Automatic filament ending device

[0001] This application is a continuation of PCT/CN2023/083291, filed on Mar. 23, 2023, which claims the benefit of priority of Chinese invention patent application No. 2022117121563, filed on Dec. 29, 2022; the application also claims the benefit of priority of Chinese utility model patent application No. 202223539575X, filed on Dec. 29, 2022, and the contents of the foregoing documents are incorporated herein by reference in the entirety.

[0002] The present disclosure relates to a filament ending device, in particular to an automatic filament ending device.

[0003] In the existing extrusion 3D printing consumables production industry, a main obstacle to realizing fully automatic on-line winding is the inability to achieve fully automatic filament ending, which affects the winding efficiency.

[0004] In the existing technology, for example, in 202123014331.5, an automatic filament ending mechanism for a 3D printing filament spool is provided, which is characterized in that the mechanism includes a work platform arranged on a 3D printing machine equipment, the work platform is equipped with an X-axis shifting and cutting module, the X-axis shifting and cutting module is provided with a Y-axis and cutting shifting module, one side of the Y-axis shifting and cutting module is provided with a Z-axis shifting and cutting module, one side of the Z-axis shifting and cutting module is provided with a rotating unit, one side of the rotating unit is provided with a lifting cylinder I, a bottom portion of the lifting cylinder I is provided with a pneumatic cylinder IV, a pneumatic cutter is provided on the pneumatic cylinder IV, the rotating unit is provided with a lifting cylinder III and a lifting cylinder II, an output shaft of the lifting cylinder III is provided with a gripper unit I, the lifting cylinder II is provided with a gripper unit II, one side of the work platform is provided with a filament spool, the filament spool is provided with a cable strip, and a filament pressing cylinder is provided below the work platform.

[0005] However, in practice, the above device may take up a lot of space. In addition, during the implementation of the filament ending method, there is a risk of filament ending failure during processes such as gripper clamping of a filament and gripper switching.

[0006] In view of the above-mentioned defects, an automatic filament ending device is designed to gain more industrial application values.

[0007] In order to solve the above technical problems, one object of the present disclosure is to provide an automatic filament ending device.

[0008] According to some exemplary embodiments of the present disclosure, a device for fixing a tail end of a filament to a filament spool is provided, including: a filament threading module including: a filament feeding module, configured to pass the tail end of the filament through a first threading hole on the filament spool, and a filament guide mechanism, configured to guide the tail end to pass through a second threading hole on the filament spool after the tail end of the filament has passed through the first threading hole.

[0009] With the technical solution provided above, the present disclosure has at least the following advantages:

• • [0010] 1. The present disclosure can achieve unmanned filament winding and automatic filament ending performance, greatly improving efficiency, reducing labor, and avoiding quality risks caused by manual misoperation.
  • [0011] 2. After configuring the filament spool, the perforated winding of the filament can be achieved.
  • [0012] 3. The overall structure of the present disclosure is simple, which can fit filaments of various materials and filament spools of various specifications.

[0013] The above descriptions are merely a summary of technical solutions of the present disclosure. In order to provide clear understanding of the technical means of the present disclosure and implement them according to the contents of the description, some exemplary embodiments of the present disclosure and accompanying drawings will be described in detail below.

[0026] The element numerals shown in the figures are described below.

[0027]

1 device base plate	2 composite motion module pillar
3 mounting top plate	4 y-axis linear motion module
5 module mounting plate	6 x-axis linear motion module
7 rail slider mounting plate	8 heavy-duty rail slider
9 filament winding module	10 filament threading module
11 filament spool	12 filament winding bottom plate
13 filament spool mounting plate	14 filament guide mechanism
15 servo motor	16 speed reducer
17 clamping tray	18 winding spindle
19 filament guide assembly	20 cover plate assembly
21 cover plate connection block	22 cover plate lifting cylinder
23 cylinder connection plate	24 filament guide displacement cylinder
25 rotation platform	26 platform mounting plate
27 main mounting plate	28 filament cutting module
29 filament feeding module	30 filament tensioning module
31 filament cutting mounting plate	32 main reinforcement block
33 pneumatic cutter lifting cylinder	34 pneumatic cutter
35 main connection plate	36 auxiliary reinforcement block
37 filament clamping mounting plate	38 filament clamping module lifting
	connection plate
39 auxiliary mounting block	40 cushion
41 filament clamping lifting cylinder	42 connector
43 first filament clamping module	44 second filament clamping module
45 first mounting block	46 first filament clamping cylinder
47 first gripper primary jaw	48 first gripper secondary jaw
49 first limit mounting block	50 limit connection block
51 limit rod	52 first limit cylinder
53 second filament clamping mounting block	54 slider
55 second filament clamping	56 second filament clamping
displacement cylinder	mounting plate
57 second filament clamping cylinder	58 main gripper
59 secondary gripper	111 first threading hole
112 second threading hole	100 filament
101 tail end	191 base plate
192 filament guide

[0028] Specific implementations of the present disclosure will be further described in detail below in conjunction with the accompanying drawings and some exemplary embodiments. The following exemplary embodiments are provided to illustrate the present disclosure, but are not intended to limit the scope of the present disclosure

[0029] With reference to FIG. 1 to FIG. 10, an automatic filament ending device is provided, which includes a device base plate 1. In addition, the filament ending device according to the present disclosure has the following unique designs. A plurality of composite motion module pillars 2 are arranged on the device base plate 1. The top of the plurality of composite motion module pillars 2 is provided with a mounting top plate 3. A Y-axis linear motion module 4 is arranged below the mounting top plate 3. A module mounting plate 5 is movably connected below the Y-axis linear motion module 4. An X-axis linear motion module 6 is arranged on the module mounting plate 5. At the same time, a mounting plate 7 of a rail slider 54 is provided below the mounting top plate 3. The mounting plate 7 of the rail slider 54 is connected with the X-axis linear motion module 6 via a heavy-duty rail slider 8. Moreover, considering the needs of winding filament collection and discharge, a filament winding module 9 is arranged on the device bottom plate 1. In addition, in order to realize filament threading guidance, a filament threading module 10 is arranged on the X-axis linear motion module 6. Specifically, the filament threading module 10 includes a rotation platform 25. A platform mounting plate 26 is connected on the rotation platform 25. A main mounting plate 27 is arranged below the platform mounting plate 26. A lower side of the main mounting plate 27 is provided with a filament cutting module 28, a filament feeding module 29, and a filament tensioning module 30. Furthermore, taking into account the needs to apply continuous and stable tensions and prevent unnecessary filament bending and curling, the filament tensioning module 30 includes a first filament clamping module 43 and a second filament clamping module 44.

[0030] According to some exemplary embodiments of the present disclosure, as shown in FIG. 2, the filament winding module 9 used herein may include a winding bottom plate 12 connected to the device base plate 1. A spool mounting plate 13 is arranged on the winding bottom plate 12. A transmission shaft is arranged on the spool mounting plate 13. One end of the transmission shaft is connected to a filament spool 11, and the other end of the transmission shaft is provided with a servo motor 15. An upper end of the spool mounting plate 13 is provided with a filament guide mechanism 14. In this way, the winding speed may be controlled to cooperate with the feeding speed of the filament. Specifically, as shown in FIG. 5, the filament spool 11 used herein includes a clamping tray 17. A winding spindle 18 is arranged at the center of the clamping tray 17. At the same time, the filament guide mechanism 14 includes a filament guide assembly 19. An upper end of the filament guide assembly 19 is provided with a cover plate assembly 20. A cover plate connection block 21 is provided on an upper end of the cover plate assembly 20. In order to effective finer-tune the filament winding, according to some exemplary embodiments of the present disclosure, a cover plate lifting cylinder 22 is further provided on the cover plate connection block 21. The cover plate lifting cylinder 22 is connected with a filament guide displacement cylinder 24 via a cylinder connection plate 23. Moreover, in order to better control the operating speed, according to some exemplary embodiments of the present disclosure, a speed reducer 16 is further provided on the servo motor 15.

[0031] Furthermore, as shown in FIGS. 5, 6 and 7, in order to realize the automatic cutting of filament, especially to meet the needs of the filament ending operation, the filament cutting module 28 used herein includes a filament cutting mounting plate 31 that is connected to the main mounting plate 27. One side of the filament cutting mounting plate 31 is provided with a pneumatic cutter lifting cylinder 33. A pneumatic cutter 34 is provided on the pneumatic cutter lifting cylinder 33. In this way, the current cutting edge position of the pneumatic cutter 34 may be adjusted according to the position of the filament to ensure smooth cutting. In addition, considering the stability of the installation, a main reinforcement block 32 is arranged on the other side of the filament cutting mounting plate 31.

[0032] In practice, in order to achieve continuous and stable filament feeding and meet the requirements of tension adjustments between filaments, the filament feeding module 29 further includes a main connection plate 35 that is connected to the main mounting plate 27, and a plurality of auxiliary reinforcement blocks 36 are arranged on the main connection plate. At the same time, an upper end of the main connection plate 35 is provided with a filament clamping mounting plate 37. A second filament clamping module 44 and a filament clamping module lifting connection plate 38 are connected on the filament clamping mounting plate 37. Moreover, to better guide the filament routing and realize horizontal filament feeding, according to some exemplary embodiments of the present disclosure, a filament clamping lifting cylinder 41 is provided on one side of the main connection plate 35. The filament clamping lifting cylinder 41 is connected with the main connection plate 35 via a connector 42. Furthermore, the main connection plate 35 is provided with a cushion 40 via an auxiliary mounting block 39. This can achieve cushioning of the cylinder movement and avoid unnecessary shaking of the filament.

[0033] Moreover, according to some exemplary embodiments of the present disclosure, the first filament clamping module 43 may include a first mounting block 45 connected to the filament clamping mounting plate 37. A first filament clamping cylinder 46 is provided on the first mounting block 45. A lower end of the first filament clamping cylinder 46 is provided with a first gripper primary jaw 47. At the same time, the first filament clamping cylinder 46 is provided with a first limit mounting block 49. The bottom of the first limit mounting block 49 is provided with a first gripper secondary jaw 48 in cooperation with the first gripper primary jaw 47. In addition, the first limit mounting block 49 is provided with a first limit cylinder 52. A limit rod 51 of the first limit cylinder 52 passes through the first limit mounting block 49 and is further provided with a limit connection block 50. In this way, an appropriate limit can be achieved, so that the first gripper primary jaw 47 may better perform filament clamping.

[0034] Furthermore, according to some exemplary embodiments of the present disclosure, the second filament clamping module 44 includes a slide rail connected to the filament clamping mounting plate 37. The slide rail is connected with a second filament clamping mounting block 53 via a slider 54. The second filament clamping mounting block 53 is provided with a second filament clamping displacement cylinder 55. In this way, the second filament clamping module 44 has a certain horizontal adjustment space, which facilitates the distance from the filament tensioning module 30, thereby matching various application distances of different filament ending operations. Specifically, the second filament clamping displacement cylinder 55 is connected to the second filament clamping mounting block 53. In addition, a second filament clamping mounting plate 56 is arranged below the second filament clamping mounting block 53. A second filament clamping cylinder 57 is arranged on the second filament clamping mounting plate 56. In addition, a main gripper 58 and a secondary gripper 59 are provided on the second filament clamping cylinder.

[0035] The working mechanism of the present disclosure is as follows.

[0036] With reference to FIG. 10 to FIG. 18, after the filament spool winding is finished, the X-axis linear motion module 6 and the Y-axis linear motion module 4 perform composite motions to move the filament threading module 10 above the filament clamping and cutting position, and the rotation platform 25 adjusts the angle of the filament threading module 10. filament clamping lifting cylinder 41 drives the first filament clamping module 43 and the second filament clamping module 44 to move down to the clamping position, and then the filament clamping cylinder drives the grippers to clamp the filament. After the filament is clamped and fixed, the pneumatic cutter lifting cylinder 33 drives the pneumatic cutter 34 to move down to the filament cutting position, and then then pneumatic cutter 34 cuts the filament.

[0037] Subsequently, the composite motions of the X-axis linear motion module 6 and the Y-axis linear motion module 4 to move the filament threading module 10 that clamps the filament to a threading position of the filament spool. The rotation platform 25 adjusts the angle of the filament threading module 10, so as to adjust the angle of the filament. Next, the first filament clamping module 43 passes the filament through a first threading hole 111 of the filament spool, and sends it into the filament guide assembly 19 of the filament guide mechanism 14.

[0038] The second filament clamping displacement cylinder 55 drives the second filament clamping module 44 to reciprocate multiple times to make the filament pass through the filament guide assembly 19 and then pass through a second threading hole 112 of the filament spool. The filament guide cover plate assembly 20 allows the filament guide to become a closed cavity, thereby preventing the filament from running out of the filament guide.

[0039] During the threading process, the filament tensioning module 30 is allowed to wait at the second threading hole 112 of the filament spool. After the filament passes through the second threading hole 112 of the filament spool, the filament is pulled into the filament tensioning module so as to clamp the filament.

[0040] When the filament is pulled into the filament tensioning module 30 to clamp the filament, the filament guide cover plate lifting cylinder 22 drives the filament guide cover plate assembly 20 to move up. The filament guide displacement cylinder 24 drives the filament guide assembly 19 to retreat. The filament tensioning module 30 tightens the filament driven by the composite motions of the X-axis linear motion module 6 and the Y-axis linear motion module 4.

[0041] After the filament ending operation is finished, each module returns to its original position, and the filament ending is thus completed.

[0042] Based on the above description of the present disclosure in conjunction with the accompanying drawings, it can be seen that the present disclosure has the following advantages:

• • [0043] 1. The present disclosure can achieve unmanned filament winding and automatic filament ending performance, greatly improving efficiency, reducing labor, and avoiding quality risks caused by manual misoperation.
  • [0044] 2. After configuring the filament spool, the perforated winding of the filament can be achieved.
  • [0045] 3. The overall structure of the present disclosure is simple, which can fit filaments of various materials and filament spools of various specifications.

[0046] The device of some exemplary embodiments of the present disclosure will be further described below:

[0047] The device provided in some exemplary embodiments of this disclosure can be applied to the production line of 3D printing filament. After the production of the printing filament, the printing filament needs to be wound onto a filament spool. After the winding is completed, the end of the filament needs to be fixed to the filament spool, so as to finish the filament ending process. After completing the filament ending process, the filament spool can be changed to carry out the winding and filament ending process of the next filament spool.

[0048] The filament ending process herein refers to a process of treating a tail end of a filament wound on a filament spool. After finishing the filament winding, the tail end of the filament needs to be fixed or knotted with the filament spool to prevent the filament wound on the filament spool from loosening. Thus, filament ending could be understood as fixing or knotting at the tail end of the filament. That is, the filament ending process herein is a process of fixing or knotting the tail end of the filament with the filament spool.

[0049] To fix the tail end of the filament with the filament spool, a threading hole may be provided to the filament spool, and the tail end of the filament is passed through the threading hole and then tightened so as to fix the filament relative to the filament spool. As shown in FIGS. 19 and 20, two threading holes may be provided, i.e., a first threading hole 111 and a second threading hole 112. The tail end 101 of the filament 100 is passed through the first threading hole 111 and the second threading hole 112 sequentially, which secures the fixing of the filament 100 on the filament spool 11. The first threading hole 111 and the second threading hole 112 may be arranged on the same side of the filament spool 11. In this case, during the threading process, the tail end 101 of the filament 100 may be passed through the first threading hole 111 first, and then the tail end 101 of the filament is moved reversely to pass through the second threading hole 112, so as to complete the fixing of the filament 100 to the filament spool 11.

[0050] The device provided in some exemplary embodiments of the present disclosure can automatically pass the tail end 101 of the filament through the first threading hole 111 and the second threading hole 112, so that the filament 100 is fixed with the filament spool 11. The specific process is as follows.

[0051] The device provided in some exemplary embodiments of the present disclosure includes a filament threading module. The filament threading module includes a filament feeding module 29 and a filament guide mechanism 14. The filament feeding module 29 may automatically thread the tail end 101 of the filament into the first threading hole 111 of the filament spool. The filament guide mechanism 14 is configured to guide the tail end 101 to pass through the second threading hole 112 after the tail end 101 passes through the first threading hole 111.

[0052] The automatic filament ending line device of the present disclosure is provided with the filament guide mechanism 14. The filament guide mechanism 14 may guide the tail end 101 to pass through the second threading hole 112 after the tail end 101 passes through the first threading hole 111. Therefore, during the threading process, the filament feeding module 29 only needs to continuously feed the filament into the first threading hole 111. After the filament 100 enters the first threading hole 111, the direction reversal thereof can be finished by the filament guide mechanism 14, and then pass through the second threading hole 112 as driving by the continuous feeding by the filament feeding module 29. Therefore, the fixing of the filament 100 with the filament spool 11 can be completed without a complicated threading action of the filament feeding module 29, which is more convenient to implement.

[0053] As shown in FIG. 19 and FIG. 20, the filament guide mechanism 14 may include a filament guide assembly 19 and a filament guide driver 60 (shown in the FIG. 3). The filament guide assembly includes a base plate 191 and a filament guide 192 arranged on a first surface of the base plate 191. A first end of the filament guide 192 faces the first threading hole 111. A second end of the filament guide 192 faces the second threading hole 112. Thus, after the tail end 101 of the filament passes through the first threading hole 111, it can enter the filament guide 192 from the first end of the filament guide 192; due to the flexibility and toughness of the filament, the filament can bend and turn under the guidance of the filament guide 192, then pass through the second end of the filament guide 192 and then pass through the second threading hole 112.

[0054] It should be noted that the first end of the filament guide 192 faces the first threading hole 111 may be achieved by making the first end of the filament guide 192 directly attached to and communicated with the first threading hole 111, or by making the first end of the filament guide 192 face the first threading hole 111 with a gap. Similarly, that the second end of the filament guide 192 faces the second threading hole 112 may be achieved by making the second end of the filament guide 192 directly attached to and communicated with the second threading hole 112, or by making the second end of the filament guide 192 face the second threading hole 112 with a gap.

[0055] The filament guide driver is used to drive the filament guide assembly to move towards or away from the filament spool 11. Thus, when it is necessary to carry out the filament ending process, the filament guide driver may drive the filament guide assembly 19 to move in a direction towards the filament spool 11, so that the two ends of the filament guide assembly 19 are respectively connected to the first threading hole 111 and the second threading hole 112. When the filament ending process is finished, the filament guide driver may drive the filament guide assembly 19 to move away from the filament spool 11, so that the filament guide assembly 19 is separated from the filament, thereby facilitating removing the finished filament spool 11.

[0056] In order to prevent the filament from coming out of the filament guide 192 when passing through the filament guide 192, as shown in FIGS. 19 and 20, the filament guide mechanism may further include a cover plate assembly 20. The cover plate assembly 20 can cover the first surface of the base plate 191, and is used to close the filament guide 192 at an opening of the first surface, thereby preventing the filament from coming out from the filament guide 192. The cover plate assembly 20 may move relative to the filament guide assembly 19, and is connected to a cover plate driver 61 (shown in the FIG. 3). The cover plate driver 61 may drive the cover plate assembly 20 to move toward or away from the base plate 191. When a filament ending process, the cover plate driver 61 may drive the cover plate assembly 20 to move in a direction towards the filament spool 11, so that the cover plate assembly 20 may cover the first surface of the base plate 191. After the filament ending process is finished, the cover plate driver 61 may drive the cover plate assembly 20 to move away from the base plate 191, so that the cover plate assembly 20 may be separated from the filament. Therefore, the finished filament spool 11 may be easily removed.

[0057] There are many options for the shape of the filament guide 192, such as a continuous curve or a continuous broken line. For example, the filament guide 192 may be configured as a V-shaped recess, a U-shaped recess, or the like. The filament guide 192 may also be designed as an arc-shaped recess. The central angle corresponding to the arc-shaped recess may be 120°, 130°, 140°, 150°, 160°, 170°, 180°, and the like. The arc-shaped recess may guide the filament more smoothly, which can prevent the filament from being stuck in the filament guide 192. It is also possible to use a curve filament guide 192 and a broken line filament guide 192 in combination. That is, one section of the filament guide 192 is a curved recess, and the other section thereof is a broken like recess.

[0058] As shown in FIGS. 19 and 20, the filament guide assembly 19 may be arranged horizontally with the filament spool 11. This makes the first surface of the base plate 191 face towards the side where the filament spool 11 is provided with a threading hole. In this arrangement, the filament guide driver may drive the filament guide assembly 19 to move towards or away from the filament spool 11 in the horizontal direction. The cover plate driver may be configured to drive the cover plate assembly 20 to move towards or away from the base plate 191 in a vertical direction.

[0059] It should be noted that the above-mentioned filament guide driver and cover plate driver may be any device that can realize linear driving. For example, the above-mentioned filament guide driver and cover plate driver may be implemented by using a cylinder, a linear motor, or a rotation motor in cooperation with a linear transmission mechanism. For example, the filament guide driver may include a filament guide displacement cylinder 24 as shown in FIG. 3; the cover plate driver may include a cover plate lifting cylinder as shown in FIG. 3. In addition, the filament guide assembly 19 may also be arranged with the filament spool 11 in other directions, such as in a vertical direction. Specifically, a selection may be made according to the requirements of the specific filament production line, which is not limited in the present disclosure.

[0060] The main function of the filament feeding module 29 is to clamp and feed the filament into the first threading hole 111. The filament feeding module 29 may include a filament clamping module and a filament clamping displacement module. The filament clamping module is used to clamp the part of the filament near the tail end 101. The filament clamping displacement module may drive the filament clamping module to move towards or away from the first threading hole 111, so as to pass the tail end 101 of the filament into the first threading hole 111 on the filament spool 11.

[0061] As shown in FIGS. 19 and 20, the filament clamping module may include a first filament clamping module 43 and a second filament clamping module 44. The first filament clamping module 43 may be used to clamp a first part of the filament; the second filament clamping module 44 may be used to clamp a second part of the filament; the first part is closer to the tail end 101 of the filament than the second part. The filament clamping displacement module may include a first filament clamping displacement device and a second filament clamping displacement device. The first filament clamping displacement device may drive the first filament clamping module 43 and the second filament clamping module 44 to move integrally, so as to pass the tail end 101 of the filament through the first threading hole 111. After the tail end 101 of the filament passes through the first threading hole 111, the first filament clamping displacement device stops moving, and the first filament clamping module 43 releases the filament. At this moment, the second filament clamping displacement device may drive the second filament clamping module 44 to move back and forth in directions towards and away from the first threading hole 111 (during this process, the second filament clamping module 44 releases the filament when it is closest to the first threading hole 111 and then clamps the filament again when it is farthest from the first threading hole 111, that is, it performs the threading process), so as to pass the tail end 101 of the filament out from the second threading hole 112 by the filament guide mechanism 14.

[0062] The filament feeding module 29 may further include a filament clamping module lifting device. The filament clamping module lifting device is used to drive the first filament clamping module 43 and the second filament clamping module 44 to lift. Therefore, when it is necessary to carry out the filament ending process, it may drive the filament clamping module to move to a suitable position so as to clamp the filament. The filament clamping module lifting device may be a cylinder, a linear motor, or a rotation motor with a linear transmission mechanism. For example, the filament clamping module lifting device may include a filament clamping lifting cylinder 41 as shown in FIG. 7.

[0063] As shown in FIG. 9, the first filament clamping module 43 may include a first gripper primary jaw 47, a first gripper secondary jaw 48, and a first gripper driver (not shown in the figures). The first gripper driver may drive the first gripper primary jaw 47 and the first gripper secondary jaw 48 to move relative to each other so as to clamp the filament. For example, when clamping the filament, the first gripper primary jaw 47 does not move, the first gripper driver drives the first gripper secondary jaw 48 to move in a direction towards the first gripper primary jaw 47 so as to clamp the filament. It is also possible to keep the first gripper secondary jaw 48 still, and the first gripper driver drives the first gripper primary jaw 47 to move towards in a direction towards the first gripper secondary jaw 48 so as to clamp the filament. It is also possible that the first gripper driver simultaneously drives the first gripper primary jaw 47 and the first gripper secondary jaw 48 to move towards each other so as to clamp the filament.

[0064] Similarly, the second filament clamping module may include a second gripper primary jaw, a second gripper secondary jaw, and a second gripper driver (not shown in the figures). The second gripper driver may drive the second gripper primary jaw and the second gripper secondary jaw to move relative to each other so as to clamp the filament. For example, when clamping the filament, the second gripper primary jaw does not move, the second gripper driver drives the second gripper secondary jaw to move in a direction towards the second gripper primary jaw so as to clamp the filament. It is also possible to keep the second gripper secondary jaw still, and the second gripper driver drives the second gripper primary jaw to move towards in a direction towards the second gripper secondary jaw so as to clamp the filament. It is also possible that the second gripper driver simultaneously drives the second gripper primary jaw and the second gripper secondary jaw to move towards each other so as to clamp the filament.

[0065] The above-mentioned first gripper driver and second gripper driver may share common driving parts such as cylinders and motors, which will not be repeated herein. For example, as shown in FIG. 9, the first gripper driver may include a first filament clamping cylinder 46; as shown in FIG. 10, the second gripper driver may include a second filament clamping cylinder 57.

[0066] After the tail end 101 of the filament passes through the first threading hole 111 and the second threading hole 112 sequentially, the tail end 101 of the filament can be tightened to prevent the filament from falling off from the first threading hole 111 and the second threading hole 112. In order to automatically carry out the tensioning process, as shown in FIG. 20, the filament threading module may further include a filament tensioning module 30. The filament tightening module 30 may automatically tighten the tail end 101 of the filament passed through the second threading hole 112.

[0067] The filament tensioning module 30 may include a tensioning gripper and a tensioning driver, where the tightening gripper is disposed on a filament exiting side of the second threading hole 112 to clamp the tail end 101 of the filament passed through the second threading hole 112. The tightening driver may drive the tightening gripper to move towards or away from the second threading hole 112 so as to automatically tighten the tail end 101 of the filament.

[0068] The above-mentioned tightening driver may adopt a common driving device, such as a cylinder, and a motor, etc., and details will not be repeated herein.

[0069] After the winding of the filament on a filament spool 11 is completed, the device provided by some exemplary embodiments of the present disclosure may perform the filament ending process to cut off an end of the filament not wound to the filament spool 11 and then knot and/or fix this end with the filament spool. In order to realize the function of automatically cutting the filament, as shown in FIG. 20, the device provided by some exemplary embodiments of the present disclosure may further include a filament cutting module 28. The filament cutting module 28 may automatically cut off the end of the filament that is not wound onto the filament spool 11 after the winding of the filament is completed, so as to form the tail end 101 of the filament.

[0070] The filament cutting module 28 may include an automatic cutter and a cutter driver. The automatic cutter may be opened and closed automatically to cut the filament. The cutter driver may drive the automatic cutter to move. The cutter driver may be used to drive the automatic cutter to move to a filament cutting position.

[0071] As shown in FIG. 6, the above-mentioned automatic cutter may be a pneumatic cutter 34, and the cutter lifting device may include a pneumatic cutter lifting cylinder 33. The pneumatic cutter lifting cylinder 33 may drive to pneumatic cutter 34 to move up and down.

[0072] In order to realize the overall movement of the filament threading module, the device provided in some exemplary embodiments of the present disclosure may further include a composite motion module. The composite motion module may drive the filament threading module to move to a preset position. For example, when the filament needs to be cut, the composite motion module may drive the filament threading module to move to the filament cutting position. When the tail end 101 of the filament needs to be threaded into the filament spool 11, composite motion module may drive the filament threading module to move to the filament threading position.

[0073] As shown in FIG. 1, the compound motion module may include a rotation motion module, an X-axis linear motion module 6, and a Y-axis linear motion module 4. The rotation motion module may drive the filament threading module to rotate, thereby adjusting the filament threading angle during a filament threading process. The X-axis linear motion module 6 may drive the rotation motion module and the filament threading module to move linearly along the X-axis. The Y-axis linear motion module 4 may drive the rotation motion module, the X-axis linear motion module 6 and the filament threading module 10 to move along the Y-axis. The rotation motion module may include a rotation platform 25 as shown in FIG. 4.

[0074] In order to automatically wind the filament onto the filament spool 11, the device provided in some exemplary embodiments of the present disclosure may further include a filament winding module. The filament winding module may wind the filament onto the filament spool 11. For example, the filament winding module may include a filament winding support, a transmission shaft, and a filament winding driver. The filament winding support may be used to provide support for the filament winding module. The transmission shaft may be arranged on the filament winding support and may rotate relative to the filament winding support. The filament winding driver may drive the transmission shaft to rotate, so that the filament spool 11 may rotate to take up the filament.

[0075] As shown in FIG. 2, the filament winding driver may be a servo motor 15. The filament winding support may include a filament winding bottom plate 12 and a filament spool mounting plate 13 arranged on the filament winding bottom plate 12. The transmission shaft may be arranged on the filament spool mounting plate 13.

[0076] In addition, the indicated orientations or positional relationships described in the present disclosure are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the referred device or configuration must have those specific orientations or positional relationships, or operate in those configurations. Therefore, they should not be construed as limiting the present disclosure.

[0077] The above are only some exemplary embodiments of the present disclosure, and are not intended to limit the present disclosure. It should be pointed out that for a person of ordinary skill in the art, certain improvements and modifications may be made without departing from the technical principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection scope of the present disclosure.