CN111145999B - Integrated intelligent main and auxiliary pole coil winding robot - Google Patents
Integrated intelligent main and auxiliary pole coil winding robot Download PDFInfo
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- CN111145999B CN111145999B CN202010070911.7A CN202010070911A CN111145999B CN 111145999 B CN111145999 B CN 111145999B CN 202010070911 A CN202010070911 A CN 202010070911A CN 111145999 B CN111145999 B CN 111145999B
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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
Abstract
The invention discloses an integrated intelligent main and auxiliary pole coil winding robot, which comprises a first sliding table, a second sliding table connected to the output end of the first sliding table, a winding power unit connected to the output end of the second sliding table, a frame table arranged on one side of the second sliding table, a third sliding table and a fourth sliding table which are arranged at the top of the frame table side by side, a fifth sliding table and a sixth sliding table which are respectively connected to the output ends of the third sliding table and the fourth sliding table, a first rotary wire pulling mechanism and a second rotary wire pulling mechanism which are respectively connected to the output ends of the fifth sliding table and the sixth sliding table, and a wire hooking mechanism which is used for hooking and pulling a wire and penetrates through a second fixing hole of a framework when the winding of a main pole coil is completed; the first rotary wire drawing mechanism comprises a laser cutting head, and the second rotary wire drawing mechanism comprises a cutter; the invention realizes that the primary and secondary pole coils of the transformer are wound on the same framework at one time, has high production efficiency, can greatly simplify the structure of the transformer, has small volume and is suitable for occasions with limited installation space.
Description
Technical Field
The invention relates to the technical field of transformers, in particular to an integrated intelligent robot for winding a main pole coil and an auxiliary pole coil.
Background
The transformer is a power supply processing device which is manufactured by the electromagnetic induction principle to realize the conversion between different voltages, and the core component of the transformer is a main coil set and an auxiliary coil set. At present, a main coil group and an auxiliary coil group of most transformers are of a split structure, namely, a main coil and an auxiliary coil are respectively embedded at two ends of an iron core, although the structure has the advantages of stable output voltage and good heat dissipation, the volume occupation is large, the requirement on the volume of the iron core is also large, the transformer is not suitable for occasions with limited installation space, the coils need to be wound twice, and the production efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects and provide an integrated intelligent main and auxiliary pole coil winding robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
an integrated intelligent robot for winding a main and auxiliary polar coil comprises a first sliding table, a second sliding table connected to the output end of the first sliding table, a winding power unit connected to the output end of the second sliding table, a frame table arranged on one side of the second sliding table, a third sliding table and a fourth sliding table which are arranged on the top of the frame table side by side, a fifth sliding table and a sixth sliding table which are respectively connected to the output ends of the third sliding table and the fourth sliding table, a first rotary wire drawing mechanism and a second rotary wire drawing mechanism which are respectively connected to the output ends of the fifth sliding table and the sixth sliding table, and a wire hooking mechanism which is positioned on the same straight line with the second rotary wire drawing mechanism; the first sliding table and the second sliding table are in cross-shaped cross connection, the third sliding table and the fifth sliding table are in cross-shaped cross connection, the fourth sliding table and the sixth sliding table are in cross-shaped cross connection, the first sliding table and the second sliding table are matched with each other to enable the winding power unit to move freely in an XY two-dimensional plane, the third sliding table, the fifth sliding table, the fourth sliding table and the sixth sliding table are matched with each other to respectively drive the rotary wire drawing mechanisms which are respectively connected to move freely in a YZ plane, the winding power unit is used for driving the framework of the coil to be wound to rotate to wind the main and auxiliary pole coils, the first rotary wire drawing mechanism is used for bending the end of the wire and positioning the end of the wire on the first fixing hole of the framework, the second rotary wire drawing mechanism is used for clamping the wire and drawing the wire to be higher than the outer edge of the framework when the winding of the main pole coil is finished so that the wire hooking mechanism hooks the wire, the wire hooking mechanism is used for hooking and pulling the wire and penetrating through a second fixing hole of the framework when the winding of the main pole coil is finished; the first rotary wire drawing mechanism comprises a laser cutting head used for cutting off the lead when the winding of the main and auxiliary pole coils is completed, and the second rotary wire drawing mechanism comprises a cutter used for cutting the lead passing through the second fixing hole of the framework.
Wherein, crocheting mechanism includes slip table cylinder, crochet hook fixing base and crocheting needle, the output at the slip table cylinder is connected to the crochet hook fixing base, the one end of crocheting needle inlays and establishes on the crochet hook fixing base, the free end of crocheting needle is equipped with the crocheting recess that is used for the hook to draw the wire.
Wherein the first rotary wire drawing mechanism and the second rotary wire drawing mechanism respectively comprise a wire drawing connecting plate, a rotary driving motor, a pneumatic finger and a rotating shaft, the rotary driving motor is fixed at one end of the stay wire connecting plate, the rotary shaft is rotationally arranged on the stay wire connecting plate, the output end of the rotary driving motor is in transmission connection with the rotary shaft through a gear set, the pneumatic finger is fixedly arranged on the rotary shaft in a penetrating way, the two clamping jaws of the pneumatic finger are respectively and oppositely provided with a conical chuck, the cutter is fixed on the conical chuck of the second rotary wire drawing mechanism, the laser cutting head is fixed on a pneumatic finger of the first rotary wire drawing mechanism through a laser bracket, the other end of the wire pulling connecting plate of the first rotary wire pulling mechanism is fixed at the output end of the fifth sliding table, the other end of the wire pulling connecting plate of the second rotary wire pulling mechanism is fixed at the output end of the sixth sliding table.
Wherein, the winding power unit comprises a U-shaped winding bracket, a winding driving motor, a thrust cylinder, an inclined plane expansion shaft and a guide mandrel, the winding bracket is arranged at the output end of the second sliding table, the winding driving motor is arranged at the bottom of the winding bracket, the thrust cylinder is arranged at one end of the winding bracket, the inclined plane expansion shaft is rotatably arranged at the other end of the winding bracket in a penetrating way, one end of the inclined plane expansion shaft is rotationally connected with the output end of the thrust cylinder, the output end of the winding driving motor is in transmission connection with the inclined plane expansion shaft through a gear set, the guide mandrel is sleeved on the other end of the inclined plane expansion shaft, a top block is arranged between the inclined plane expansion shaft and the guide mandrel along the circumferential direction, and a return spring is connected between the ejector block and the guide mandrel, and the ejector block can penetrate through the guide mandrel to protrude outwards under the action of the inclined plane expansion shaft.
The winding machine further comprises a feeding mechanism, wherein the feeding mechanism is used for conveying the framework of the coil to be wound; the feeding mechanism comprises a feeding groove, and a feeding station convenient for the winding power unit to extract the framework is arranged at one end of the feeding groove.
The wire feeding mechanism comprises a winding arm, a wire outlet nozzle with a stopping function and a wire tensioning wheel, the winding arm is connected to the frame platform, the wire outlet nozzle is embedded in the winding arm, and the wire tensioning wheel is rotatably connected to the winding arm.
The coil winding machine further comprises a discharge chute used for transferring the framework for winding the coil out of the working area.
The invention has the beneficial effects that: compared with the prior art, the invention realizes the one-time winding of the primary and secondary pole coils of the transformer on the same framework by utilizing the winding power unit, the wire hooking mechanism, the first rotary wire pulling mechanism and the second rotary wire pulling mechanism under the matching use of the first sliding table, the second sliding table, the third sliding table, the fourth sliding table, the fifth sliding table and the sixth sliding table respectively, has high production efficiency, can greatly simplify the structure of the transformer, has small volume and is suitable for occasions with limited installation space.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the thread hooking mechanism of the present invention;
FIG. 3 is a schematic structural view of a first rotary wire pulling mechanism according to the present invention;
FIG. 4 is a schematic structural view of a second rotary wire pulling mechanism according to the present invention;
FIG. 5 is a cross-sectional view of the wound power unit of the present invention;
FIG. 6 is a schematic diagram of a bobbin of a main and auxiliary pole coil to be wound;
description of reference numerals: 1-a first slipway; 2-a second slipway; 3-a winding power unit; 31-a winding frame; 32-a wound drive motor; 33-a thrust cylinder; 34-a beveled expansion shaft; 35-a guiding mandrel; 36-a top block; 37-a return spring; 4-a rack table; 5-a third sliding table; 6-a fourth slipway; 7-a fifth slipway; 8-a sixth slip table; 9-a first rotary wire pulling mechanism; 91-laser cutting head; 10-a second rotary wire pulling mechanism; 101-a cutter; 20-a thread hooking mechanism; 201-a slipway cylinder; 202-crochet hook fixing seat; 203-thread hooking needle; 301-stay wire connection plate; 302-a rotary drive motor; 303-pneumatic fingers; 304-a rotation axis; 305-a tapered collet; 40-a feeding mechanism; 50-a thread supply mechanism; 60-a discharge chute.
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 6, the integrated intelligent robot for winding a main and auxiliary pole coil in this embodiment includes a first sliding table 1, a second sliding table 2 connected to an output end of the first sliding table 1, a winding power unit 3 connected to an output end of the second sliding table 2, a frame table 4 disposed on one side of the second sliding table 2, a third sliding table 5 and a fourth sliding table 6 disposed at a top of the frame table 4 side by side, a fifth sliding table 7 and a sixth sliding table 8 respectively connected to output ends of the third sliding table 5 and the fourth sliding table 6, and a first rotary wire drawing mechanism 9 and a second rotary wire drawing mechanism 10 respectively connected to output ends of the fifth sliding table 7 and the sixth sliding table 8, and further includes a wire hooking mechanism 20 located on the same straight line as the second rotary wire drawing mechanism 10; the first sliding table 1 and the second sliding table 2 are in cross-shaped cross connection, the third sliding table 5 and the fifth sliding table 7 are in cross-shaped cross connection, the fourth sliding table 6 and the sixth sliding table 8 are in cross-shaped cross connection, the first sliding table 1 and the second sliding table 2 are mutually matched to enable the winding power unit 3 to freely move in an XY two-dimensional plane, the third sliding table 5, the fifth sliding table 7, the fourth sliding table 6 and the sixth sliding table 8 are mutually matched to respectively drive the rotary wire drawing mechanisms which are respectively connected to freely move in a YZ plane, the winding power unit 3 is used for driving a framework of a coil to be wound to rotate to wind a main pole coil and an auxiliary pole coil, the first rotary wire drawing mechanism 9 is used for bending and positioning a wire end on a first fixing hole of the framework, the second rotary wire drawing mechanism 10 is used for clamping the wire and drawing the wire to be higher than the outer edge of the framework when the winding of the main pole coil is completed, the wire hooking mechanism 20 is used for hooking and pulling the wire and bending the end of the wire and positioning the end of the wire on the first fixing hole of the framework when the winding of the auxiliary pole coil is finished, and the wire hooking mechanism 20 is used for hooking and pulling the wire and penetrating through the second fixing hole of the framework when the winding of the main pole coil is finished; the first rotary wire drawing mechanism 9 comprises a laser cutting head 91 for cutting off the lead when the winding of the main and auxiliary pole coils is completed, and the second rotary wire drawing mechanism 10 comprises a cutter 101 for cutting the lead passing through the second fixing hole of the framework.
The working mode of the embodiment is as follows: firstly, a framework of a coil to be wound is arranged on a winding power unit 3, then under the combined action of a first sliding table 1 and a second sliding table 2, the winding power unit 3 is moved to a winding station, then a first rotary wire drawing mechanism 9 clamps a wire end and rotates, so that the wire end is bent by 90 degrees, then a third sliding table 5 drives the first rotary wire drawing mechanism 9 to extend out, the bent wire end is inserted into a first fixing hole on the framework from the inner side of the first fixing hole of the framework, after the wire end is inserted, the first rotary wire drawing mechanism 9 releases the wire and moves to the outer side of the first fixing hole of the framework, the first rotary wire drawing mechanism 9 clamps the wire end again, then the wire end which is matched with and descends to pass through the first sliding table 1 is bent for the second time, so that the wire end forms a U-shaped hook and is hooked on the first fixing hole of the framework, thereby completing the positioning of the end of the lead on the first fixing hole of the framework to form the first end of the main pole coil; after the end of the lead is positioned on the framework, the winding power unit 3 works to drive the framework to rotate, the main pole coil is wound, after the winding is finished, under the action of the first sliding table 1, the winding power unit 3 moves to the position below the second rotary wire drawing mechanism 10, the second rotary wire drawing mechanism 10 clamps and draws the lead to be higher than the outer edge of the framework, at the moment, the wire hooking mechanism 20 hooks and draws the second rotary wire drawing mechanism 10 to clamp the part of the lead which is pulled upwards, the section of the lead is bent and penetrates through a second fixing hole of the framework, then the winding power unit 3 continues to wind the auxiliary pole coil part, after the winding of the auxiliary pole coil is finished, the second rotary wire drawing mechanism 10 is driven by the fourth sliding table 6 and the sixth sliding table 8 to rotate, the lead which penetrates through the second fixing hole of the framework is partially cut by the cutter 101 to form a second end of the main pole coil and a first end of the auxiliary pole coil, and then the first rotary wire drawing mechanism 9 and the second rotary wire drawing mechanism 10 respectively clamp the lead, then utilize the laser cutting head 91 on the first rotatory wire drawing mechanism 9 to cut off the wire that is located between first rotatory wire drawing mechanism 9 and the rotatory wire drawing mechanism 10 of second, at this moment, the rotatory wire drawing mechanism 10 of second bends 90 degrees the wire end of grasping, then under the effect of fourth slip table 6 and sixth slip table 8, the wire end after will bending passes the first fixed orifices of skeleton, forms the second end of auxiliary pole coil, so just accomplish the main and auxiliary pole coil integral type and wind on the skeleton.
The embodiment realizes the primary and secondary pole coils of the transformer on the same framework by utilizing the wire winding power unit 3, the wire hooking mechanism 20, the first rotary wire pulling mechanism 9 and the second rotary wire pulling mechanism 10 to be respectively matched with a first sliding table, a second sliding table, a third sliding table, a fourth sliding table, a fifth sliding table and a sixth sliding table, has high production efficiency, can greatly simplify the structure of the transformer, has small volume and is suitable for occasions with limited installation space.
This embodiment an integral type intelligence major-minor polar coil coiling robot, crochet hook mechanism 20 includes slip table cylinder 201, crochet hook fixing base 202 and crochet hook 203, the output at slip table cylinder 201 is connected to crochet hook fixing base 202, the one end of crochet hook 203 inlays and establishes on crochet hook fixing base 202, the free end of crochet hook 203 is equipped with the crochet hook recess that is used for the hook to draw the wire. Specifically, slip table cylinder 201 is fixed on a base, so that crochet hook 203 and wire winding power unit 3 are at same height, after the coiling of main utmost point coil is accomplished, rotatory wire drawing mechanism 10 of second presss from both sides the wire clamp and gets and pull up to being higher than the skeleton outer edge, then slip table cylinder 201 pushes out crochet hook 203 through crochet hook fixing base 202, crochet hook 203 passes the second fixed orifices of skeleton, the rotatory wire drawing mechanism 10 of second loosens the wire this moment, and place the wire in the crochet hook recess of crochet hook 203, then slip table cylinder 201 drives crochet hook 203 and withdraws, crochet hook 203 at this moment stimulates the wire to pass the second fixed orifices of skeleton, thereby realize the separation between the main and auxiliary utmost point coil, and then with main and auxiliary utmost point coil coiling on same skeleton, high efficiency.
In the embodiment of the integrated intelligent robot for winding the primary and secondary coils, the first rotary wire pulling mechanism 9 and the second rotary wire pulling mechanism 10 both include a wire pulling connection plate 301, a rotary driving motor 302, a pneumatic finger 303 and a rotation shaft 304, the rotary driving motor 302 is fixed at one end of the wire pulling connection plate 301, the rotation shaft 304 is rotatably arranged on the wire pulling connection plate 301, an output end of the rotary driving motor 302 is in transmission connection with the rotation shaft 304 through a gear set, the pneumatic finger 303 is fixedly arranged on the rotation shaft 304 in a penetrating manner, two clamping jaws of the pneumatic finger 303 are respectively and oppositely provided with a conical chuck 305, the cutter 101 is fixed on the conical chuck 305 of the second rotary wire pulling mechanism 10, so that the purpose of cutting off a wire can be achieved through the opposite movement of the conical chucks 305, the laser cutting head 91 is fixed on the pneumatic finger 303 of the first rotary wire pulling mechanism 9 through a laser bracket, the other end of the stay wire connecting plate 301 of the first rotary stay wire mechanism 9 is fixed at the output end of the fifth sliding table 7, and the other end of the stay wire connecting plate 301 of the second rotary stay wire mechanism 10 is fixed at the output end of the sixth sliding table 8. When the first rotary wire drawing mechanism 9 needs to bend the end of a wire, under the combined action of the third sliding table 5 and the fifth sliding table 7, the first rotary wire drawing mechanism 9 moves to a wire clamping position, then the pneumatic finger 303 of the first rotary wire drawing mechanism 9 drives the two conical chucks 305 to move oppositely to clamp the end of the wire, and then the rotary driving motor 302 of the first rotary wire drawing mechanism 9 drives the pneumatic finger 303 to rotate through the gear set and the rotating shaft 304, so that the conical chucks 305 rotate, and the end of the wire is bent. Similarly, when the second rotary wire drawing mechanism 10 needs to bend the wire, the pneumatic finger 303 of the second rotary wire drawing mechanism 10 drives the two conical chucks 305 to move oppositely to clamp the end of the wire, and then the pneumatic finger 303 is driven by the rotary driving motor 302 of the second rotary wire drawing mechanism 10 to rotate to bend the end of the wire.
The embodiment said an integral type intelligence main and auxiliary pole coil coiling robot, wire winding power unit 3 includes wire winding support 31, wire winding driving motor 32, thrust cylinder 33, inclined plane expansion shaft 34 and the direction dabber 35 of U-shaped, wire winding support 31 locates the output of second slip table 2, wire winding driving motor 32 locates the bottom of wire winding support 31, thrust cylinder 33 locates the one end of wire winding support 31, inclined plane expansion shaft 34 rotates and wears to locate the other end of wire winding support 31, the one end of inclined plane expansion shaft 34 rotates with thrust cylinder 33's output to be connected, the output of wire winding driving motor 32 passes through the gear train and is connected with inclined plane expansion shaft 34 transmission, the cover of direction dabber 35 is located on the other end of inclined plane expansion shaft 34, be equipped with kicking block 36 along circumference between inclined plane expansion shaft 34 and the direction dabber 35, be connected with reset spring 37 between kicking block 36 and the direction dabber 35, the top block 36 can protrude outward through the guiding spindle 35 under the influence of the bevel expansion shaft 34. Specifically, the one end of direction dabber 35 is rotated through an end cover and is connected on wire winding support 31, the other end activity of inclined plane expansion axle 34 passes and stretches into in the direction dabber 35 behind the end cover, and inclined plane expansion axle 34 and end cover joint, preferably, inclined plane expansion axle 34 has square cylinder and conical surface end, the end cover is equipped with the quad slit, through the cooperation of square cylinder and quad slit, realize that inclined plane expansion axle 34 transmits rotary power to direction dabber 35 on, through the cooperation of conical surface end and kicking block 36, realize the tight location skeleton of bloating.
In practical use, the inclined plane expansion shaft 34 is matched with the output end of the thrust cylinder 33 through a bearing seat and a bearing to achieve rotary connection, the framework is sleeved on the guide mandrel 35, then the thrust cylinder 33 drives the inclined plane expansion shaft 34 to extend out, so that the inclined plane expansion shaft 34 extrudes the ejector block 36 in the guide mandrel 35, the ejector block 36 extends out of the guide mandrel 35 to realize the expansion function, the framework sleeved on the guide mandrel 35 is positioned, the phenomenon that the framework shakes in the winding process to cause the reduction of product quality is avoided, after the framework is positioned, the first rotary wire drawing mechanism 9 positions the end of the wire on a first fixing hole of the framework, then, the winding driving motor 32 drives the bevel expansion shaft 34 to rotate through the gear set, the bevel expansion shaft 34 drives the guide mandrel 35 to rotate through the top block 36, and the guide mandrel 35 drives the bobbin to rotate, so that the main and auxiliary pole coils can be wound.
The integrated intelligent robot for winding the main and auxiliary pole coils further comprises a feeding mechanism 40, wherein the feeding mechanism 40 is used for conveying a framework of a coil to be wound; the feeding mechanism 40 comprises a feeding groove, and a feeding station convenient for the winding power unit 3 to extract the framework is arranged at one end of the feeding groove. Specifically, the feed tank is fixed on the base, during the in-service use, the skeleton is arranged in the feed tank in proper order, and during every skeleton was promoted to the material loading station, wire winding power pack 3 is under the effect of first slip table 1 and second slip table 2, move to the material loading station with the feed tank and align, then release under the effect of second slip table 2, make wire winding power pack 3's direction dabber 35 insert the skeleton hole, then thrust cylinder 33 promotes inclined plane expansion axle 34 and stretches out, the realization is bloated tight location with the skeleton on direction dabber 35, then second slip table 2 drives wire winding power pack 3 and returns, and then take out the skeleton from the feed tank, then under the effect of first slip table 1, the skeleton that the drive location was accomplished moves to wire winding station, carry out the coiling work of main and auxiliary pole coil.
This embodiment an integral type intelligence major-minor pole coil coiling robot, still including the confession line mechanism 50 that is used for providing the wire, supply line mechanism 50 including the wire winding arm, have the play line mouth and open the line wheel of stopping effect, the wire winding arm is connected at rack platform 4, it inlays and establishes on the wire winding arm to go out the line mouth, open the line wheel and rotate to connect on the wire winding arm. So set up, realize the continuous supply of wire, do benefit to automated production, improve production efficiency.
The integrated intelligent robot for winding the main and auxiliary pole coils further comprises a discharge chute 60 for transferring the framework for winding the coils out of the working area. After the winding of main and auxiliary pole coil is accomplished, thrust cylinder 33 drives inclined plane expansion shaft 34 and withdraws to loosen the skeleton, then under the drive of the rotatory wire drawing mechanism 10 of second, release the skeleton that the coil was accomplished in the winding from direction dabber 35, shift out the winding district via blowpit 60, the structure is more reasonable, more does benefit to automated production, and is efficient.
In this embodiment, still include a bottom plate, the base is fixed on the bottom plate, and first slip table 1 is fixed on the bottom plate, and frame platform 4 is fixed on the bottom plate, and the structure is compacter.
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 (7)
1. The integrated intelligent robot for winding the main and auxiliary polar coils is characterized by comprising a first sliding table (1), a second sliding table (2) connected to the output end of the first sliding table (1), a winding power unit (3) connected to the output end of the second sliding table (2), a frame platform (4) arranged on one side of the second sliding table (2), a third sliding table (5) and a fourth sliding table (6) which are arranged at the top of the frame platform (4) side by side, a fifth sliding table (7) and a sixth sliding table (8) which are respectively connected to the output ends of the third sliding table (5) and the fourth sliding table (6), a first rotary wire pulling mechanism (9) and a second rotary wire pulling mechanism (10) which are respectively connected to the output ends of the fifth sliding table (7) and the sixth sliding table (8), and a wire hooking mechanism (20) which is positioned on the same straight line with the second rotary wire pulling mechanism (10); first slip table (1) is cross connection with second slip table (2), third slip table (5) is cross connection with fifth slip table (7), fourth slip table (6) is cross connection with sixth slip table (8), first slip table (1) and second slip table (2) mutually support and make wire winding power unit (3) can freely move in XY two-dimensional plane, third slip table (5) and fifth slip table (7), fourth slip table (6) and sixth slip table (8) mutually support and drive the rotatory wire drawing mechanism of connecting separately and freely move in YZ plane respectively, wire winding power unit (3) are used for driving the skeleton rotation of treating the coiling and carry out coiling main and auxiliary pole coil, first rotatory wire drawing mechanism (9) are used for bending the end and fix a position on the first fixed orifices of skeleton, second rotatory wire drawing mechanism (10) are used for drawing the wire to the coiling clamp to get the coiling to the first fixed orifices of skeleton when the main pole coil is accomplished The wire hooking mechanism (20) is used for hooking and pulling the wire and penetrating through a second fixing hole of the framework when the winding of the main pole coil is finished; the first rotary wire drawing mechanism (9) comprises a laser cutting head (91) for cutting off the wire when the winding of the main and auxiliary pole coils is completed, and the second rotary wire drawing mechanism (10) comprises a cutter (101) for cutting the wire passing through the second fixing hole of the framework.
2. The integrated intelligent main and auxiliary pole coil winding robot is characterized in that the thread hooking mechanism (20) comprises a sliding table cylinder (201), a hook needle fixing seat (202) and a hook thread needle (203), the hook needle fixing seat (202) is connected to the output end of the sliding table cylinder (201), one end of the hook thread needle (203) is embedded in the hook needle fixing seat (202), and a thread hooking groove for hooking and pulling a lead is formed in the free end of the hook thread needle (203).
3. The integrated intelligent main and auxiliary pole coil winding robot according to claim 1, wherein the first rotary wire pulling mechanism (9) and the second rotary wire pulling mechanism (10) comprise a wire pulling connection plate (301), a rotary driving motor (302), a pneumatic finger (303) and a rotary shaft (304), the rotary driving motor (302) is fixed at one end of the wire pulling connection plate (301), the rotary shaft (304) is rotatably arranged on the wire pulling connection plate (301), the output end of the rotary driving motor (302) is in transmission connection with the rotary shaft (304) through a gear set, the pneumatic finger (303) is fixedly arranged on the rotary shaft (304), two clamping jaws of the pneumatic finger (303) are respectively and oppositely provided with a conical clamping head (305), and the cutter (101) is fixed on the conical clamping head (305) of the second rotary wire pulling mechanism (10), laser cutting head (91) are fixed on pneumatic finger (303) of first rotatory guy wire mechanism (9) through a laser support, the output in fifth slip table (7) is fixed to the other end of the connecting plate of acting as go-between (301) of first rotatory guy wire mechanism (9), the output in sixth slip table (8) is fixed to the other end of the connecting plate of acting as go-between (301) of the rotatory guy wire mechanism (10) of second.
4. The robot for winding the integrated intelligent main and auxiliary pole coils according to claim 1, wherein the winding power unit (3) comprises a U-shaped winding support (31), a winding driving motor (32), a thrust cylinder (33), a slope expansion shaft (34) and a guide mandrel (35), the winding support (31) is arranged at the output end of the second sliding table (2), the winding driving motor (32) is arranged at the bottom of the winding support (31), the thrust cylinder (33) is arranged at one end of the winding support (31), the slope expansion shaft (34) rotates to penetrate through the other end of the winding support (31), one end of the slope expansion shaft (34) rotates to be connected with the output end of the thrust cylinder (33), the output end of the winding driving motor (32) is in transmission connection with the slope expansion shaft (34) through a gear set, the guide mandrel (35) is sleeved at the other end of the slope expansion shaft (34), be equipped with kicking block (36) along circumference between inclined plane expansion axle (34) and direction dabber (35), be connected with reset spring (37) between kicking block (36) and direction dabber (35), kicking block (36) can pass under the effect of inclined plane expansion axle (34) and lead dabber (35) and outwards stretch out.
5. The integrated intelligent main and auxiliary pole coil winding robot as claimed in claim 1, further comprising a feeding mechanism (40), wherein the feeding mechanism (40) is used for conveying a bobbin of a coil to be wound; the feeding mechanism (40) comprises a feeding groove, and a feeding station convenient for the winding power unit (3) to extract the framework is arranged at one end of the feeding groove.
6. The integrated intelligent main and auxiliary pole coil winding robot is characterized by further comprising a wire supply mechanism (50) used for supplying a wire, wherein the wire supply mechanism (50) comprises a winding arm, a wire outlet nozzle with a backstop effect and a wire tensioning wheel, the winding arm is connected to a frame platform (4), the wire outlet nozzle is embedded in the winding arm, and the wire tensioning wheel is rotatably connected to the winding arm.
7. The integrated intelligent main and auxiliary pole coil winding robot as claimed in claim 1, further comprising a discharge chute (60) for transferring the bobbin of the completed coil out of the working area.
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| CN202010070911.7A CN111145999B (en) | 2020-01-21 | 2020-01-21 | Integrated intelligent main and auxiliary pole coil winding robot |
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|---|---|---|---|
| CN202010070911.7A CN111145999B (en) | 2020-01-21 | 2020-01-21 | Integrated intelligent main and auxiliary pole coil winding robot |
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| CN111145999A CN111145999A (en) | 2020-05-12 |
| CN111145999B true CN111145999B (en) | 2022-02-25 |
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| CN113192750B (en) * | 2021-05-31 | 2022-07-22 | 合泰盟方电子（深圳）股份有限公司 | Automatic winding mechanism and winding method for inductance coil |
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