CN114378123B

CN114378123B - Supporting use equipment of coiling machine material loading and unloading

Info

Publication number: CN114378123B
Application number: CN202210043983.1A
Authority: CN
Inventors: 吴社竹; 张文俊; 黄冬梅; 苏高峰; 陈中杰
Original assignee: Suzhou Jiangjin Automation Technology Co ltd
Current assignee: Suzhou Jiangjin Automation Technology Co ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2023-05-02
Anticipated expiration: 2042-01-14
Also published as: CN114378123A

Abstract

The invention discloses a matched use device for feeding and discharging of a coiling machine, which comprises: the carrier plate is slidably mounted on the ground rail and moves back and forth between the plurality of coiling machines through the ground rail; are all mounted on the carrier plate: the carrying and threading device comprises a main robot, a threading mechanism and a first grabbing mechanism, wherein the threading mechanism and the first grabbing mechanism are respectively arranged at the driving end of the main robot, the threading mechanism is used for penetrating the free end of a silk thread on a coiling machine into a threading hole of an empty coiling wheel, and the first grabbing mechanism is used for clamping the coiling wheel; the wire breaking device is used for breaking the wire between the wire winder and the wire winding wheel; and the knotting device is used for knotting the free end of the silk thread on the winding wheel. The carrying and threading device can meet the feeding and discharging requirements of a wire coiling machine and the knotting of a full wheel, can complete the discharging of the full wheel and the threading of an empty wheel, and has the advantages of reasonable structural design, less using beats and high efficiency.

Description

Supporting use equipment of coiling machine material loading and unloading

Technical Field

The invention relates to the technical field of coiling equipment, in particular to equipment matched with feeding and discharging of a coiling machine.

Background

The wire drawing machine is a device for obtaining a required finished wire through stretch forming and is divided into a stretch part and a wire collecting part, wherein the wire collecting part winds the stretched wire on a corresponding wire winding wheel through a wire winding machine, when the wire winding wheel winds the wire with a set length, namely the wire winding wheel is in a full-winding state, the wire winding machine stops winding, then cuts off the wire between the wire winding wheel and the wire winding machine through a fusing mechanism, then takes off the wire winding wheel in the full-winding state on the wire winding machine through a robot, sequentially completes wire end knotting, labeling and final blanking, finally installs an empty wire winding wheel on a wire winding shaft of the wire winding machine through the robot, penetrates the free end of the wire on the wire winding machine into a preset wire threading hole on the wire winding wheel and performs pre-winding, and starts formally winding until the wire winding wheel is in the full-winding state; in the process, the whole winding wheel is completed through the robot in the processes of feeding and discharging transfer and threading, in the prior art, different operation actions are completed mainly through installing different tools (such as a grabbing mechanism when carrying the winding wheel and a threading mechanism when threading) at the driving end of the robot, so that the tool development cost is high, the tools need to be replaced back and forth in the use process, the robot assembly efficiency is low, the continuity in the working process is poor, and the production mode of a modern automatic assembly line cannot be met; therefore, there is a need to solve the above problems.

Disclosure of Invention

The invention aims to solve the technical problem of providing a matched use device for feeding and discharging of a coiling machine.

In order to solve the technical problems, the invention provides a device for supporting feeding and discharging of a coiling machine, which comprises:

the carrier plate is slidably mounted on the ground rail and moves back and forth between the plurality of coiling machines through the ground rail;

are all mounted on the carrier plate:

the carrying and threading device comprises a main robot, a threading mechanism and a first grabbing mechanism, wherein the threading mechanism and the first grabbing mechanism are respectively arranged at the driving end of the main robot, the threading mechanism is used for penetrating the free end of a silk thread on a coiling machine into a threading hole of an empty coiling wheel, and the first grabbing mechanism is used for clamping the coiling wheel;

the wire breaking device is used for breaking the wire between the wire winder and the wire winding wheel;

and the knotting device is used for knotting the free end of the silk thread on the winding wheel.

The invention has the beneficial effects that:

the invention relates to a matched use device for feeding and discharging of a wire coiling machine, which comprises a main robot, wherein a driving end of the main robot is integrated with a threading mechanism and a first grabbing mechanism, so that grabbing of a wire coiling wheel can be completed, threading action of an empty wire coiling wheel can be completed, the use is flexible and convenient, a tool is not required to be replaced back and forth, the working efficiency is high, and the use cost is low; secondly, the filament drawing clamping jaw is arranged on the knotting device, before the full-coiled wire coiling wheel performs filament head knotting, the free end of the silk thread on the wire coiling wheel is elastically clamped through the filament drawing clamping jaw, and then the wire coiling wheel rotates towards the wire coiling direction, so that the length of the scattered thread ends on the wire coiling wheel is gradually shortened to meet the knotting requirement, the length of the filament head after knotting is prevented from being overlong, material waste is avoided, and the subsequent use and operation are facilitated; in addition, the invention is also provided with the hole searching mechanism, the hole searching mechanism is provided with symmetrically distributed hole searching sensors, the position of the threading hole on the winding wheel can be quickly found, the position of the threading hole on the winding wheel is rotated to a set direction, the main robot can conveniently place the empty winding wheel on the winding machine according to the set position, the threading mechanism can conveniently find the threading hole position on the winding wheel, and the threading efficiency is improved; meanwhile, the invention is also provided with the auxiliary robot, the auxiliary robot drives the labeling mechanism and the second grabbing mechanism to be respectively used for completing the attachment of labels and grabbing and placing the empty reel on the hole searching mechanism, and the auxiliary robot and the main robot work cooperatively, so that the working beat of the main robot is reduced, and the working efficiency of the whole equipment is improved; finally, the rear end wire clamping mechanism in the wire breaking device is arranged on the independent sliding table cylinder, after the wire between the wire winding machine and the wire winding wheel is broken, the rear end wire clamping mechanism can translate under the action of the corresponding sliding table cylinder, the clamped wire head is delivered to the anti-disengaging pawl of the first grabbing mechanism, so that the rear end wire clamping mechanism can send the wire head on the wire winding wheel to the anti-disengaging pawl when the first grabbing mechanism grabs the wire winding wheel fully wound on the wire winding machine, the main robot does not need to independently take the wire head on the wire winding wheel, the control is simpler and efficient, and the whole action process is smoother and natural.

Drawings

FIG. 1 is a schematic perspective view of a device for loading and unloading a wire winder;

FIG. 2 is a schematic perspective view of a knotting apparatus;

FIG. 3 is a front view of the knotting apparatus;

FIG. 4 is a top view of the spinning clamping jaw;

FIG. 5 is a view of the clamping plate after being detached from the spinning clamping jaw;

fig. 6 is a schematic perspective view of a wire breaking device;

FIG. 7 is a schematic perspective view of the wire breaking device with the stand and the linear drive module removed;

FIG. 8 is a schematic perspective view of a rear end wire clamping mechanism;

fig. 9 is a front view of the wire hooked on fig. 7;

FIG. 10 is a schematic perspective view of a hole-finding mechanism;

fig. 11 is a schematic perspective view of the labeling mechanism and the second grabbing mechanism mounted on the second connecting base;

fig. 12 is a schematic diagram of a second perspective view of the labeling mechanism and the second grabbing mechanism mounted on the second connecting base;

FIG. 13 is a schematic perspective view of a printer;

FIG. 14 is a schematic view of a printer in use with an air bearing bar;

FIG. 15 is a schematic perspective view of the threading mechanism and the first grasping mechanism mounted on the first connecting base;

FIG. 16 is a schematic view showing a second perspective of the threading mechanism and the first grasping mechanism mounted on the first connecting base;

FIG. 17 is a front view of the threading mechanism and the first grasping mechanism mounted on the first connecting base;

FIG. 18 is a schematic perspective view of the guide body disposed on the wire stripping jaw;

FIG. 19 is a schematic perspective view of a reel;

FIG. 20 is a schematic view of various operating conditions of the threading mechanism;

the reference numerals in the figures illustrate:

100. a carrier plate; 101. a reel; 102. a threading hole; 103. a reference hole; 104. a silk thread; 105. a wire winder; 200. a knotting device; 201. a support table; 202. a bottom plate; 203. a base; 204. a driven shaft; 205. winding clamping jaws; 206. a first motor; 207. positioning a sensor; 208. a cylinder is tightly propped; 209. a connecting plate; 210. a second motor; 211. a drive shaft; 212. a traversing cylinder; 213. drawing clamping jaw; 214. a spring plunger; 215. a clamping plate; 216. fixing the clamping jaw; 217. a wire pulling rod; 218. a straight line cylinder; 300. a hole searching mechanism; 301. a support frame; 302. a third motor; 303. a three-jaw chuck; 304. a positioning piece; 305. a support part; 306. an inner support part; 307. a connecting body; 308. a hole-finding sensor; 400. a wire breaking device; 401. a vertical frame; 402. a linear driving module; 403. a carriage; 404. a first slipway cylinder; 405. a mounting frame; 407. a silk warp measuring instrument; 408. a fuse; 409. a first clamping cylinder; 410. a first briquette; 411. a first support block; 412. a first support surface; 413. a first V-groove; 414. a blocking portion; 415. a second slipway cylinder; 416. a fixing frame; 417. a second clamping cylinder; 418. a second briquetting; 419. a second support block; 420. a second support surface; 421. a second V-groove; 422. a third guide rail; 423. an extension block; 424. a tensioning member; 425. a slide bar; 426. tensioning a spring; 427. a stop block; 428. a cross bar; 500. a carrying and threading device; 51. a threading mechanism; 52. a first grasping mechanism; 501. a master robot; 502. a first connection base; 503. a first jaw cylinder; 504. a first clamping block; 505. a thread hooking block; 506. anti-disengaging clamping claws; 507. taking out a wire clamping jaw; 508. a compacting cylinder; 509. a press roller; 510. stroking the wire clamping jaw; 511. a guide body; 5111. a semicircular groove; 512. a guide tube; 513. extending out of the cylinder; 514. a first guide rail; 515. a guide rod; 516. a buffer spring; 517. a transfer block; 518. a limiting plate; 519. retracting the cylinder; 520. a shooting assembly; 600. carrying and labeling devices; 61. a labeling mechanism; 62. a second grasping mechanism; 601. a sub robot; 602. a second connecting seat; 603. a second jaw cylinder; 604. a second clamping block; 605. an avoidance cylinder; 606. a code reader; 607. a negative pressure suction block; 608. a sliding block; 609. a second guide rail; 610. a mounting groove; 611. a compression spring; 612. a retainer ring; 613. a connecting rod; 614. a printer; 615. a label outlet; 616. a label; 617. release paper; 618. an air-floating rod; 619. and (5) blowing air surface.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.

Referring to fig. 1-20, an embodiment of a loading and unloading device for a reel 105 according to the present invention is shown;

a blanking mating apparatus for a reel 105, comprising:

a carrier plate 100, wherein the carrier plate 100 is slidably mounted on a ground rail, and the carrier plate 100 moves back and forth between a plurality of wire reels 105 through the ground rail; typically, the apparatus of the present invention moves between the two rows of reels 105, and when a single winding task is completed by either reel 105, the apparatus of the present invention moves to the side of the corresponding reel 105 to remove the full reel 101 and tie the filament ends, and then reloads the empty reel 101 onto the reel 105 to repeat the winding operation.

Are mounted on the carrier plate 100:

the carrying and threading device 500, wherein the carrying and threading device 500 comprises a main robot 501, a threading mechanism 51 and a first grabbing mechanism 52, wherein the threading mechanism 51 and the first grabbing mechanism 52 are all arranged on the driving end of the main robot 501, the threading mechanism 51 is used for penetrating the free end of a silk thread 104 on a coiling machine 105 into a threading hole 102 of an empty coiling wheel 101, and the first grabbing mechanism 52 is used for grabbing the coiling wheel 101; the threading mechanism 51 and the first grabbing mechanism 52 are integrated at the driving end of the main robot 501, so that grabbing of the winding wheel 101 and threading of the empty winding wheel 101 can be completed, the use is flexible and convenient, the tool does not need to be replaced back and forth, the working efficiency is high, and the use cost is low.

A wire breaking device 400, wherein the wire breaking device 400 is used for breaking the wire 104 between the wire winder 105 and the wire winding wheel 101; a knotting device 200, the knotting device 200 being adapted to knotte the free end of the thread 104 on the reel 101.

The knotting device 200 comprises a driving shaft 211 and a driven shaft 204 which are used for coaxially clamping and driving the winding wheel 101 to rotate, a thread end clamping mechanism used for clamping the free end of the thread 104 on the winding wheel 101 and a winding clamping jaw 205 which moves circularly around the driven shaft 204, wherein the thread end clamping mechanism clamps the free end of the thread 104 on the winding wheel 101 and is matched with the driving shaft 211, the driven shaft 204 and the winding clamping jaw 205 to achieve knotting of the free end of the thread 104.

As an embodiment of the present invention, as shown in fig. 2-5, the driven shaft 204 is rotatably mounted on the base 203, the base 203 is fixed on the base 202, the base 202 is fixed on the supporting table 201 provided on the carrier 100, the winding clamping jaw 205 is rotatably mounted on the base 203, and the winding clamping jaw 205 moves circumferentially around the axis of the driven shaft 204, the base 203 is mounted with a first motor 206 for driving the winding clamping jaw 205 to move circumferentially, the base 203 is further mounted with a positioning sensor 207 for detecting the position of the winding wheel 101, which is used for finding the labeling position of the winding wheel 101, i.e. when the winding wheel 101 is positioned and clamped between the driving shaft 211 and the driven shaft 204, the corresponding end of the winding wheel 101 is provided with a reference hole 103 matched with the positioning sensor 207, when the positioning sensor 207 detects the reference hole 103, the winding wheel 101 stops rotating, so that the labeling mechanism 616 is attached to a designated position of the corresponding end of the winding wheel 101, the driving shaft 209 is rotatably mounted on the driving shaft 209, the driving shaft 208 is further rotatably mounted on the driving shaft 209, and the driving shaft 208 is further rotatably connected to the driving shaft 211 along the direction of the driving shaft 211 by a cylinder, and the driving shaft 211 is further rotatably clamped by the driving shaft 211, and the driving shaft 211 is further rotatably is tightly clamped by the driving shaft 211 and the driving shaft 211 is tightly clamped by the driving shaft 211.

The thread end clamping mechanism comprises a thread drawing clamping jaw 213, a fixing clamping jaw 216, a thread pulling rod 217 and a transverse moving air cylinder 212, wherein the thread drawing clamping jaw 213 and the fixing clamping jaw 216 are both arranged on a telescopic rod of the transverse moving air cylinder 212, the thread pulling rod 217 is arranged on a telescopic rod of a linear air cylinder 218, the linear air cylinder 218 is arranged on a telescopic rod of the transverse moving air cylinder 212, the transverse moving air cylinder 212 is arranged on the bottom plate 202, the transverse moving air cylinder 212 drives the thread drawing clamping jaw 213, the fixing clamping jaw 216 and the thread pulling rod 217 to reciprocate along the axial direction of the driving shaft 211, the thread drawing clamping jaw 213 and the fixing clamping jaw 216 are both used for clamping the free end of a thread 104 on a winding wheel 101, a clamping plate 215 supported by a spring plunger 214 is arranged on one jaw monomer of the thread drawing clamping jaw 213, and the other jaw monomer of the thread drawing clamping jaw 213 is matched with the free end of the thread 104 on the winding wheel 101.

Before the full-coil reel 101 is clamped between the driving wheel and the driven wheel and the thread is knotted, the free end of the thread 104 on the reel 101 is elastically clamped by the thread drawing clamp 213, that is, the thread on the reel 101 is clamped by the clamping plate 215, and the fixing clamp 216 is in an open state, as shown in fig. 3, then the reel 101 rotates towards the reeling direction, that is, the arrow direction shown in fig. 3, since the clamping plate 215 clamps the thread 104 by the elastic force of the spring plunger 214, the thread 104 is in an unclamped state, when the reel 101 is reeled in, the length of the free end of the thread 104 on the reel 101 is gradually shortened to meet the knotting requirement, the length of the thread after the knotting is prevented from being overlong, the material waste is avoided and the subsequent use operation is facilitated, after the spinning is completed, the fixing clamp 216 is closed to clamp the thread on the reel 101, that is knotted, that is, the reel 101 and 205 rotate in the opposite directions of the arrow direction shown in fig. 3, the free end of the thread 104 is knotted, and the winding clamp 205 are respectively, and the length of the thread 104 is gradually shortened by the special application of the arrow clamp jaw shown in fig. 3, and the invention is shown in China (as the special patent application number of the state of the invention: CN2021104245258, title of the invention: description of a trolley and a winding system for a winding machine).

In an embodiment of the present invention, as shown in fig. 1 and 10, the support 201 is further provided with a hole searching mechanism 300, the hole searching mechanism 300 includes a support 301, three-jaw chucks 303 and hole searching sensors 308 both connected to the support 301, the support 301 is connected to the support 201, driving members of the three-jaw chucks 303 are both connected to positioning members 304, the positioning members 304 include a supporting portion 305 for supporting an end portion of the winding wheel 101 and an inner supporting portion 306 for inserting and supporting the end portion in a central hole of the winding wheel 101, the support 301 is further provided with a third motor 302 for driving the three-jaw chucks 303 to open and close, the number of the hole searching sensors 308 is two and both are mounted on the support 301 through a connecting body 307, and detection beams of the two hole searching sensors 308 are collinear and intersect with an axis of the three-jaw chucks 303.

The auxiliary robot 601 grabs the empty reel 101 and vertically places the empty reel on the positioning piece 304, namely the inner supporting part 306 of the positioning piece 304 is inserted into the central hole of the reel 101, the corresponding end of the reel 101 is supported on the supporting part 305 of the positioning piece 304, then the three-jaw chuck 303 drives the positioning piece 304 to be opened, namely the plurality of positioning pieces 304 position the reel 101, then the third electrode drives the reel 101 to rotate, and when any hole searching sensor 308 detects the threading hole 102 on the reel 101, the reel 101 stops rotating, and the positioning of the threading hole 102 on the reel 101 is completed; the hole searching mechanism 300 can quickly find the position of the threading hole 102 on the winding wheel 101, and rotate the position of the threading hole 102 on the winding wheel 101 to a set direction, so that the main robot 501 can conveniently place the empty winding wheel 101 on the winding machine 105 according to the set position, the threading mechanism 51 can conveniently find the position of the threading hole 102 on the winding wheel 101, and the threading efficiency is improved.

The wire breaking device 400 comprises a vertical frame 401, a linear driving module 402, a wire passing measuring instrument 407, a fuse 408, a front end wire clamping mechanism and a rear end wire clamping mechanism, wherein the linear driving module 402 is installed on the carrier plate 100 through the vertical frame 401, a sliding frame 403 is installed on a driving piece of the linear driving module 402, the front end wire clamping mechanism, the wire passing measuring instrument 407, the fuse 408 and the rear end wire clamping mechanism are sequentially installed on the sliding frame 403, the front end wire clamping mechanism and the rear end wire clamping mechanism clamp wires 104 to be broken, the fuse 408 fuses the wires 104 between the front end wire clamping mechanism and the rear end wire clamping mechanism, and the wires are used for measuring diameters of the wires 104 between the front end wire clamping mechanism and the rear end wire clamping mechanism through the measuring instrument 407. The structure and working principle of the fuse 408 and the wire gauge 407 are both the prior art, and please refer to the specification of the Chinese application for invention (application number: CN2021104245258, invention name: trolley and winding system matched with winding machine).

In an embodiment of the present invention, as shown in fig. 6 to 9, the front end wire clamping mechanism includes a first sliding table cylinder 404, a mounting frame 405, a first clamping cylinder 409, a first pressing block 410 and a first supporting block 411; the first sliding table cylinder 404 is mounted on the sliding frame 403, the mounting frame 405 is mounted on a driving member of the first sliding table cylinder 404, the working direction of the first sliding table cylinder 404 is perpendicular to the working direction of the linear driving module 402, the wire passing measuring instrument 407 and the fuse 408 are both mounted on the mounting frame 405, the wire passing measuring instrument 407 is connected with a translation cylinder driving the wire passing measuring instrument to move outwards, the first pressing block 410 is connected on the first clamping cylinder 409, the first clamping cylinder 409 is mounted on the mounting frame 405, the first supporting block 411 is mounted on the mounting frame 405, a first supporting surface 412 is arranged on the first supporting block 411, symmetrical flanges are arranged on the first supporting surface 412, first V-shaped grooves 413 are arranged on the flanges, the bottoms of the first V-shaped grooves 413 are higher than the first supporting surface 412, as the bottoms of the first V-shaped grooves 413 are higher than the first supporting surface 412, when the first pressing block 410 clamps the wire 104 on the first supporting surface 412, the first pressing block 410 is easy to clamp the wire 104, thus the first pressing block 410 is more easily clamped on the inner side of the first pressing block 104, and the first wire is more firmly blocked from entering the first wire hooking device 104 through the first V-shaped groove 413 by the first pressing block 413 when the first pressing block 410 is more easily clamped on the inner side of the first wire pressing block 104;

The rear end wire clamping mechanism comprises a second sliding table cylinder 415, a second pressing block 418, a second supporting block 419, a fixed frame 416 and a second clamping cylinder 417, wherein the second sliding table cylinder 415 is arranged on the sliding frame 403, the fixed frame 416 is arranged on a driving piece of the second sliding table cylinder 415, the working direction of the first sliding table cylinder 404 is parallel to and the same as the working direction of the second sliding table cylinder 415, the second pressing block 418 is connected to the second clamping cylinder 417, the second clamping cylinder 417 is arranged on the fixed frame 416, the second supporting block 419 is arranged on the fixed frame 405, a second supporting surface 420 is arranged on the second supporting block 419, a flange is arranged on one side of the second supporting surface 420 close to the fuse 408, a second V-shaped groove 421 is arranged on the flange, the bottom of the second V-shaped groove 421 is higher than the second supporting surface 420, since the bottom of the second V-shaped groove 421 is higher than the second supporting surface 420, when the second pressing block 418 clamps the wire 104 on the second supporting surface 420, the free end formed after the wire 104 is fused is bent upwards under the action of the second V-shaped groove 421, which is favorable for preventing the wire end from being fed into the wire drawing clamping jaw 213 to form double-wire clamping and preventing the wire drawing action from being affected, the second clamping cylinder 417 drives the second pressing block 418 to clamp the wire 104 passing through the second V-shaped groove 421 on the second supporting surface 420, the driving part of the second sliding table cylinder 415 is also provided with a tensioning part 424 which moves synchronously with the second supporting block 419, the tensioning part 424 is slidably mounted on the third guide rail 422, the third guide rail 422 is fixed on the driving part of the second sliding table cylinder 415, a 425 sliding rod is also fixed on the tensioning part 424, one end of the sliding rod 425 slides through an extending block 423 fixed with the driving part of the second sliding table cylinder 415, and the free end of slide bar 425 is fixed with the dog 427 that is located the extension piece 423 outside, and dog 427 is used for preventing slide bar 425 from slipping from extension piece 423, the cover is equipped with tensioning spring 426 on the slide bar 425, tensioning spring 426 is in compression state and its both ends butt respectively on tensioning member 424 and extension piece 423, still be equipped with the horizontal pole 428 that is used for supporting silk thread 104 on the tensioning member 424.

After the main robot 501 hooks the wire 104 between the winding wheel 101 and the winding machine 105 on the corresponding position of the wire breaking device 400 through the wire hooking block 505, as shown in fig. 9, the front end wire clamping mechanism and the rear end wire clamping mechanism clamp the wire 104 to be broken, then the fuse 408 fuses the wire 104 at the position, then the main robot 501 drives the first grabbing mechanism 52 to clamp the winding wheel 101 full of the winding machine 105 for blanking, meanwhile, the rear end wire clamping mechanism can translate under the action of the second sliding table cylinder 415 to deliver the clamped wire to the anti-disengaging clamp claw 506, then the anti-disengaging clamp claw 506 clamps the wire 104 between the second supporting block 419 and the cross rod 428, the rear end wire clamping mechanism releases the clamp of the corresponding wire 104 and returns to the original position, then the main robot 501 conveys the winding wheel 101 full of the winding to the knotting device 200 to tie the free end of the wire 104 on the winding wheel 101, the rear end wire clamping mechanism of the invention can translate under the action of the corresponding sliding table cylinder, the clamped wire 104 head is delivered to the anti-disengaging clamping claw 506 of the first grabbing mechanism 52, so that when the first grabbing mechanism 52 grabs the full coil winding wheel 101 on the coil winding machine 105, the rear end wire clamping mechanism can send the wire head on the coil winding wheel 101 to the anti-disengaging clamping claw 506, the main robot 501 does not need to independently take the wire head on the coil winding wheel 101, the control is simpler and more efficient, the whole action process is smoother and natural, when the main robot 501 carries the full coil winding wheel 101 to the knotting device 200, the empty coil winding wheel 101 on the hole searching mechanism 300 is carried and installed on the coil winding machine 105, then the main robot 501 takes down the wire head clamped on the front end wire clamping mechanism through the threading mechanism 51 and penetrates the wire head into the threading hole 102 of the empty coil winding wheel 101, for the next winding round.

In an embodiment of the present invention, as shown in fig. 15-20, the first gripping mechanism 52 includes a first clamping jaw cylinder 503 and a first clamping block 504 for clamping on the end surface of the reel 101, the first clamping jaw cylinder 503 is mounted on a first connecting seat 502, the first connecting seat 502 is mounted on the driving end of the main machine body 501, the driving members of the first clamping jaw cylinder 503 are all mounted with the first clamping block 504, the first clamping jaw cylinder 503 drives two first clamping blocks 504 to synchronously move towards or reversely to clamp or unclamp the reel 101, one of the outer sides of the first clamping blocks 504 is fixed with a wire hooking block 505, the wire hooking block 505 is in a conical shape with a large outer side and a small inner side, the wire hooking block 505 is not easy to slip after the wire 104 is hooked on the wire breaking device 400, the wire 104 is broken by the wire breaking device 400, the first connecting seat 502 is further mounted with a wire releasing claw 506 matched with the first gripping mechanism 52 to drive the first clamping block 504 to move towards or away, the wire hooking block 506 is fixed on the outer side of one of the first clamping block 504 to clamp 101, the wire hooking block 505 is fixed on the outer side of the reel 101, the wire hooking block 505 is not easy to slip after the wire 104 is hooked by the wire 104, the wire is looper 101 is hooked by the wire pulling-off claw 104, and the wire is looper 101 is looper-looper end is prevented from being loosed by the looper end of the looper 101.

The threading mechanism 51 comprises a wire taking clamping jaw 507, a wire drawing clamping jaw 510 and a compression roller 509, the compression roller 509 is rotatably arranged on a telescopic rod of a compression cylinder 508, the compression cylinder 508 is fixed on the first connecting seat 502, the wire taking clamping jaw 507 is also fixed on the first connecting seat 502, the wire drawing clamping jaw 510 is connected on a driving piece of an extending cylinder 513, a cylinder body of the extending cylinder 513 is slidably arranged on a first guide rail 514 fixed on the first connecting seat 502, a plurality of parallel guide rods 515 are fixed on the cylinder body of the extending cylinder 513, the guide rods 515 are slidably arranged on a rotating connecting block 517, the rotating connecting block 517 is fixed on a driving piece of a retracting cylinder 519, the retracting cylinder 519 is fixed on the first connecting seat 502, free ends of the guide rods 515 are fixed on a limiting plate 518, the rotating block 517 is positioned between the limiting plate 518 and the extending cylinder 513, buffer springs 516 are sleeved on the guide rods 515, two ends of the buffer springs 516 are respectively abutted against the rotating block 517 and the guide rods 515 in the first guide rail 514, the length of the guide rod 515 is matched with the guide rod winding jaw 512 in the direction of the cylinder 512, a corresponding to the length of the guide tube 512, a wire drawing tube 102 is inserted into the guide tube 512, a guide hole 512 is formed in the direction of the tube 512, the tube 102 is inserted into the tube 102, the tube is inserted into the tube 512, a guide hole is inserted into the tube 512, and a corresponding tube 512 is inserted into the guide hole in the direction of the guide tube 512, and the tube is inserted into a corresponding length direction of the guide hole is inserted into a corresponding guide hole, still be equipped with on the first connecting seat 502 and be used for the accurate positioning spool 101 on the shooting subassembly 520 of threading hole 102 position, before the threading, carry out accurate visual positioning through shooting subassembly 520 to the position of threading hole 102 on the spool 101, the threading mechanism 51 of being convenient for carries out the threading operation.

When the threading mechanism 51 works, the main robot 501 drives the threading mechanism 51 to move, the wire head clamped on the front end wire clamping mechanism is clamped by the wire clamping claws 507, and meanwhile, the extending air cylinders 513 cooperate with the wire stroking clamping claws 510 to drive the two guide bodies 511 to hold the wire 104, so that the guide pipes 512 formed by corresponding buckling of the two guide bodies 511 are sleeved outside the wire 104, as shown in fig. 17; the retraction cylinder 519 then drives the extension cylinder 513 to move outwards so that the end of the spinneret completely enters the guide tube 512, and in the process the guide tube 512 moves outwards to straighten the wire 104, and then the main robot 501 drives the threading mechanism 51 to move so that the outer end of the guide tube 512 is vertically inserted into the threading hole 102 of the spool 101 that has been positioned on the coiler 105, as shown in fig. 20 a; the retraction cylinder 519 drives the wire stripping jaw 510 to move so that the guide tube 512 moves up a distance, as shown in fig. 20 b; the main robot 501 drives the threading mechanism 51 to move, the thread 104 is gradually threaded into the winding wheel 101 from the threading hole 102 by the thread taking claw 507, as shown in a c diagram in fig. 20, the process guide tube 512 is always sleeved outside the thread 104 to provide support for the thread 104, and the thread 104 is prevented from bending in the process of threading the thread 104 into the winding wheel 101; the wire-stroking jaw 510 is then opened while the extension cylinder 513 drives it laterally away, so that the guide tube 512 is completely clear of the wire 104, as shown in fig. 20 d; the main robot 501 drives the threading mechanism 51 to move, and the thread 104 is continuously threaded into the winding wheel 101 from the threading hole 102 through the thread taking claw 507 until the thread cannot be continuously threaded, as shown in an e diagram in fig. 20; finally, the compression cylinder 508 drives the compression roller 509 to move, the silk thread 104 is compressed on the winding wheel 101 through the compression roller 509, and meanwhile, the thread taking clamping jaw 507 releases the silk thread 104, as shown in f diagram in fig. 20, the winding wheel 101 rotates along the arrow direction in f diagram in fig. 20, so that the silk thread 104 is gradually wound on the winding wheel 101, after the rotation is set for a circle number, the compression roller 509 and the whole threading mechanism 51 are evacuated, and the winding wheel 101 can perform the winding action.

In an embodiment of the present invention, as shown in fig. 11-14, the apparatus further comprises a carrying and labeling apparatus 600, wherein the carrying and labeling apparatus 600 comprises a sub robot 601, a printer 614 for printing a label 616, a labeling mechanism 61 for reading the label 616 and attaching the label 616 to the reel 101, and a second grabbing mechanism 62 for grabbing the empty reel 101;

an air floatation rod 618 is arranged at a label outlet 615 of the printer 614, an air blowing surface 619 is arranged on the air floatation rod 618, a plurality of air blowing holes are formed in the air blowing surface 619, and the air blowing surface 619 blows positive pressure air through the air blowing holes to suspend the label 616 which is printed by the printer 614 and is not completely peeled in the air; the label 616 is printed out through the label outlet 615 of the printer 614, the label 616 enters the air-floating rod 618 and directly above the air blowing surface 619 after coming out of the label outlet 615, the air blowing surface 619 blows positive pressure air through the air blowing hole to suspend the label 616 in the air, meanwhile, the label 616 is not completely separated from the release paper 617, namely, the label 616 is also partially adhered to the release paper 617, as shown in fig. 14, so that the printed label 616 can be positioned and not adhered to other parts, and the label 616 is conveniently taken away by the labeling mechanism 61.

The second grabbing mechanism 62 comprises a second clamping jaw air cylinder 603 and a second clamping block 604 used for clamping on the end face of the winding wheel 101, the second clamping jaw air cylinder 603 is installed on a second connecting seat 602, the second connecting seat 602 is installed on the driving end of the auxiliary robot 601, the second clamping blocks 604 are installed on driving pieces of the second clamping jaw air cylinder 603, and the second clamping jaw air cylinder 603 drives the two second clamping blocks 604 to synchronously move in opposite directions or reversely so as to clamp or unclamp the winding wheel 101;

the labeling mechanism 61 comprises an avoidance cylinder 605, a negative pressure suction block 607 for adsorbing labels 616 and a code reader 606 for reading information of the labels 616, the avoidance cylinder 605 is connected to the second connecting seat 602, the code reader 606 is connected to a driving piece of the avoidance cylinder 605, the negative pressure suction block 607 is connected to the sliding block 608, a plurality of negative pressure holes for adsorbing the labels 616 are formed in a working surface of the negative pressure suction block 607, the sliding block 608 is slidably mounted on a second guide rail 609 fixed to the second connecting seat 602, a mounting groove 610 is formed in the sliding block 608, a compression spring 611 is arranged in the mounting groove 610, two ends of the compression spring 611 are in a compressed state and respectively abutted to the side face of the mounting groove 610 and a check ring 612, the check ring 612 is fixed to one end of the connecting rod 613, the other end of the connecting rod 613 is fixed to the second connecting seat 602, the check ring 612 is located in the mounting groove 610, and the expansion direction of the compression spring and the length direction of the connecting rod 613 are consistent with the sliding direction of the sliding block 608. The auxiliary robot 601 drives the labeling mechanism 61 and the second grabbing mechanism 62 to be used for completing attachment of labels 616 and grabbing and placing the empty reel 101 on the hole searching mechanism 300, and the auxiliary robot 601 and the main robot 501 work cooperatively, so that the working beat of the main robot 501 is reduced, and the working efficiency of the whole equipment is improved.

The working process of the device of the invention comprises the following steps (taking the sequence from feeding to charging as an example):

(1) when the wire winding wheel 101 on the wire winding machine 105 is fully wound with the wire 104, the wire breaking device 400 is started, namely the linear driving module 402 drives the front-end wire clamping mechanism and the rear-end wire clamping mechanism to move to the designated positions, the host robot 501 hooks the wire 104 between the wire winding wheel 101 and the wire winding machine 105 on the corresponding positions of the wire breaking device 400 through the wire hooking block 505, as shown in fig. 9, then the front-end wire clamping mechanism and the rear-end wire clamping mechanism clamp the wire 104 to be broken, and then the fuse 408 fuses the wire 104 at the positions;

(2) the main robot 501 drives the first grabbing mechanism 52 to clamp the full-coiled coiling wheel 101 on the coiling machine 105 for preparation of blanking, meanwhile, the rear end wire clamping mechanism can translate under the action of the second sliding table cylinder 415, the clamped wire heads are delivered to the anti-falling clamping claws 506, then the anti-falling clamping claws 506 clamp the wires 104 between the second supporting blocks 419 and the cross bars 428, and the rear end wire clamping mechanism releases the clamping of the corresponding wires 104 and returns to the original position;

(3) the main robot 501 carries the full-coil winding wheel 101 grabbed by the main robot 501 to the knotting device 200 to knotte the free end of the wire 104 on the winding wheel 101, namely the full-coil winding wheel 101 is positioned and clamped between the driving wheel and the driven wheel, the spinning head on the anti-loose clamping claw 506 is delivered to the spinning clamping jaw 213, the free end of the wire 104 on the winding wheel 101 is elastically clamped through the spinning clamping jaw 213, the fixed clamping jaw 216 is in an open state at the moment, then the winding wheel 101 rotates towards the winding direction, namely the arrow direction shown in fig. 3, so that the free end length of the wire 104 on the winding wheel 101 is gradually shortened to meet the knotting requirement, the fixed clamping jaw 216 is closed to clamp the spinning head on the winding wheel 101, and then the free end of the wire 104 on the winding wheel 101 is knotted;

(4) The main robot 501 then grabs the empty reel 101 on the hole searching mechanism 300 through the first grabbing mechanism 52 and installs the empty reel 101 on the hole searching mechanism 300 on the wire winder 105 according to a specified pose state, the empty reel 101 on the hole searching mechanism 300 is placed in advance through the auxiliary robot 601, namely the auxiliary robot 601 grabs the empty reel 101 on a pallet or a goods shelf and vertically places the empty reel 101 on the positioning piece 304, namely an inner supporting part 306 of the positioning piece 304 is inserted into a central hole of the reel 101, the corresponding end of the reel 101 is supported on a supporting part 305 of the positioning piece 304, then the three-jaw chuck 303 drives the positioning piece 304 to open, namely a plurality of positioning pieces 304 position the reel 101, then the third electrode drives the reel 101 to rotate, and when any hole searching sensor 308 detects a threading hole 102 on the reel 101, the reel 101 stops rotating, and the positioning of the threading hole 102 on the reel 101 is completed;

(5) the main robot 501 drives the threading mechanism 51 to move, the shooting assembly 520 is used for accurately and visually positioning the threading hole 102 on the winding wheel 101, the wire head clamped on the front wire clamping mechanism is clamped by the wire clamping claw 507, and the extending cylinder 513 is matched with the wire stroking clamping claw 510 to drive the two guide bodies 511 to hold the wire 104, so that the guide tube 512 formed by corresponding buckling of the two guide bodies 511 is sleeved outside the wire 104, as shown in fig. 17;

(6) The withdrawal cylinder 519 drives the extension cylinder 513 to move outwards so that the end of the spinneret completely enters the guide tube 512, and in the process, the guide tube 512 moves outwards to straighten the wire 104, and then the main robot 501 drives the threading mechanism 51 to move so that the outer end of the guide tube 512 is vertically inserted into the threading hole 102 of the winding wheel 101 which has been positioned on the winding machine 105, as shown in a diagram of fig. 20;

(7) the retraction cylinder 519 drives the wire stripping jaw 510 to move so that the guide tube 512 moves up a distance, as shown in fig. 20 b; the main robot 501 drives the threading mechanism 51 to move, the thread 104 is gradually threaded into the winding wheel 101 from the threading hole 102 by the thread taking claw 507, as shown in a c diagram in fig. 20, the process guide tube 512 is always sleeved outside the thread 104 to provide support for the thread 104, and the thread 104 is prevented from bending in the process of threading the thread 104 into the winding wheel 101;

(8) the wire gripping fingers 510 are opened and extend out of the cylinder 513 to drive them laterally apart so that the guide tube 512 is completely clear of the wire 104, as shown in fig. 20 d; the main robot 501 drives the threading mechanism 51 to move, and the thread 104 is continuously threaded into the winding wheel 101 from the threading hole 102 through the thread taking claw 507 until the thread cannot be continuously threaded, as shown in an e diagram in fig. 20;

(9) The compression cylinder 508 drives the compression roller 509 to move, the silk thread 104 is compressed on the winding wheel 101 through the compression roller 509, and meanwhile, the thread taking clamping jaw 507 releases the silk thread 104, as shown in f diagram in fig. 20, the winding wheel 101 rotates along the arrow direction in f diagram in fig. 20, so that the silk thread 104 is gradually wound on the winding wheel 101, after the set number of turns of rotation, the compression roller 509 and the whole threading mechanism 51 are evacuated, and the winding wheel 101 can perform winding action;

after the winding wheel 101 in step (3) is knotted, the knotted winding wheel 101 continues to rotate, when the positioning sensor 207 detects the reference hole 103 on the winding wheel 101, the winding wheel 101 stops rotating, the auxiliary robot 601 drives the labeling mechanism 61 to move, the code reader 606 on the labeling mechanism 61 reads information on the label 616 printed by the printer 614, the information is uploaded to the system, then the label 616 is sucked, grabbed and stuck on a position appointed by the end face of the winding wheel 101 on the knotting device 200 through the negative pressure suction block 607, and finally the auxiliary robot 601 conveys the winding wheel 101 which is knotted and stuck on the knotting device 200 to a corresponding finished pallet or shelf through the second grabbing mechanism 62.

The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.

Claims

1. The utility model provides a supporting use equipment of unloading on winder which characterized in that includes:

are all mounted on the carrier plate:

the wire breaking device is used for breaking wires between the wire coiling machine and the wire coiling wheel and comprises a vertical frame, a linear driving module, a wire passing measuring instrument, a fuse, a front-end wire clamping mechanism and a rear-end wire clamping mechanism, wherein the linear driving module is arranged on the carrier plate through the vertical frame, a sliding frame is arranged on a driving piece of the linear driving module, the front-end wire clamping mechanism, the wire passing measuring instrument, the fuse and the rear-end wire clamping mechanism are sequentially arranged on the sliding frame, the front-end wire clamping mechanism and the rear-end wire clamping mechanism clamp the wires to be broken, the fuse fuses the wires between the front-end wire clamping mechanism and the rear-end wire clamping mechanism, and the wire passing measuring instrument is used for measuring the diameters of the wires between the front-end wire clamping mechanism and the rear-end wire clamping mechanism;

The front end wire clamping mechanism comprises a first sliding table cylinder, a mounting rack, a first clamping cylinder, a first pressing block and a first supporting block; the wire clamping device comprises a first sliding table cylinder, a first clamping cylinder, a first pressing block, a first supporting block and a second pressing block, wherein the first sliding table cylinder is arranged on a sliding frame, the mounting frame is arranged on a driving piece of the first sliding table cylinder, the working direction of the first sliding table cylinder is perpendicular to the working direction of the linear driving module, the wire is arranged on the mounting frame through a measuring instrument and a fuse, the wire is connected with a translation cylinder which drives the wire to move outwards through the measuring instrument, the first pressing block is connected onto the first clamping cylinder, the first clamping cylinder is arranged on the mounting frame, the first supporting block is arranged on the mounting frame, a first supporting surface is arranged on the first supporting block, symmetrical flanges are arranged on the first supporting surface, first V-shaped grooves are respectively arranged on the flanges, the bottoms of the first V-shaped grooves are higher than the first supporting surface, blocking parts are respectively arranged on the inner sides of the first V-shaped grooves, and the first clamping cylinder drives the first pressing block to clamp the wire which passes through the first V-shaped grooves on the first supporting surface;

the rear end wire clamping mechanism comprises a second sliding table cylinder, a second pressing block, a second supporting block, a fixing frame and a second clamping cylinder, wherein the second sliding table cylinder is installed on the sliding frame, the fixing frame is installed on a driving piece of the second sliding table cylinder, the working direction of the first sliding table cylinder is parallel to and the same as the working direction of the second sliding table cylinder, the second pressing block is connected to the second clamping cylinder, the second clamping cylinder is installed on the fixing frame, the second supporting block is installed on the installation frame, a second supporting surface is arranged on the second supporting block, a blocking edge is arranged on one side, close to a fuse, of the second supporting surface, a second V-shaped groove is formed in the blocking edge, the bottom of the second V-shaped groove is higher than the second supporting surface, the second pressing block drives a wire passing through the second V-shaped groove to be clamped on the second supporting surface, a tensioning piece synchronously moving with the second supporting block is further arranged on the driving piece of the second sliding table cylinder, a tensioning piece is installed on the fixing piece, the third sliding table is installed on the fixing piece, the tensioning piece is in a state of being in a sleeved mode, and the tensioning piece is stretched on the sliding table is stretched out of the sliding rod, and the sliding rod is stretched out of the sliding rod and is in a state of the sliding rod;

2. The device for loading and unloading a wire coiling machine according to claim 1, wherein the knotting device comprises a driving shaft and a driven shaft which are used for coaxially clamping and driving the wire coiling wheel to rotate, a wire head clamping mechanism used for clamping the free end of the wire on the wire coiling wheel, and a wire coiling clamping jaw which moves circularly around the driven shaft, and the wire head clamping mechanism clamps the free end of the wire on the wire coiling wheel and is matched with the driving shaft, the driven shaft and the wire coiling clamping jaw to achieve knotting of the free end of the wire.

3. The feeding and discharging equipment for a coil winder according to claim 2, wherein the driven shaft is rotatably mounted on a base, the base is fixed on a bottom plate, the bottom plate is fixed on a supporting table arranged on the carrier plate, the coil winding clamping jaw is rotatably mounted on the base, the coil winding clamping jaw moves circumferentially around the axis of the driven shaft, the base is provided with a first motor for driving the coil winding clamping jaw to move circumferentially, the base is also provided with a positioning sensor for detecting the position of a coil winding wheel, the drive shaft is rotatably mounted on a connecting plate, the drive shaft is also connected with a second motor for driving the drive shaft to rotate, the connecting plate is connected with a tightening cylinder fixed on the bottom plate, and the tightening cylinder drives the drive shaft to move along the axial direction of the drive shaft so as to coaxially clamp the coil winding wheel between the drive shaft and the driven shaft.

4. The wire winding machine feeding and discharging matched equipment according to claim 3, wherein the wire head clamping mechanism comprises a wire drawing clamping jaw, a fixed clamping jaw, a wire pulling rod and a traversing cylinder, the wire drawing clamping jaw and the fixed clamping jaw are both arranged on a telescopic rod of the traversing cylinder, the wire pulling rod is arranged on a telescopic rod of a linear cylinder, the linear cylinder is arranged on the telescopic rod of the traversing cylinder, the traversing cylinder is arranged on the bottom plate, the traversing cylinder drives the wire drawing clamping jaw, the fixed clamping jaw and the wire pulling rod to reciprocate along the axis direction of the driving shaft, the wire drawing clamping jaw and the fixed clamping jaw are both used for clamping the free end of a wire on a wire winding wheel, a clamping plate supported by a spring plunger is arranged on one jaw single body of the wire drawing clamping jaw, and the clamping plate is matched with the other jaw single body of the wire drawing clamping jaw to clamp the free end of the wire on the wire winding wheel.

5. The supporting equipment for loading and unloading of a coiling machine as recited in claim 3, wherein the supporting table is further provided with a hole searching mechanism, the hole searching mechanism comprises a supporting frame, three-jaw chucks and hole searching sensors, the three-jaw chucks are connected to the supporting frame, the supporting frame is connected to the supporting table, driving parts of the three-jaw chucks are connected with positioning parts, the positioning parts comprise supporting parts used for supporting end parts of coiling wheels and inner supporting parts used for being inserted and internally supported in central holes of the coiling wheels, the supporting frame is further provided with third motors used for driving the three-jaw chucks to open and close, the two hole searching sensors are all installed on the supporting frame through connecting bodies, and detection light beams of the two hole searching sensors are collinear and intersect with axes of the three-jaw chucks.

6. The feeding and discharging equipment for a wire coiling machine according to claim 1, wherein the first grabbing mechanism comprises a first clamping jaw cylinder and first clamping blocks used for clamping the end face of the wire coiling wheel, the first clamping jaw cylinder is arranged on a first connecting seat, the first connecting seat is arranged on the driving end of the host machine robot, the first clamping blocks are arranged on driving pieces of the first clamping jaw cylinder, the first clamping jaw cylinder drives the two first clamping blocks to synchronously move in opposite directions or reversely so as to clamp or loosen the wire coiling wheel, a wire hooking block is fixed on the outer side face of one of the first clamping blocks, the wire hooking block is cone-shaped with the outer size and the inner size, and is used for hooking a wire on the wire breaking device so as to break the wire through the wire breaking device, and an anti-loose clamping claw matched with the first grabbing mechanism is further arranged on the first connecting seat and used for clamping the free end of the wire on the wire coiling wheel so as to prevent the wire on the wire coiling wheel from loosening.

7. The wire winder feeding and discharging matched equipment according to claim 6, wherein the threading mechanism comprises a wire taking clamping jaw, a wire stroking clamping jaw and a compression roller, the compression roller is rotatably arranged on a telescopic rod of a compression cylinder, the compression cylinder is fixed on the first connecting seat, the wire taking clamping jaw is also fixed on the first connecting seat, the wire stroking clamping jaw is connected on a driving piece of an extending cylinder, a cylinder body of the extending cylinder is slidably arranged on a first guide rail fixed with the first connecting seat, a plurality of parallel guide rods are fixed on the cylinder body of the extending cylinder, the guide rods are slidably arranged on a switching block, the switching block is fixed on a driving piece of a retracting cylinder, the retracting cylinder is fixed on the first connecting seat, the free ends of the guide rods are fixed on a limiting plate, the guide rod is provided with a limiting plate, a guide rod is sleeved with a buffer spring, the buffer spring is in a compressed state, two ends of the buffer spring are respectively abutted to the connecting plate and the extending cylinder, the length direction of the guide rod is parallel to the length direction of the first guide rail, the extending cylinder is driven by the retracting cylinder to slide along the first guide rail, guide bodies are arranged on clamping jaw monomers of the wire straightening clamping jaw, semicircular grooves consistent with the length direction of the guide bodies are formed in the guide bodies, after the wire straightening clamping jaw is closed, the two guide bodies are correspondingly buckled to form a guide pipe, one end of the guide pipe, which is used for being inserted into a threading hole of a winding wheel, is conical, a silk thread penetrates through the guide pipe, and a shooting assembly used for accurately positioning the position of the threading hole of the winding wheel is further arranged on the first connecting seat.

8. The line winder feeding and discharging supporting device according to claim 1, further comprising a carrying and labeling device, wherein the carrying and labeling device comprises a secondary robot, a printer for printing labels, a labeling mechanism for reading labels and attaching the labels to the line winding wheel, and a second grabbing mechanism for grabbing the empty line winding wheel;

an air floatation rod is arranged at the label outlet of the printer, an air blowing surface is arranged on the air floatation rod, a plurality of air blowing holes are formed in the air blowing surface, and positive pressure air is blown out of the air blowing holes by the air blowing surface to suspend the label which is printed by the printer and is not completely stripped in the air;

the second grabbing mechanism comprises a second clamping jaw cylinder and second clamping blocks used for clamping the end face of the winding wheel, the second clamping jaw cylinder is arranged on a second connecting seat, the second connecting seat is arranged on the driving end of the auxiliary robot, the second clamping blocks are arranged on driving pieces of the second clamping jaw cylinder, and the second clamping jaw cylinder drives the two second clamping blocks to synchronously move in opposite directions or in opposite directions so as to clamp or unclamp the winding wheel;

the labeller constructs including dodging the cylinder, be used for adsorbing the negative pressure of label inhale the piece and be used for reading the code reader of label information, dodge the cylinder and connect on the second connecting seat, the code reader is connected dodge on the driving piece of cylinder, the negative pressure inhale the piece and connect on the sliding block, be equipped with a plurality of negative pressure holes that are used for adsorbing the label on the working face of negative pressure inhale the piece, sliding block slidable mounting with on the fixed second guide rail of second connecting seat, be equipped with the mounting groove on the sliding block, be equipped with hold-down spring in this mounting groove, hold-down spring is in compression state and its both ends butt respectively be in on the side of mounting groove and the retaining ring, the retaining ring is fixed in the one end of connecting rod, the other end of connecting rod is fixed on the second connecting seat, the retaining ring is located in the mounting groove, hold-down spring's flexible direction and the length direction of connecting rod all with the sliding direction of sliding block is unanimous.