CN110957128A - Intelligent rotary type robot for integrally winding main and auxiliary polar coils - Google Patents
Intelligent rotary type robot for integrally winding main and auxiliary polar coils Download PDFInfo
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- CN110957128A CN110957128A CN202010003151.8A CN202010003151A CN110957128A CN 110957128 A CN110957128 A CN 110957128A CN 202010003151 A CN202010003151 A CN 202010003151A CN 110957128 A CN110957128 A CN 110957128A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
- H01F41/064—Winding non-flat conductive wires, e.g. rods, cables or cords
- H01F41/069—Winding two or more wires, e.g. bifilar winding
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
- H01F41/082—Devices for guiding or positioning the winding material on the former
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
- H01F41/09—Winding machines having two or more work holders or formers
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- Manufacture Of Motors, Generators (AREA)
Abstract
The invention discloses an intelligent rotary type main and auxiliary pole coil integrated winding robot which comprises a bottom plate, a cam divider arranged in the middle of the bottom plate, an actuator fixing plate which is connected with the bottom plate through a supporting column and is of a hexagonal structure, a station rotating plate connected to the output end of the cam divider, and a feeding station, a main pole coil end fixing station, a main and auxiliary pole coil lead dividing station, an auxiliary pole coil end receiving station and an unloading station which are sequentially arranged on six side length positions of the actuator fixing plate correspondingly, wherein a winding device for driving a framework to wind a main and auxiliary pole coil is arranged on the station rotating plate; the auxiliary pole coil end station comprises a first cutter used for cutting off a lead when the auxiliary pole coil is wound; the invention can complete the winding of the main and auxiliary pole coils on the same framework, greatly improves the working efficiency, is beneficial to reducing the volume of the transformer and is suitable for occasions with limited installation.
Description
Technical Field
The invention relates to an intelligent rotary type robot for integrally winding a main and auxiliary pole coil.
Background
At present, in order to obtain stable output voltage, a main pole coil and an auxiliary pole coil of a transformer are respectively sleeved and embedded at two ends of an iron core, winding needs to be carried out twice in the coil winding process, the production efficiency of the transformer is seriously affected, and the structure occupies a large volume and is not suitable for installation limited occasions.
Disclosure of Invention
The invention aims to overcome the defects and provide an intelligent rotary type robot for integrally winding a main and auxiliary pole coil.
In order to achieve the purpose, the invention adopts the following specific scheme:
an intelligent rotary type robot for integrally winding a main and auxiliary polar coil comprises a bottom plate, a cam divider arranged in the middle of the bottom plate, an actuator fixing plate which is connected with the bottom plate through a supporting column and is of a hexagonal structure, a station rotating plate connected to the output end of the cam divider, and a feeding station, a main polar coil end fixing station, a main and auxiliary extreme end fixing station, a main and auxiliary polar coil lead dividing station, an auxiliary polar coil end receiving station and an unloading station which are sequentially arranged on six side length positions of the actuator fixing plate correspondingly, wherein a winding device for driving a framework to wind the main and auxiliary polar coil is arranged on the station rotating plate;
the feeding station is used for conveying a framework of a coil to be wound, the main pole coil end fixing station is used for fixing a first end of the main pole coil on a first fixing hole of the framework, the main and auxiliary pole end fixing station is used for hooking and pulling a lead to penetrate through a second fixing hole of the framework when the main pole coil is wound, the main and auxiliary pole coil lead separating station is used for cutting the lead which is hooked and pulled through the main and auxiliary pole end fixing station and penetrates through the second fixing hole of the framework to form a second end of the main pole coil and the first end of the auxiliary pole coil, the auxiliary pole coil end closing station is used for positioning the second end of the auxiliary pole coil on the first fixing hole of the framework when the auxiliary pole coil is wound, and the discharging station is used for transferring the framework wound by the main and auxiliary pole coils out of the working area; the auxiliary pole coil end station comprises a first cutter used for cutting off a lead when the auxiliary pole coil is wound.
The station rotating plate is provided with six winding devices at intervals, and the six winding devices are respectively arranged in one-to-one correspondence with the feeding station, the main pole coil end fixing station, the main and auxiliary pole coil lead cutting station, the auxiliary pole coil end receiving station and the discharging station.
The feeding station comprises a first support and a feeding groove, the first support is fixed on the actuator fixing plate, the feeding groove is formed in the top end of the first support, and a feeding part is arranged on the feeding groove.
Wherein, the main pole coil end fixing station and the auxiliary pole coil end retracting station respectively comprise an L-shaped second support, a vertical displacement component, a transverse displacement component, an L-shaped connecting plate, a rotating shaft, a bending driving motor, a first pneumatic finger and a conical clamping part, one end of the second support is connected on the actuator fixing plate, the vertical displacement component is arranged at the other end of the second support, the transverse displacement component is arranged at the output end of the vertical displacement component and is distributed in a cross shape with the vertical displacement component, one end of the connecting plate is connected at the output end of the transverse displacement component, the bending driving motor is arranged at the other end of the connecting plate, the rotating shaft is rotatably arranged at the other end of the connecting plate, the output end of the bending driving motor is in transmission connection with the rotating shaft, the first pneumatic finger is arranged on the rotating shaft in a penetrating way, and the conical clamping part is correspondingly arranged on a clamping jaw of the first, the first cutter is correspondingly arranged on the conical clamping part of the end-collecting station of the auxiliary pole coil.
Wherein, the fixed station in main and auxiliary utmost point end includes third support, shelves line slip table, crocheted line slip table, shelves line needle and crocheted line needle, third leg joint is on the executor fixed plate, third support top is located to the crocheted line slip table, the top of crocheted line slip table is located to the shelves line slip table, the one end of shelves line needle is connected on the output of shelves line slip table and is located the top of crocheted line needle, the one end of crocheted line needle is connected on a slider, the free end of crocheted line needle is equipped with the crocheted line groove, slider sliding connection is on a slide, the one end of slide is equipped with the electro-magnet, be connected with reset spring between electro-magnet and the slider.
The wire cutting station of the main and auxiliary polar coils comprises a fourth support and a second pneumatic finger, the fourth support is connected to an actuator fixing plate, the second pneumatic finger is arranged at the top end of the fourth support, two clamping jaws of the second pneumatic finger are respectively provided with a second cutter, and the second cutters are arranged oppositely.
The unloading station comprises a fifth support and an unloading groove, the fifth support is connected to the actuator fixing plate, and the unloading groove is formed in the top end of the fifth support.
Wherein, winding device is including getting the winding support of material slip table, U-shaped, bloated mandril, wire winding driving motor, thrust cylinder, the part of unloading and supplying line part, get the material slip table and locate on the station rotor plate, the winding support is located and is got on the output of material slip table, the mandril that expands rotates wears to locate one of winding support and serves, the other end of winding support is located to the thrust cylinder, the one end of bloated mandril is rotated with the one end of thrust cylinder and is connected, wire winding driving motor's output is connected with the mandril transmission that expands, the part of unloading is used for releasing the skeleton that the coil coiling was accomplished from the mandril that expands, it is used for carrying the required wire of coiling main and auxiliary coil to supply line part.
The invention has the beneficial effects that: compared with the prior art, the winding device is driven by the cam divider to pass through the feeding station, the main pole coil end fixing station, the main and auxiliary pole coil lead dividing station, the auxiliary pole coil end winding station and the discharging station in sequence, so that the winding of the main and auxiliary pole coils on the same framework is completed, the working efficiency is greatly improved, the size of the transformer is favorably reduced, and the winding device is suitable for occasions with limited installation.
The main and auxiliary pole end fixing stations are arranged, so that the two ends of the main and auxiliary pole coils are fixed at one time in the winding alternating process of the main and auxiliary pole coils, the efficiency is higher, the winding quality of the coils is higher, and the yield of products is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a main pole coil end fixing station in the present invention;
FIG. 3 is a schematic structural diagram of a main and auxiliary pole end fixing station in the invention;
FIG. 4 is a schematic structural diagram of a wire dividing station of the main and auxiliary pole coils in the invention;
FIG. 5 is a schematic structural diagram of a secondary winding end station of the present invention;
FIG. 6 is a schematic view of the structure of the winding device of the present invention;
FIG. 7 is a structural diagram of a bobbin of a main and auxiliary pole coil to be wound;
description of reference numerals: 1-a bottom plate; 2-an actuator fixing plate; 3-station rotating plate; 4-a feeding station; 5-fixing the end of the main pole coil; 6-fixing the main and auxiliary pole end heads at a station; 61-a third scaffold; 62-gear line sliding table; 63-hook line slipway; 64-thread retaining needle; 65-a crochet needle; 66-an electromagnet; 67-a return spring; 7-main and auxiliary pole coil wire segmentation station; 71-a fourth scaffold; 72-a second pneumatic finger; 73-a second cutter; 8-end closing station of the auxiliary pole coil; 81-a first cutter; 9-unloading station; 10-a second scaffold; 20-a vertical displacement member; 30-a lateral displacement member; 40-a connecting plate; 50-rotation axis; 60-bending driving motor; 70-a first pneumatic finger; 80-a conical gripping portion; 100-a winding device; 101-a material taking sliding table; 102-a winding frame; 103-an expansion shaft; 104-a winding driving motor; 105-a thrust cylinder; 106-a discharge member; 107-supply line parts.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 7, the intelligent rotary robot for integrally winding a main-pole coil and an auxiliary-pole coil in this embodiment includes a bottom plate 1, a cam divider disposed in the middle of the bottom plate 1, an actuator fixing plate 2 connected to the bottom plate 1 through a support column and having a hexagonal structure, a station rotating plate 3 connected to an output end of the cam divider, and a feeding station 4, a main-pole coil end fixing station 5, a main-pole and auxiliary-pole end fixing station 6, a main-pole and auxiliary-pole coil wire dividing station 7, an auxiliary-pole coil end receiving station 8, and an unloading station 9 which are sequentially disposed at six side lengths of the actuator fixing plate 2, wherein the station rotating plate 3 is provided with a winding device 100 for driving a bobbin to wind the main-pole and auxiliary-pole coils;
the feeding station 4 is used for conveying a framework of a coil to be wound, the main pole coil end fixing station 5 is used for fixing a first end of the main pole coil on a first fixing hole of the framework, the main and auxiliary pole end fixing station 6 is used for hooking a lead to penetrate through a second fixing hole of the framework when the main pole coil is wound, the main and auxiliary pole coil lead separating station is used for cutting the lead which is hooked by the main and auxiliary pole end fixing station 6 and penetrates through the second fixing hole of the framework to form a second end of the main pole coil and the first end of the auxiliary pole coil, the auxiliary pole coil end collecting station 8 is used for positioning the second end of the auxiliary pole coil on the first fixing hole of the framework when the auxiliary pole coil is wound, and the discharging station 9 is used for transferring the framework wound by the main and auxiliary pole coils out of a working area; the end-closing station 8 of the auxiliary pole coil comprises a first cutter 81 for cutting off the conducting wire when the winding of the auxiliary pole coil is completed.
The working mode of the embodiment is as follows: the working position rotating plate 3 is driven to rotate by the cam divider, the working position rotating plate 3 drives the winding device 100 to sequentially pass through a feeding working position 4, a main pole coil end fixing working position 5, a main and auxiliary pole end fixing working position 6, a main and auxiliary pole coil lead dividing working position 7, an auxiliary pole coil end closing working position 8 and a discharging working position 9, and thus, the main and auxiliary pole coils are wound on the same framework; when the winding device 100 rotates to be aligned with the feeding station 4, the feeding station 4 moves the framework of the coil to be wound to a feeding position, and then the winding device 100 extracts the framework from the feeding station 4, so that feeding is completed; when the winding device 100 rotates to be aligned with the main pole coil end fixing station 5, the main pole coil end fixing station 5 fixes the lead end for winding the coil on the first fixing hole of the framework to form a first end of the main pole coil; when the winding device 100 rotates to be aligned with the main and auxiliary extreme head fixing stations 6, the winding device 100 drives the framework to wind a main pole coil, after the main pole coil is wound, the main and auxiliary extreme head fixing stations 6 hook and pull a lead at the tail end of the main pole coil, the lead penetrates through a second fixing hole of the framework, and then the winding device 100 continues to drive the framework to wind an auxiliary pole coil; when the winding device 100 rotates to be aligned with the main and auxiliary pole coil lead cutting station 7, the main and auxiliary pole coil lead cutting station 7 cuts the part of the lead which passes through the main and auxiliary pole head fixing station 6 and is hooked and pulled and passes through the second fixing hole of the framework to form a second end head of the main pole coil and a first end head of the auxiliary pole coil; when the winding device 100 rotates to be aligned with the auxiliary pole coil end receiving station 8, the auxiliary pole coil end receiving station 8 uses the first cutter 81 to cut off the lead, and after the lead is cut off, the lead end connected with the auxiliary pole coil is fixed on the first fixing hole of the framework to form a second end of the auxiliary pole coil; when the winding device 100 rotates to correspond to the unloading station 9, the framework wound by the main and auxiliary pole coils is transferred from the winding device 100 to the unloading station 9, and is transferred out of the working area from the unloading station 9, so that the whole main and auxiliary pole coils are wound on the same framework; then the winding device 100 is driven by the cam divider to perform the winding operation of the main and auxiliary pole coils of the next framework, and the operation is repeated and circulated in this way, so that the production is continuously performed.
In the embodiment, the cam divider is utilized to drive the winding device 100 to sequentially pass through the feeding station 4, the main pole coil end fixing station 5, the main and auxiliary pole end fixing station 6, the main and auxiliary pole coil lead dividing station 7, the auxiliary pole coil end receiving station 8 and the discharging station 9, so that the main and auxiliary pole coils are wound on the same framework, the working efficiency is greatly improved, the size of the transformer is favorably reduced, and the transformer is suitable for occasions with limited installation.
Importantly, this embodiment realizes two ends of once fixed main and auxiliary pole coil at main and auxiliary pole coil coiling alternating process through setting up the fixed station 6 of main and auxiliary pole end, and efficiency is higher, and coil coiling quality is higher, helps improving the product yield.
The embodiment is an intelligent rotary type robot for integrally winding a main and auxiliary polar coil, wherein the feeding station 4 comprises a first support and a feeding groove, the first support is fixed on the actuator fixing plate 2, the feeding groove is formed in the top end of the first support, and the feeding groove is provided with a feeding part.
During the in-service use, external vibrations feeding mechanism conveys the skeleton to the feed tank in proper order, the skeleton that is located the foremost removes on the material loading position of feed tank, rotate when aligning with material loading station 4 when winding device 100, winding device 100 will be located the skeleton at material loading position and take out, and drive this skeleton and rotate, carry out the coiling work of follow-up major-minor polar coil, so just accomplish the material loading process, and the skeleton that is located the foremost is taken out the back, the skeleton automatic movement who is located inferior front end is to the material loading position, wait for being taken out, so recirculation, constantly carry the skeleton, the supply of guarantee skeleton.
The intelligent rotary robot for integrally winding the main and auxiliary pole coils in this embodiment includes a second L-shaped support 10, a vertical displacement component 20, a horizontal displacement component 30, a L-shaped connecting plate 40, a rotating shaft 50, a bending driving motor 60, a first pneumatic finger 70 and a tapered clamping portion 80, where the second L-shaped support 10, the vertical displacement component 20, the horizontal displacement component 30, the L-shaped connecting plate 40, the rotating shaft 50, the bending driving motor 60, the first pneumatic finger 70 and the tapered clamping portion 80 are both included, one end of the second L-shaped support 10 is connected to the actuator fixing plate 2, the vertical displacement component 20 is disposed at the other end of the second L-shaped support 10, the horizontal displacement component 30 is disposed at the output end of the vertical displacement component 20 and is distributed in a cross shape with the vertical displacement component 20, one end of the connecting plate 40 is connected to the output end of the horizontal displacement component 30, the output end of the bending driving motor 60 is in transmission connection with the rotating shaft 50, the first pneumatic finger 70 penetrates through the rotating shaft 50, specifically, a central through hole is formed in the rotating shaft 50, one end of the first pneumatic finger 70 penetrates through the central through hole and can rotate along with the rotating shaft 50, the conical clamping portion 80 is correspondingly arranged on the clamping jaw of the first pneumatic finger 70, and the first cutter 81 is correspondingly arranged on the conical clamping portion 80 of the auxiliary pole coil end-receiving end station 8. In this embodiment, the vertical displacement component 20 is used to drive the tapered clamping portion 80 to move in the vertical direction, and the horizontal displacement component 30 is used to drive the tapered clamping portion 80 to move in the horizontal direction.
In practical use, the winding device 100 drives the framework to rotate to align with the main pole coil end fixing station 5, at this time, the bending driving motor 60 of the main pole coil end fixing station 5 drives the conical clamping portion 80 to rotate to a horizontal state, then the conical clamping portion 80 is moved upwards to the end of the wire under the drive of the vertical displacement component 20, then the transverse displacement component 30 drives the conical clamping portion 80 to extend out, the first pneumatic finger 70 drives the conical clamping portion 80 to clamp the rear position of the end head of the wire so as to reserve the wire with the length of the wire to be threaded, after the wire is clamped, the bending driving motor 60 drives the first pneumatic finger 70 and the conical clamping portion 80 to rotate 90 degrees through the rotating shaft 50 to bend the end of the wire, then the conical clamping portion 80 moves downwards to pull down the wire and align the wire with the first fixing hole on the framework, the end of the bent wire passes through the first fixing hole, and the conical clamping portion 80 loosens, then, under the coordination of the transverse displacement component 30, the end of the lead passing through the first fixing hole is bent for the second time to form a U-shaped end, so that the end of the lead is clamped in the first fixing hole in a U shape to form a first end of the main pole coil;
after the wire is cut at the wire cutting station 7 of the main and auxiliary pole coils to form a first end of the auxiliary pole coil, the winding device 100 drives the framework to rotate to be aligned with the end receiving station 8 of the auxiliary pole coil, at the moment, the first cutter 81 is driven by the bending driving motor 60 of the end receiving station 8 of the auxiliary pole coil to rotate to a horizontal state, then the wire for winding the auxiliary pole coil is cut under the matching of the transverse displacement component 30 and the vertical displacement component 20 of the end receiving station 8 of the auxiliary pole coil, meanwhile, the conical clamping part 80 of the end receiving station 8 of the auxiliary pole coil clamps the end of the wire connected with the auxiliary pole coil, and then the end of the wire is clamped on a first fixing hole of the framework in a fixing mode of the first end of the main pole coil to form a second end of the auxiliary pole coil;
so set up, reach the mechanical type and fix the end of main and auxiliary pole coil on the skeleton, improve the efficiency of skeleton coiling coil greatly, make the uniformity of product better.
In this embodiment, the vertical displacement member 20 includes an L-shaped first support base, a lead screw, a vertical displacement driving motor, and a sliding plate, one end of the first support base is fixed to the other end of the second support 10 of the main pole coil end fixing station 5, two ends of the lead screw are respectively rotatably connected to the other end of the second support 10 of the main pole coil end fixing station 5 and the other end of the first support base, the vertical displacement motor is fixed to the other end of the first support base, and an output end of the vertical displacement motor is in transmission connection with the lead screw, the sliding plate is fixedly connected with a nut of the lead screw, the horizontal displacement member 30 is disposed on the sliding plate, sliding members are respectively disposed on two sides of the lead screw, and the sliding plate is in sliding connection with both sliding members, so that the sliding plate slides more stably, specifically, the sliding member is composed of a linear sliding rail and a sliding block, the linear sliding rail is fixed on the first support, the sliding block is connected to the linear sliding rail in a sliding mode, and the sliding plate is fixedly connected with the sliding block; during the use, drive the lead screw through vertical displacement driving motor and rotate, drive the sliding plate and reciprocate, the sliding plate drives lateral displacement part 30 and reciprocates, so realize reciprocating of toper clamping part 80, adopt motor and lead screw complex mode, make the displacement of toper clamping part 80 more accurate, do benefit to toper clamping part 80 and accurately grasp the wire end to and do benefit to the first fixed orifices that the guide end passed the skeleton. In this embodiment, the lateral displacement member 30 employs an electric slide table, which is simple to control and facilitates displacement of the tapered clamping portion 80 in the lateral direction.
This embodiment an integrative coiling robot of intelligence rotation major-minor polar coil, major-minor extreme head fixed station 6 includes third support 61, shelves line slip table 62, crocheted line slip table 63, shelves line needle 64 and crocheted line needle 65, third support 61 is connected on executor fixed plate 2, third support 61 top is located to crocheted line slip table 63, shelves line slip table 62 locates the top of crocheted line slip table 63, the one end of shelves line needle 64 is connected on shelves line slip table 62's output and is located the top of crocheted line needle 65, the one end of crocheted line needle 65 is connected on a slider, the free end of crocheted line needle 65 is equipped with the crocheted line groove, slider sliding connection is on a slider, the one end of slider is equipped with electro-magnet 66, be connected with reset spring 67 between electro-magnet 66 and the slider.
In practical use, when the main pole coil is wound to the last turn, the wire blocking sliding table 62 drives the wire blocking needle 64 to extend out, the conducting wire is raised to a height higher than the second fixing hole of the framework, then the thread hooking sliding table 63 drives the thread hooking needle 65 to extend out and pass through the second fixing hole, then the thread blocking needle 64 retracts, at the moment, the conducting thread falls onto the thread hooking needle 65, the conducting thread leans against a thread hooking groove of the thread hooking needle 65 along with the retraction of the thread hooking sliding table 63 driving the thread hooking needle 65, then the wire hooking needle 65 hooks and pulls the wire to pass through the second fixing hole, after the wire passes through the second fixing hole, the electromagnet 66 generates suction force on the sliding block, the sliding block slides towards the electromagnet 66, the return spring 67 is compressed, the wire is separated from the wire hooking needle 65, therefore, two ends of the main and auxiliary pole coils are fixed simultaneously in the alternating process of the main and auxiliary pole coils, the winding efficiency is high, the winding quality is good, and then the winding device 100 winds the auxiliary pole coils.
This embodiment an integrative coiling robot of intelligence rotation major-minor polar coil, station 7 is cut apart to major-minor polar coil wire includes fourth support 71 and the pneumatic finger 72 of second, fourth support 71 is connected on executor fixed plate 2, the pneumatic finger 72 of second is located the top of fourth support 71, two clamping jaws of the pneumatic finger 72 of second are equipped with second cutter 73 respectively, two second cutter 73 sets up relatively. In practical use, after the winding of the auxiliary pole coil is completed, the winding device 100 rotates to align with the main and auxiliary pole coil lead cutting station 7, and at this time, the second pneumatic finger 72 drives the second cutter 73 to cut off the lead fixed on the second fixing hole through hooking, so as to obtain the second end of the main pole coil and the first end of the auxiliary pole coil.
The intelligent rotary type robot for integrally winding the main and auxiliary pole coils is characterized in that the unloading station 9 comprises a fifth support and a discharge chute, the fifth support is connected to the actuator fixing plate 2, and the discharge chute is arranged at the top end of the fifth support. In actual use, after the main and auxiliary pole coils are wound by the framework, the winding device 100 rotates to be aligned with the unloading station 9, and the framework is transferred onto the unloading groove and is transferred out of the working area through the unloading groove, so that the whole process of winding the coil by the framework is completed; after the framework is shifted out of the working area, the winding device 100 continues to rotate and rotates to be aligned with the feeding station 4, and the next framework winding coil is operated, so that the operation of continuously winding the framework coil can be performed, and the method is suitable for mass production.
In the intelligent rotary type robot for winding the main and auxiliary pole coils integrally in this embodiment, the winding device 100 includes a material taking sliding table 101, a U-shaped winding bracket 102, an expansion shaft 103, a winding driving motor 104, a thrust cylinder 105, a discharging part 106 and a wire supplying part 107, the material taking sliding table 101 is arranged on the station rotating plate 3, the winding bracket 102 is arranged on the output end of the material taking sliding table 101, the expansion shaft 103 is rotatably arranged on one end of the winding bracket 102 in a penetrating way, the thrust cylinder 105 is arranged on the other end of the winding bracket 102, one end of the expansion shaft 103 is rotatably connected with one end of a thrust cylinder 105, the output end of the winding driving motor 104 is in transmission connection with the expansion shaft 103, the unloading part 106 is used for pushing the framework which is formed by winding the coil out of the expansion shaft 103, and the wire supplying part 107 is used for conveying a conducting wire required by winding the main and auxiliary pole coils. Specifically, the output end of the winding driving motor 104 is in transmission connection with the expansion shaft 103 through a gear set, preferably, the output end of the winding driving motor 104 is connected with a pinion, and the expansion shaft 103 is sleeved with a gearwheel, so that a speed reducing mechanism is formed, and therefore, the framework winding coil is more reliable and the winding quality is higher. Specifically, the material taking sliding table 101 is an electric sliding table.
When the winding device 100 rotates to be aligned with the feeding station 4, the material taking sliding table 101 drives the expansion shaft 103 to extend out, so that the tensioning shaft is inserted into an inner hole of the framework located at the feeding part of the feeding groove, then the thrust cylinder 105 pushes the expansion shaft 103 to enable the expansion shaft 103 to expand the framework, then the material taking sliding table 101 drives the expansion shaft 103 to retract, the framework is taken out from the feeding groove, and feeding is achieved; when the main and auxiliary pole coils need to be wound, the winding driving motor 104 drives the expansion shaft 103 to rotate, the expansion shaft 103 drives the framework to rotate, and the wire supply part 107 continuously supplies required wires to wind the main and auxiliary pole coils; after the winding of the main and auxiliary pole coils is finished, the winding device 100 rotates to be aligned with the unloading station 9, and at the moment, the unloading part 106 pushes out the framework on the expansion shaft 103, so that the framework is transferred to the unloading groove and is transferred out of the working area from the unloading groove; so will get material, supply line, wire winding, unload integratively in an organic whole, efficiency is better, and the structure is compacter.
In this embodiment, the wire supplying component 107 includes a sixth support, a wire supplying support, two wire tensioning wheels rotatably connected to the wire supplying support at intervals, a wire outlet nozzle with a stopping function, and a wire material coil, the sixth support is connected to the station rotating plate 3, the wire supplying support is arranged at the top end of the sixth support, the two wire tensioning wheels are respectively located at two ends of the wire winding support 102, the wire material coil is rotatably connected to one end of the wire supplying support far away from the wire outlet nozzle, the wire outlet nozzle is embedded in the wire supplying support and located above the tensioning shaft 103, so that the wire can be continuously supplied to the framework winding coil.
In this embodiment, the discharging part 106 includes a discharging cylinder and a material pushing plate, the discharging cylinder is fixed on the winding support 102 through a cylinder support, the material pushing plate is connected to the output end of the discharging cylinder, the material pushing plate is driven to extend through the discharging cylinder, so that the framework is pushed out from the expansion shaft 103 and transferred to the discharging chute, and the discharging process is completed, so as to perform the next framework winding.
The intelligent rotary type robot for integrally winding the main and auxiliary polar coils is characterized in that six winding devices 100 are arranged on the station rotating plate 3 at intervals, and the six winding devices 100 are respectively arranged in a one-to-one correspondence manner with a feeding station 4, a main polar coil end fixing station 5, a main and auxiliary polar end fixing station 6, a main and auxiliary polar coil wire cutting station 7, an auxiliary polar coil end collecting station 8 and an unloading station 9. By the arrangement, the six winding devices 100 can work simultaneously, the production efficiency is greatly improved, and the requirement of batch production is met.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (8)
1. An intelligent rotary type robot for integrally winding a main and auxiliary polar coil is characterized by comprising a base plate (1), a cam divider arranged in the middle of the base plate (1), an actuator fixing plate (2) which is connected with the base plate (1) through a support column and is of a hexagonal structure, a station rotating plate (3) connected to the output end of the cam divider, a feeding station (4), a main polar coil end fixing station (5), a main and auxiliary extreme end fixing station (6), a main and auxiliary polar coil lead dividing station (7), an auxiliary polar coil end receiving station (8) and an unloading station (9) which are sequentially arranged on six side length positions of the actuator fixing plate (2) correspondingly, wherein a winding device (100) for driving a framework to wind the main and auxiliary polar coil is arranged on the station rotating plate (3);
the feeding station (4) is used for conveying a framework of a coil to be wound, the main pole coil end fixing station (5) is used for fixing a first end of the main pole coil on a first fixing hole of the framework, the main and auxiliary pole end fixing station (6) is used for hooking and pulling a lead to penetrate through a second fixing hole of the framework when the winding of the main pole coil is completed, the main and auxiliary pole coil lead separating station is used for cutting the lead hooked and pulled by the main and auxiliary pole end fixing station (6) and penetrating through the second fixing hole of the framework to form a second end of the main pole coil and the first end of the auxiliary pole coil, the auxiliary pole coil end closing station (8) is used for positioning the second end of the auxiliary pole coil on the first fixing hole of the framework when the winding of the auxiliary pole coil is completed, and the discharging station (9) is used for transferring the framework wound by the main and auxiliary pole coil out of a working area; and the auxiliary pole coil end head station (8) comprises a first cutter (81) for cutting off the lead when the auxiliary pole coil is wound.
2. The intelligent rotary type robot for integrally winding the main and auxiliary pole coils in accordance with claim 1, wherein six winding devices (100) are arranged at intervals on the station rotating plate (3), and the six winding devices (100) are respectively arranged in one-to-one correspondence with the feeding station (4), the main pole coil end fixing station (5), the main and auxiliary pole end fixing station (6), the main and auxiliary pole coil lead cutting station (7), the auxiliary pole coil end receiving station (8) and the discharging station (9).
3. The intelligent rotary type robot for integrally winding the main and auxiliary pole coils in accordance with claim 1, wherein the feeding station (4) comprises a first support and a feeding groove, the first support is fixed on the actuator fixing plate (2), the feeding groove is formed at the top end of the first support, and the feeding groove is provided with a feeding portion.
4. The intelligent rotary type robot for integrally winding the main and auxiliary pole coils as claimed in claim 1, wherein the main pole coil end fixing station (5) and the auxiliary pole coil end closing station (8) each comprise an L-shaped second support (10), a vertical displacement component (20), a transverse displacement component (30), an L-shaped connecting plate (40), a rotating shaft (50), a bending driving motor (60), a first pneumatic finger (70) and a conical clamping portion (80), one end of the second support (10) is connected to the actuator fixing plate (2), the vertical displacement component (20) is arranged at the other end of the second support (10), the transverse displacement component (30) is arranged at the output end of the vertical displacement component (20) and is distributed in a cross shape with the vertical displacement component (20), one end of the connecting plate (40) is connected to the output end of the transverse displacement component (30), the other end of connecting plate (40) is located in driving motor (60) of bending, the other end of connecting plate (40) is located in rotation of rotation axis (50), the output and rotation axis (50) transmission of driving motor (60) of bending are connected, first pneumatic finger (70) wear to locate on rotation axis (50), toper clamping part (80) are corresponding to locate on the clamping jaw of first pneumatic finger (70), first cutter (81) are corresponding to be located on toper clamping part (80) of auxiliary pole coil end of delivery station (8).
5. The intelligent rotary type robot for integrally winding the main and auxiliary polar coils according to claim 1, wherein the main and auxiliary polar end fixing station (6) comprises a third support (61), a line shift sliding table (62), a line hooking sliding table (63), a line shift needle (64) and a line hooking needle (65), the third support (61) is connected to the actuator fixing plate (2), the line hooking sliding table (63) is arranged at the top end of the third support (61), the line shift sliding table (62) is arranged at the top end of the line hooking sliding table (63), one end of the line shift needle (64) is connected to the output end of the line shift sliding table (62) and is located above the line hooking needle (65), one end of the line hooking needle (65) is connected to a sliding block, the free end of the line hooking needle (65) is provided with a line hooking groove, the sliding block is slidably connected to a sliding block, and one end of the sliding block is provided with an electromagnet (66), and a return spring (67) is connected between the electromagnet (66) and the sliding block.
6. The intelligent rotary type robot for integrally winding the main and auxiliary pole coils is characterized in that the main and auxiliary pole coil wire dividing station (7) comprises a fourth support (71) and a second pneumatic finger (72), the fourth support (71) is connected to the actuator fixing plate (2), the second pneumatic finger (72) is arranged at the top end of the fourth support (71), two clamping jaws of the second pneumatic finger (72) are respectively provided with a second cutter (73), and the two second cutters (73) are arranged oppositely.
7. An intelligent rotary type robot for integrally winding a main and auxiliary pole coil as claimed in claim 1, wherein the unloading station (9) comprises a fifth bracket and an unloading slot, the fifth bracket is connected to the actuator fixing plate (2), and the unloading slot is arranged at the top end of the fifth bracket.
8. The intelligent rotary type robot for integrally winding the main and auxiliary pole coils as claimed in claim 1, wherein the winding device (100) comprises a material taking sliding table (101), a U-shaped winding support (102), an expansion shaft (103), a winding driving motor (104), a thrust cylinder (105), a discharging part (106) and a wire supplying part (107), the material taking sliding table (101) is arranged on the station rotating plate (3), the winding support (102) is arranged at the output end of the material taking sliding table (101), the expansion shaft (103) is rotatably arranged at one end of the winding support (102), the thrust cylinder (105) is arranged at the other end of the winding support (102), one end of the expansion shaft (103) is rotatably connected with one end of the thrust cylinder (105), and the output end of the winding driving motor (104) is in transmission connection with the expansion shaft (103), the discharging part (106) is used for pushing the framework which is formed by winding the coil out of the expansion shaft (103), and the wire supplying part (107) is used for conveying a conducting wire required by winding the main and auxiliary pole coils.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010003151.8A CN110957128B (en) | 2020-01-02 | 2020-01-02 | Intelligent rotary type robot for integrally winding main and auxiliary polar coils |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010003151.8A CN110957128B (en) | 2020-01-02 | 2020-01-02 | Intelligent rotary type robot for integrally winding main and auxiliary polar coils |
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| CN110957128A true CN110957128A (en) | 2020-04-03 |
| CN110957128B CN110957128B (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010003151.8A Active CN110957128B (en) | 2020-01-02 | 2020-01-02 | Intelligent rotary type robot for integrally winding main and auxiliary polar coils |
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| CN114300264A (en) * | 2021-12-28 | 2022-04-08 | 有励电子(昆山)有限公司 | Hollow inductance coil winding equipment and winding method thereof |
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|---|---|
| CN110957128B (en) | 2020-10-09 |
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