WO2020237475A1

WO2020237475A1 - Wiring execution terminal having functions of clamping, cutting, and pay-off

Info

Publication number: WO2020237475A1
Application number: PCT/CN2019/088619
Authority: WO
Inventors: 景世才; 刘琦; 丁晓; 章文; 邱世广; 刘杨; 曹虎; 田春林; 曹国华; 吕琼莹; 马国庆; 梁嵬; 丁红昌
Original assignee: 成都飞机工业（集团）有限责任公司
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-12-03

Abstract

Provided is a wiring execution terminal having the functions of clamping, cutting, and pay-off, mounted at the execution end of a wiring robotic arm, said wiring execution terminal having a pay-off function comprising a main back plate (1) and a clamping and pay-off assembly and cutting assembly mounted on both sides of the main back plate (1), the cutting and pay-off assembly can, when clamping a wire, cut off the wire; the wire clamping and pay-off assembly comprises a clamping and pay-off motor (21), a wire clamping and pay-off transmission assembly, and a gripper (20) which are connected in sequence; the cutting assembly comprises a cutting motor (31), a cutting transmission assembly, and a gear blade (38) which are connected in sequence; the clamping and pay-off motor (21) and the cutting motor (31) are respectively mounted on the main back plate (1) and the gripper (20) and the gear blade (38) have corresponding positions; when the gripper (20) grips a wire, the wire is located in the cutting region of the gear blade (38). The wiring execution terminal performs the actions of picking up a wire, cutting the wire, and releasing the wire at one time in a narrow environment, and has a simple structure and stable operation.

Description

A wiring execution terminal with functions of clamping, cutting and paying off

Technical field

The invention belongs to the technical field of aircraft wiring, and in particular relates to a wiring execution terminal with the functions of clamping, cutting and paying off.

Background technique

The aircraft cable is the aircraft's neural network system, which connects the aircraft's avionics communication system and the aircraft control system, delivers power sources for the aircraft's functional components, and transmits the aircraft's central control data to the aircraft's functional subsystems. Due to the large number of wires on the aircraft, it is usually necessary to comb the wires and combine them into aircraft cables. Many large-scale equipment are inseparable from wire harnesses, so the production of wire harnesses is also an important part of the production of large-scale equipment. At this stage, the production of wire harnesses is done manually by workers. With the increasing number and types of wire harnesses, purely manual production lines can no longer meet new production requirements. In recent years, people have conducted research on the technology of wire wiring using manipulators. For example, the Chinese patent with patent (application) number 201410123402.0 and authorized announcement number CN103943284B discloses an automatic wiring system for aircraft cable harnesses and their wiring. method.

However, in the prior art, it is still impossible for a manipulator to complete the thread clamping, thread trimming and threading actions at one time.

Summary of the invention

Aiming at the problem that the manipulator cannot complete the clamping, cutting, and paying-off of the wires for the aircraft at one time, the invention provides a wiring execution terminal with the functions of clamping, cutting and paying-off, and first uses the clamping and paying component to pick up and specify The wire is then cut by the wire-cutting component, and finally the wire-clamping assembly releases the wire, which in turn realizes the problems of wire clamping, wire-cutting, and wire-release by the wiring manipulator at one time. Especially in the scene of automatic wiring of aircraft, the execution terminal is usually required to operate in a narrow environment. This requires that the driving device must control the pickup, cutting, and release actions of the execution end through a slender transmission assembly with an overall structure. In the present invention The clamping and releasing transmission assembly and the cutting line transmission assembly are all slender transmission structures with an overall structure, which can well meet the narrow working environment when the aircraft is automatically wired.

The present invention is mainly realized through the following technical solutions: a wiring execution terminal with the functions of clamping, cutting, and paying off, installed at the execution end of the wiring manipulator, and is characterized in that the wiring execution terminal with the paying off function includes a main back The board and the wire-clamping assembly and wire-cutting assembly installed on both sides of the main backplane, the wire-cutting assembly can cut the wire when the wire-clamping assembly clamps the wire;

The wire clamping and releasing assembly includes a wire clamping and releasing motor, a wire clamping and releasing transmission assembly, and a gripper connected in sequence; the wire cutting assembly includes a wire cutting motor, a cutting wire transmission assembly, and a gear blade connected in sequence; The wire clamping and unwinding motor and the wire cutting motor are respectively installed on the main backboard and the positions of the gripper and the gear blade are corresponding, and the wire is exactly located in the cutting area of the gear blade when the gripper grips the wire.

Further, the cutting line transmission assembly includes a line cutting motor gear, a line cutting sector gear, a line cutting link, a line cutting long slider, two line cutting short links, and two line cutting comma gears;

The thread cutting motor gear is installed on the output shaft of the thread cutting motor;

The central end of the thread trimming sector gear is hinged on the main backplane through the A-axis and the hinged position of the A-axis is marked as point M, and the arc end away from the central end is provided with gear teeth; the thread trimming motor gear and the thread trimming sector gear The gear teeth meshed, and mark the meshing position of the two as N point;

The two ends of the connecting rod of the trimming line are respectively hinged with the trimming sector gear and the trimming long slider, and the point at which the trimming link and the trimming sector gear are hinged is located between the M point and the N point;

The long thread trimming slider is slidably mounted on the main back plate provided with a sliding rail, and the long thread trimmer is away from the lower end of the thread trimming connecting rod while being hinged with two short thread trimming connecting rods;

One end of the short thread trimming link away from the long slider for thread trimming is hinged with the thread trimming comma gear; the two short thread trimming links are marked as the first short thread trimming link and the second short thread trimming link;

The thread trimming comma-type gear includes a trailing extension and a trailing gear tooth portion. The trailing trailing extension is hinged with a short wire trimming link, and the center of the trailing gear tooth is hinged on the main backplane through a B axis; two The thread trimming comma gear is marked as the first trimming comma gear and the second trimming comma gear;

The gear blade includes a blade gear tooth part and a knife edge part. The number of gear blades is two and the two gear blades are marked as the first gear blade and the second gear blade; the center of the first gear blade and the second gear blade are The center of the tooth part of the gear blade is hinged on the main back plate through the same C axis;

The lower end of the first thread trimming short link is hinged with the comma extension of the first thread trimming comma gear, and the comma gear tooth portion of the first thread trimming comma gear meshes with the blade gear tooth portion of the first gear blade , The first trimming short link, the first trimming comma gear and the first gear blade together form the first cutting blade;

The lower end of the second thread trimming short link is hinged to the comma extension of the second thread trimming comma gear, and the comma gear tooth portion of the second thread trimming comma gear meshes with the blade gear tooth portion of the second gear blade , The second cutting short link, the second cutting comma gear, and the second gear blade together form the second cutting blade;

The first cutting blade and the second cutting blade form a scissor-like structure through the C axis. The cutting line motor drives the first line through the cutting motor gear, the cutting sector gear, the cutting link, and the cutting long slider. The scissors blade and the second scissors blade are opened and closed to cut the wire.

Further, the connecting rod of the cutting line is in a tuning fork shape, that is, the upper end of the cutting line connecting rod is a "U"-shaped head and the lower end of the cutting line connecting rod is a straight rod-shaped tail. The sector gear is inserted into the head of the "U" shape and the tail of the connecting rod of the trimmer is inserted into the middle of the long slider of the trimmer.

Further, the wire clamping and unwinding assembly includes a wire clamping motor gear, a wire clamping sector gear, a wire clamping connecting rod, a wire clamping middle connecting rod, a fixing block, a pretension spring, a guide block, two fork-shaped upper connecting rods, Two fork-shaped lower links; the two fork-shaped upper links are marked as the first fork-shaped upper link and the second fork-shaped upper link; the two fork-shaped lower links are marked as the first fork-shaped lower link, The second fork type lower link;

The gripper includes two gripping fingers, and the two gripping fingers are marked as a first gripping finger and a second gripping finger;

The gear of the wire clamping motor is installed on the output shaft of the wire clamping and paying off motor;

The central end of the thread clamping sector gear is hinged on the main backplane through the D axis and the position of the D-axis hinge is marked as point P, and the arc end away from the central end is provided with gear teeth; the wire clamping motor gear and the wire clamping sector gear The gear teeth meshed, and mark the position where the two meshed is Q point;

The two ends of the connecting rod on the clamping line are respectively hinged with the clamping sector gear and the clamping link, and the point at which the clamping line connecting rod and the clamping sector gear are hinged is located between points P and Q;

The upper end of the connecting rod in the clamping line is hinged with the lower end of the connecting rod in the clamping line, and the lower end of the connecting rod in the clamping line passes through the fixed block, the pre-tensioning spring, and the guide block in turn, and is simultaneously connected to the two fork-shaped upper ends through the E axis The upper end of the rod is hinged;

The main back plate is provided with a convex block and a rectangular groove, the fixed block is fixedly installed in the rectangular groove, the guide block is slidably installed in the square groove, and the two ends of the pretension spring are respectively connected to the bottom surface of the fixed block and the top surface of the guide block Connection; the connecting rod in the clamping line is in clearance fit with the fixed block and the guide block respectively; the fixed block and the guide block restrict the connecting rod in the clamping line to only move up and down linearly; at the same time, the pre-tension spring that is always in a compressed state pushes the guide The block is pressed down on the upper end of the clamping finger, the top surface of the bump is parallel to the bottom surface of the limit block and the clamping finger can only be moved horizontally and linearly for opening and closing;

The lower end of the first fork-shaped upper link and the upper end of the first fork-shaped lower link are simultaneously hinged to the upper part of the first clamping finger through the F axis. The lower end of the second fork-shaped upper link and the second fork The upper end of the type lower link is simultaneously hinged to the upper part of the second thread clamping finger through the G axis; the lower end of the first fork-shaped lower link is hinged to the lower part of the second thread clamping finger through the H axis, and the second fork type The lower end of the lower link is hinged to the lower part of the first gripping finger through the I axis; at the same time, the middle of the first gripping finger and the second gripping finger are hinged together through the J axis; the first fork-shaped upper link, the first The two-forked upper connecting rod, the first forked lower connecting rod, the second forked lower connecting rod, the first thread-clamping finger, and the second thread-clamping finger together form a thread-clamping and releasing finger structure.

Further, the wire clamping and unwinding assembly further includes two sets of compression springs respectively installed between the main backboard and the wire clamping fingers, and the two sets of compression springs provide forces for the clamping fingers to close together.

Further, anti-slip patterns are also provided on the thread clamping fingers.

The beneficial effects of the present invention:

(1) In the present invention, the wire clamping and releasing transmission assembly and the cutting wire transmission assembly are all transmission structures with a slender overall structure, which can well meet the narrow working environment when the aircraft is automatically wired.

(2) In the present invention, the wire-clamping and releasing component realizes the picking and releasing of the airplane wire through the finger structure of the wire-clamping and releasing, and the wire-cutting component realizes the cutting of the airplane wire through the scissor type structure, and the finger structure and the scissor type The structures are arranged side by side, so that the pick-up point of the aircraft wire is close to the cutting position and the distance is relatively fixed, which is conducive to accurate cutting.

(3) In the present invention, the wire clamping and releasing component and the cutting wire component are independent of each other, and their actions are controlled by different motors, which effectively guarantees the stability of the terminal operation. Compared with a structure where one motor controls clamping and cutting at the same time Simple and stable operation.

Description of the drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of one side of the wiring line terminal clip and pay-off assembly.

Fig. 2 is a schematic diagram of the front structure of one side of the wiring line terminal clamp pay-off assembly.

Fig. 3 is a three-dimensional schematic diagram of the clamping and paying-off assembly installed in the main backplane.

Fig. 4 is a schematic diagram of the front structure of the clamping and paying-off assembly installed in the main backplane.

Fig. 5 is a partial enlarged schematic diagram of the position Y in Fig. 4.

Fig. 6 is a schematic diagram of a three-dimensional structure of one side of a cutting line component of a wiring straight terminal.

Figure 7 is a three-dimensional schematic diagram of the cutting line assembly installed in the main backplane.

Fig. 8 is a partial enlarged schematic diagram of the position Z in Fig. 7.

Among them, 1. The main backplane;

21. Wire clamping and unwinding motor; 22. Wire clamping motor gear; 23. Wire clamping sector gear; 24. Wire clamping connecting rod; 25. Wire clamping middle connecting rod; 261. Fixed block; 262. Guide block; 271. Tight spring; 272. Compression spring; 28. Fork-shaped upper link; 29. Fork-shaped lower link; 20. Clamping finger;

31. Line cutting motor; 32. Line cutting motor gear; 33. Line cutting sector gear; 34. Line cutting link; 35. Line cutting long slider; 36. Line cutting short link; 37. Line cutting comma Type gear; 38, gear blade;

011, D axis; 012, Q point; 013, E axis; 014, F axis; 015, G axis; 016, H axis; 017, I axis; 018, J axis; 021, A axis; 022, N point; 023, B axis; 014, C axis.

Detailed ways

In this application, the fixing device is installed as an end effector at the execution end of a multi-axis wiring manipulator. The fixing device performs forward/backward/left/right lateral movement, up/down vertical movement, and up/down vertical movement in the working area following the actions of the wiring manipulator. Spin.

Example 1:

As shown in Figure 1 to Figure 8, a wiring execution terminal with the functions of clamping, cutting, and paying off is installed at the execution end of the wiring manipulator, and is characterized in that the wiring execution terminal with the paying off function includes a main back The board 1 and the wire-clamping assembly and wire-cutting assembly installed on both sides of the main backplane 1. The wire-cutting assembly can cut the wire when the wire-clamping assembly clamps the wire;

As shown in Figs. 6-8, the wire clamping and releasing assembly includes a wire clamping and releasing motor 21, a wire clamping and releasing transmission assembly, and a gripper connected in sequence; the wire cutting assembly includes a wire cutting motor connected in sequence. 31. Cutting line transmission assembly, gear blade 38; the clamping and releasing motor 21 and the cutting line motor 31 are respectively installed on the main backplane 1 and the positions of the gripper and the gear blade 38 are corresponding. When the gripper grips the wire It is located exactly in the cutting area of the gear blade 38.

Further, the cutting line transmission assembly includes a cutting motor gear 32, a cutting sector gear 33, a cutting connecting rod 34, a cutting long slider 35, two cutting short connecting rods 36, and two cutting Comma gear 37;

The thread cutting motor gear 32 is installed on the output shaft of the thread cutting motor 31;

The central end of the thread trimming sector gear 33 is hinged on the main backplane 1 through the A-axis 021 and the hinged position of the A-axis 021 is marked as point M. The arc end away from the central end is provided with gear teeth; the thread trimming motor gear 32 Mesh with the gear teeth of the thread trimming sector gear 33, and mark the meshing position of the two as N point 022;

The two ends of the wire trimming connecting rod 34 are respectively hinged with the trimming sector gear 33 and the trimming long slider 35, and the hinged point of the trimming link 34 and the trimming sector gear 33 is at point M and point N 022 between;

The long thread trimming slider 35 is slidably mounted on the main backboard 1 provided with a sliding rail, and the long thread trimmer 35 is away from the lower end of the thread trimming connecting rod 34 while being hinged with two short thread trimming connecting rods 36;

The end of the thread trimming short link 36 away from the long thread trimming slider 35 is hinged to the trimming comma gear 37; the two trimming short links 36 are marked as the first trimming short link 36 and the second trimming short link 36. Connecting rod 36;

The thread trimming comma gear 37 includes a trailing extension and a trailing gear tooth portion. The trailing trailing extension is articulated with the trimming short link 36, and the center of the trailing gear tooth is hinged on the main back plate 1 through the B axis 023. Top; the two thread trimming comma gears 37 are marked as the first trimming comma gear 37 and the second trimming comma gear 37;

The gear blade 38 includes a blade gear tooth portion and a knife edge portion. The number of gear blades 38 is two and the two gear blades 38 are marked as the first gear blade 38 and the second gear blade 38; the first gear blade 38 has gear teeth. The center of the second gear blade and the center of the 38 teeth of the second gear blade are hinged on the main backplane 1 through the same C axis 024;

The lower end of the first thread trimming short link 36 is hinged with the comma extension of the first thread trimming comma gear 37, and the comma gear tooth portion of the first thread trimming comma gear 37 and the blade of the first gear blade 38 The gear teeth are meshed, and the first trimming short link 36, the first trimming comma gear 37, and the first gear blade 38 together form a first cutting blade;

The lower end of the second thread trimming short link 36 is hinged to the comma extension of the second thread trimming comma gear 37, and the comma gear tooth portion of the second thread trimming comma gear 37 and the blade of the second gear blade 38 The gear teeth are meshed, and the second trimming short link 36, the second trimming comma gear 37, and the second gear blade 38 together form a second cutting blade;

The first cutting blade and the second cutting blade form a scissor-like structure through the C-axis 024, and the cutting line motor 31 sequentially passes through the cutting motor gear 32, the cutting sector gear 33, the cutting line connecting rod 34, and the cutting length The slider 35 drives the first scissors blade and the second scissors blade to open and close to cut the wire.

Further, the cutting line connecting rod 34 is in the shape of a tuning fork, that is, the upper end of the cutting line connecting rod 34 is a "U"-shaped head and the lower end of the cutting line connecting rod 34 is a straight rod-shaped tail. , The thread trimming sector gear 33 is inserted into the "U"-shaped head and the tail of the thread trimming connecting rod 34 is inserted into the middle of the thread trimming long slider 35.

As shown in Figures 1 to 5, further, the clamping and paying off assembly includes a clamping motor gear 22, a clamping sector gear 23, a clamping link 24, a clamping middle link 25, a fixing block 261, and a Tight spring 271, guide block 262, two fork-shaped upper links 28, two fork-shaped lower links 29; the two fork-shaped upper links 28 are marked as the first fork-shaped upper link 28 and the second fork-shaped upper link Connecting rod 28; two fork-shaped lower connecting rods 29 are marked as the first fork-shaped lower connecting rod 29 and the second fork-shaped lower connecting rod 29;

The gripper includes two gripping fingers 20, and the two gripping fingers 20 are marked as a first gripping finger 20 and a second gripping finger 20;

The wire clamping motor gear 22 is installed on the output shaft of the wire clamping and paying off motor 21;

The central end of the thread clamping sector gear 23 is hinged on the main backplane 1 through the D shaft 011 and the hinged position of the D shaft 011 is marked as point P. The arc end away from the central end is provided with gear teeth; the thread clamping motor gear 22 Mesh with the teeth of the wire clamping sector gear 23, and mark the meshing position of the two as Q point 012;

The two ends of the connecting rod 24 on the clamping line are respectively hinged to the clamping sector gear 23 and the clamping middle link 25, and the hinged point of the clamping line connecting rod 24 and the clamping sector gear 23 is at point P and point Q 012 between;

The upper end of the connecting rod 25 in the clamping line is hinged with the lower end of the connecting rod 24 in the clamping line. The lower end of the connecting rod 25 in the clamping line passes through the fixed block 261, the pre-tensioning spring 271, and the guide block 262 in turn, and passes through the E axis 013 simultaneously. Articulated with the upper ends of the two fork-shaped upper connecting rods 28;

The main backboard 1 is provided with a convex block and a rectangular groove, the fixed block 261 is fixedly installed in the rectangular groove, the guide block 262 is slidably installed in the square groove, and the two ends of the pretension spring 271 are respectively connected to the bottom surface of the fixed block 261 and The top surface of the guide block 262 is connected; the connecting rod 25 in the clamping wire is in clearance fit with the fixing block 261 and the guiding block 262 respectively; the fixing block 261 and the guiding block 262 restrict the connecting rod 25 in the clamping wire to only move up and down linearly; At the same time, the pre-tensioning spring 271, which is always in a compressed state, pushes the guide block 262 to press down on the upper end of the thread clamping finger 20. The top surface of the protrusion is parallel to the bottom surface of the limit block and restricts the thread clamping finger 20 to only move horizontally and linearly for opening and closing. ；

The lower end of the first fork-shaped upper link 28 and the upper end of the first fork-shaped lower link 29 are simultaneously hinged to the upper part of the first clamping finger 20 through the F axis 014, and the second fork-shaped upper link 28 The lower end and the upper end of the second fork-shaped lower link 29 are simultaneously hinged to the upper part of the second thread clamping finger 20 through the G axis 015; the lower end of the first fork-shaped lower link 29 is hinged to the second thread clamp through the H axis 016 The lower part of the finger 20, the lower end of the second fork-shaped lower link 29 is hinged to the lower part of the first thread clamping finger 20 through the I axis 017; at the same time, the middle of the first thread clamping finger 20 and the second thread clamping finger 20 pass through the J The shafts 018 are hinged together; the first fork-shaped upper link 28, the second fork-shaped upper link 28, the first fork-shaped lower link 29, the second fork-shaped lower link 29, and the first clamping finger 20 , The second thread clamping fingers 20 together form a thread clamping and releasing finger structure.

Further, the wire clamping and unwinding assembly further includes two sets of compression springs 272 respectively installed between the main backboard 1 and the clamping fingers 20, and the two sets of compression springs 272 provide the clamping fingers 20 with a force to mutually close.

Furthermore, the thread clamping finger 20 is also provided with anti-slip patterns.

In this embodiment, the wiring execution terminal realizes the actions of picking up the wire, cutting the wire, and releasing the wire at one time in a narrow environment, and has a simple structure and stable operation.

The above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention shall fall into the scope of the present invention. Within the scope of protection.

Claims

A wiring execution terminal with the functions of clamping, cutting, and paying off is installed at the execution end of a wiring manipulator, and is characterized in that the wiring execution terminal of the paying off function includes a main backplane (1) and a main back The wire-clamping and paying-off components and wire-cutting components on both sides of the board (1), the wire-cutting components can cut the wires when the wire is clamped by the wire-clamping and paying off components;

The wire clamping and releasing assembly includes a wire clamping and releasing motor (21), a wire clamping and releasing transmission assembly, and a gripper connected in sequence; the wire cutting assembly includes a wire cutting motor (31) and a cutting wire connected in turn in transmission Transmission assembly, gear blade (38); the wire clamping and releasing motor (21) and thread cutting motor (31) are respectively installed on the main backplane (1) and the position of the gripper and gear blade (38) are corresponding, the gripper When the wire is clamped, the wire is exactly in the cutting area of the gear blade (38).
The wiring execution terminal with the functions of clamping, cutting, and paying off according to claim 1, wherein the cutting transmission assembly includes a cutting motor gear (32), a cutting sector gear (33) ), trimming connecting rod (34), trimming long slider (35), two trimming short connecting rods (36), two trimming comma gears (37);

The thread cutting motor gear (32) is installed on the output shaft of the thread cutting motor (31);

The central end of the thread trimming sector gear (33) is hinged to the main backplane (1) through the A shaft (021) and the hinged position of the A shaft (021) is marked as point M, and the arc end away from the central end is provided with gear teeth The thread trimming motor gear (32) meshes with the gear teeth of the thread trimming sector gear (33), and the position where the two meshing is marked is N point (022);

The two ends of the thread trimming link (34) are respectively hinged with the trimming sector gear (33) and the trimming long sliding block (35), and the trimming link (34) and the trimming sector gear (33) The hinge point is located between M point and N point (022);

The long thread trimming slider (35) is slidably mounted on the main backboard (1) provided with a sliding rail, and the long thread trimmer (35) is away from the lower end of the trimmer connecting rod (34) simultaneously with the two trimmers. The line short link (36) is hinged;

The end of the thread trimming short connecting rod (36) away from the long thread trimming slider (35) is hinged with the thread trimming comma gear (37); the two thread trimming short links (36) are marked as the first thread trimming short link Rod (36), the second short connecting rod (36);

The thread trimming comma gear (37) includes a comma extension and a comma gear tooth part. The comma extension is hinged with the trimming short link (36), and the center of the comma gear tooth passes through the B axis (023) Hinged on the main backplane (1); two thread trimming comma gears (37) are marked as the first trimming comma gear (37) and the second trimming comma gear (37);

The gear blade (38) includes a blade gear tooth portion and a knife edge portion. The number of gear blades (38) is two and the two gear blades (38) are marked as the first gear blade (38) and the second gear blade (38). ); The center of the tooth part of the first gear blade (38) and the center of the tooth part of the second gear blade (38) are hinged on the main backplane (1) through the same C axis (024);

The lower end of the first thread trimming short link (36) is hinged to the comma extension of the first thread trimming comma gear (37), and the comma gear tooth portion of the first thread trimming comma gear (37) and the first The gear teeth of a gear blade (38) mesh, and the first trimming short link (36), the first trimming comma gear (37), and the first gear blade (38) together form the first cutting blade;

The lower end of the second thread trimming short link (36) is hinged with the comma extension of the second thread trimming comma gear (37), and the comma gear tooth portion of the second thread trimming comma gear (37) and the first The teeth of the two gear blades (38) mesh with the blade gears, and the second trimming short link (36), the second trimming comma gear (37), and the second gear blade (38) together form the second cutting blade;

The first cutting blade and the second cutting blade form a scissor structure through the C axis (024), and the thread cutting motor (31) sequentially passes through the thread trimming motor gear (32), the thread trimming sector gear (33), and the thread trimming The upper connecting rod (34) and the long wire cutting slider (35) drive the first scissors blade and the second scissors blade to open and close to cut the wires.
The wiring execution terminal with the functions of clamping, cutting, and paying off according to claim 2, characterized in that the cutting connecting rod (34) is in the shape of a tuning fork, that is, the cutting connecting rod (34) The upper end of the) is a "U"-shaped head and the lower end of the cutting connecting rod (34) is a straight rod-shaped tail. The cutting sector gear (33) is inserted into the "U"-shaped head and the thread is cut The rod end of the upper connecting rod (34) is inserted into the middle of the long sliding block (35) for the thread trimming.
The wiring execution terminal with the functions of thread clamping, thread trimming, and thread pay-off according to claim 1, wherein the thread-clamping and paying-off assembly includes a thread-clamping motor gear (22) and a thread-clamping sector gear (23) , The connecting rod on the clamping line (24), the connecting rod in the clamping line (25), the fixed block (261), the pretension spring (271), the guide block (262), two fork-shaped upper connecting rods (28), two Two fork-shaped lower links (29); two fork-shaped upper links (28) are marked as the first fork-shaped upper link (28) and the second fork-shaped upper link (28); two fork-shaped lower links The rod (29) is marked as the first fork-shaped lower link (29) and the second fork-shaped lower link (29);

The gripper includes two gripping fingers (20), and the two gripping fingers (20) are marked as a first gripping finger (20) and a second gripping finger (20);

The wire clamping motor gear (22) is installed on the output shaft of the wire clamping and paying off motor (21);

The central end of the wire clamping sector gear (23) is hinged to the main back plate (1) through the D axis (011) and the hinged position of the D axis (011) is marked as point P, and the arc end away from the central end is provided with gear teeth The wire clamping motor gear (22) meshes with the teeth of the wire clamping sector gear (23), and the position where the two meshing is marked is Q point (012);

Both ends of the wire clamping link (24) are respectively hinged with the wire clamping sector gear (23) and the wire clamping middle link (25), and the wire clamping link (24) and the wire clamping sector gear (23) The hinged point is located between point P and point Q (012);

The upper end of the connecting rod (25) in the clamping line is hinged with the lower end of the connecting rod (24) in the clamping line, and the lower end of the connecting rod (25) in the clamping line passes through the fixing block (261) and the pre-tensioning spring (271) in turn , The guide block (262) is simultaneously hinged with the upper ends of the two fork-shaped upper connecting rods (28) through the E axis (013);

The main backboard (1) is provided with bumps and rectangular grooves, the fixed block (261) is fixedly installed in the rectangular groove, the guide block (262) is slidably installed in the square groove, and both ends of the pre-tensioned spring (271) Are respectively connected with the bottom surface of the fixed block (261) and the top surface of the guide block (262); the connecting rod (25) in the clamping line is in clearance fit with the fixed block (261) and the guide block (262); the fixed block (261). The guide block (262) restricts the connecting rod (25) in the clamping line from moving up and down in a straight line; at the same time, the pre-tension spring (271), which is always in a compressed state, pushes the guide block (262) to press down on the clamping finger ( 20) At the upper end, the top surface of the convex block is parallel to the bottom surface of the limit block and restricts the clamping finger (20) to only move horizontally and linearly for opening and closing;

The lower end of the first fork-shaped upper link (28) and the upper end of the first fork-shaped lower link (29) are simultaneously hinged on the upper part of the first thread-clamping finger (20) through the F axis (014). The lower end of the two-forked upper link (28) and the upper end of the second-forked lower link (29) are simultaneously hinged on the upper part of the second clamping finger (20) through the G axis (015); the first fork The lower end of the lower link (29) is hinged to the lower part of the second thread-clamping finger (20) through the H axis (016), and the lower end of the second fork-shaped lower link (29) is hinged to the second through the I axis (017). The lower part of a thread clamping finger (20); at the same time, the middle part of the first thread clamping finger (20) and the second thread clamping finger (20) are hinged together by the J axis (018); the first fork-shaped upper link ( 28), the second fork-shaped upper link (28), the first fork-shaped lower link (29), the second fork-shaped lower link (29), the first clamping finger (20), the second clamping finger (20) Together they form a finger structure for clamping and releasing.
The wiring execution terminal with the functions of wire clamping, wire cutting, and wire release according to claim 4, wherein the wire clamping and releasing component further includes two groups respectively installed on the main backplane (1) and wire clamping The compression springs (272) between the fingers (20), and the two sets of compression springs (272) provide the force of closing the fingers (20) to each other.
The wiring execution terminal with the functions of clamping, cutting, and paying off according to claim 4, wherein the clamping finger (20) is also provided with anti-slip patterns.