away from the driving unit 32, the center hole of the round drum 23 of the winding wood reel 2 and the second round through hole 25 are respectively and correspondingly clamped on the second conical head 322 and the driving rod 323 of the driving unit 32, and then the second left and right driving unit 312 runs in the direction close to the driving unit 32, so that the installation process of the round drum 23 is completed.

Then, the head of the cable to be wound is identified and positioned by the identification module 6, then the mechanical arm is sequentially controlled according to the target position to send the mechanical arm clamp holder 42 with the pneumatic valve to the first circular through hole 24, the cable is conveyed forwards for a certain distance through the mechanical arm clamp holder 42, and the cable enters the cable winding module 5 device.

When the cable enters the cable sending-in port 56 of the semicircular triangular shell 53, the piezoelectric sensor 55 deforms and sends a signal, the driving motor 51 is started to drive the roller 52 to move, the cable is wound, the cable comes out from the cable sending-out port 57, the driving motor 51 stops moving, and the cable is fixed through the strain gauge spring.

Then, the second rotary driving unit 321 rotates in the direction from the bottom plate 11 to the rear plate 12 to wind the cable around the circular drum 23, and the three-joint mechanical arm 41 moves towards the first end surface 21 at a constant speed along with the rotation of the circular drum 23, when the mechanical arm holder 42 moves to the position of the first end surface 21, the three-joint mechanical arm 41 moves towards the direction of the second end surface 22 of the circular drum 23, and the cycle is repeated to finally complete the automatic winding operation.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides a cable intelligence take-up device, includes fixed frame (1), its characterized in that: the wire winding device also comprises a wire winding wooden disc (2), a wooden disc fixing and driving device (3), a wire taking and feeding module (4), a wire winding module (5) and an identification module (6) which are arranged on the fixed outer frame (1); the fixed outer frame (1) is of an open frame structure consisting of a bottom plate (11), a rear plate (12) and a top plate (13);

the winding wood disc (2) is of an H-shaped structure, the winding wood disc (2) comprises a first end face (21), a second end face (22) and a circular roller (23), the first end face (21) and the second end face (22) are oppositely arranged, the circular roller (23) is arranged between the first end face (21) and the second end face (22) and connected with the first end face (21) and the second end face (22), and the circular roller (23) is of a hollow structure; a first circular through hole (24) is formed above the joint of the second end surface (22) and the circular roller (23), and a second circular through hole (25) is formed below the joint of the second end surface (22) and the circular roller (23);

the wooden disc fixing and driving device (3) comprises a limiting unit (31) arranged at the first end face (21) and a driving unit (32) arranged at the second end face (22); the limiting unit (31) comprises a first conical head (311) and a second left-right driving unit (312), wherein the first conical head (311) is coaxially arranged with the winding wood disc (2), the second left-right driving unit (312) is installed on the bottom plate (11), the first conical head (311) is connected with the second left-right driving unit (312) through a connecting rod, the second left-right driving unit (312) drives the first conical head (311) to be close to or far away from the driving unit (32), and the winding wood disc (2) is installed and disassembled;

the driving unit (32) comprises a second rotary driving unit (321) collinear with the axis of the winding wood disc (2), a second conical head (322) and a driving rod (323) capable of being clamped into a second round through hole (25) of the second end face (22), the driving rod (323) is connected with the second conical head (322) through a connecting plate, the second conical head (322) and the driving rod (323) are clamped into a round roller (23) and a second round through hole (25) which are of a hollow structure respectively, and then the second rotary driving unit (321) rotates to drive the winding wood disc (2) to rotate through the driving rod (323);

the wire taking and feeding module (4) is arranged below the top plate (13), the wire taking and feeding module (4) comprises a three-joint mechanical arm (41) which moves in a three-dimensional omnidirectional manner and a manipulator clamp holder (42) which is arranged at the tail end of the three-joint mechanical arm (41) and is provided with a pneumatic valve, a crawler (43) is arranged in the manipulator clamp holder (42), and the manipulator clamp holder (42) can realize a wire feeding function through the inner crawler (43);

the wire take-up module (5) is perpendicular to the second end face (22), the wire take-up module (5) comprises a semicircular triangular shell (53), a driving motor (51) arranged inside the semicircular triangular shell (53) and a roller (52) sleeved outside the driving motor (51), strain gauges (54) are arranged at three corners inside the semicircular triangular shell (53), and a piezoelectric sensor (55) is arranged at the bottom of the semicircular triangular shell (53);

a cable feeding port (56) is formed in the bottom corner of one side, close to the second end face (22), of the semicircular triangular shell (53), a cable feeding port (57) is formed in the bottom corner of one side, far away from the second end face (22), of the semicircular triangular shell (53), and the cable feeding port (56) is arranged corresponding to the first circular through hole (24);

the identification module (6) identifies and positions the head of the cable to be wound, sequentially controls the mechanical arm according to a target position to send the mechanical arm clamp holder (42) with the pneumatic valve to the position of the first circular through hole (24), and enables the cable to be conveyed forwards for a certain distance through the mechanical arm clamp holder (42), so that the cable enters the take-up module (5) device;

when a cable enters a cable sending-in port (56) of the semicircular triangular shell (53), the piezoelectric sensor (55) deforms and sends a signal, the driving motor (51) is started to drive the roller (52) to move, the cable is wound, the cable comes out from the cable sending-out port (57), the driving motor (51) stops moving, and the cable is fixed by the strain gauge spring;

the second rotary driving unit (321) rotates along the direction from the bottom plate (11) to the rear plate (12) to wind the cable on the circular drum (23), the three-joint mechanical arm (41) moves towards the direction of the first end face (21) at a constant speed along with the rotation of the circular drum (23), when the mechanical arm clamp (42) moves to the position of the first end face (21), the three-joint mechanical arm (41) moves towards the direction of the second end face (22) of the circular drum (23), and the automatic winding operation is finally completed through cyclic reciprocation.

2. The intelligent cable winding device according to claim 1, wherein: the outer surface of the roller (52) is provided with an air bag rough layer, and the distance between the outer surface of the roller (52) and the inner wall of the semicircular triangular shell (53) is equal to the diameter of a cable to be wound.

3. The intelligent cable winding device according to claim 1, wherein: the identification module (6) is a network camera with a network information transmission function.

4. The intelligent cable winding device according to claim 1, wherein: the second rotation driving unit (321) is a rotating electric machine.