CN111933437A

CN111933437A - Automatic pin inserting device for mutual inductor shell

Info

Publication number: CN111933437A
Application number: CN202010755475.7A
Authority: CN
Inventors: 李向东; 马玉峰
Original assignee: Ziboke Microelectronics Co ltd
Current assignee: Ziboke Microelectronics Co ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2020-11-13
Anticipated expiration: 2040-07-31
Also published as: JP2023536204A; WO2022022083A1; CN111933437B

Abstract

The invention relates to the field of automation equipment, in particular to automatic production equipment for a current transformer. The invention comprises a pin track, a shell track, a pin manipulator and a controller. The grabbing mechanism of the contact pin manipulator grabs L-shaped contact pins scattered on a contact pin feeding device at the discharge end of the contact pin track, then moves to the upper part of the mutual inductor shell clamped by the shell fixing device at the discharge end of the shell track and inserts the L-shaped contact pins into the jack of the mutual inductor shell. The problem of in the present production technology, the contact pin of mutual-inductor pin mainly adopts artifical inserted mode to carry out that the installation effectiveness is low, the yield is low simultaneously to the occupational disease injury that the labour personnel caused is solved.

Description

Automatic pin inserting device for mutual inductor shell

Technical Field

The invention relates to the field of automation equipment, in particular to an automatic pin inserting device for a mutual inductor shell.

Background

In the production process of the small current transformer, a first contact pin needs to be inserted into a shell of the transformer to lead out a coil wire inside the shell of the transformer, so that external wiring is facilitated. In the current production process, the installation is mainly carried out in a manual insertion mode. Because the contact pin has the small, common L shape contact pin, and the effect of about 1cm of length of both sides and both sides length of side are different, because the contact pin is less, the jack of mutual-inductor casing is equally less, consequently in the in-process of production, very expend energy, especially be absorbed in for a long time and form visual fatigue, damage eyesight with the contact pin jack to eyes. Meanwhile, a certain force is applied to insert the contact pin into the jack of the shell of the mutual inductor, so that the operation of the contact pin is also damaged to the operating hand of a worker through pure manual operation or operation by means of an auxiliary appliance made of hard materials. Besides the damage to the labor personnel, the wire is easy to be led out, the insertion force is not enough, the insertion edge is wrong, and the like, so that the efficiency is low, and the yield is not high. Therefore, it is an urgent requirement to design an automatic device for automatic pin insertion of the mutual inductor jack.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the automatic pin inserting device for the mutual inductor shell is rapid, efficient and labor cost-saving.

The technical scheme of the technical problem to be solved by the invention is as follows: the utility model provides an automatic pin inserting device of mutual-inductor casing, includes the support body, its characterized in that: the frame body is provided with a pin track, a shell track, a pin manipulator and a controller.

The pin feeding device is arranged at the pin track discharging end and used for dispersing the L-shaped pins which are arranged closely; the shell track and the contact pin track are arranged in parallel, and a shell fixing device is arranged at the output end of the shell track; the pin inserting mechanical arm is arranged at the pin inserting rail and the discharge end of the shell rail; the controller is electrically connected with the pin manipulator, the pin track and the shell track; the pin inserting mechanical arm comprises a two-dimensional motion platform and a grabbing mechanism, wherein the two-dimensional motion platform is vertically arranged, and the grabbing mechanism is arranged on the two-dimensional motion platform; the grabbing mechanism of the contact pin manipulator grabs the L-shaped contact pins scattered on the contact pin feeding device, then moves to the upper part of the mutual inductor shell clamped by the shell fixing device and inserts the L-shaped contact pins into the jack of the mutual inductor shell.

Preferably, the pin feeding device of the pin track comprises: the pin bearing plate is arranged on the lower sliding part and comprises a lower sliding part, a pin bearing plate and a linear driving module. The lower sliding part is bent downwards along the contact pin track main body, and the end surface of the lower end of the lower sliding part is a horizontal plane; the upper plane of the pin bearing plate is attached to one part of the lower end face of the downward sliding part, and a pin clamping groove is formed in one end, close to the pin manipulator, of the upper plane; the linear driving module drives the contact pin bearing plate to do reciprocating linear motion in the length direction of the contact pin bearing plate so as to separately assemble the L-shaped contact pins which are tightly arranged in the contact pin track into the contact pin clamping grooves; the housing fixing device of the housing rail includes: the first clamping device, the second clamping device and the first sorting device. The first clamping device and the second clamping device are arranged in parallel along the shell track, and the second clamping device is close to the end part of the discharge end of the shell track; the first sorting device is used for moving the mutual inductor shell out of the corresponding position of the second clamping device; after the second clamping device acts, the mutual inductor shell is fixed on the shell track, and at the moment, the jack on the mutual inductor shell is positioned on the extension line in the length direction of the contact pin clamping groove; before the first sorting device acts, the first clamping device acts and fixes a transformer shell before the transformer shell with the pins inserted; the first clamping device is an electric push rod or a pneumatic push rod, a movable push rod of the first clamping device is vertically overlapped with a shell track, and the movable push rod is fixed by extruding the shell of the mutual inductor after falling; and a vacuum suction head is arranged on the grabbing mechanism of the pin manipulator and moves between the mutual inductor shell jack fixed by the second clamping device and the pin clamping groove.

Preferably, the second clamping device is provided with a pressing device at the rear part, and the pressing device comprises: the press block fixing frame, the sliding press block, the press block driving mechanism, the baffle and the second sorting device. The pressing block fixing frame is fixedly connected with the shell track. The sliding press block is connected with the press block fixing frame in a sliding mode in the vertical direction and is overlapped with the shell track up and down; the press block driving mechanism drives the sliding press block to move up and down; the baffle is connected with the shell track or is in sliding connection with the side face of the sliding pressing block, and the side face is perpendicular to the shell track; and the second sorting device is used for moving the transformer shell which is subjected to the crimping again out of the shell track.

Better, contact pin loading board upper portion plane is equipped with two contact pin draw-in grooves: the distance between the two contact pin clamping grooves is the same as that between the jacks on the mutual inductor shell; correspondingly, two vacuum suction heads or two groups of vacuum suction heads are arranged on the grabbing mechanism of the pin inserting mechanical arm; and a plugging device is arranged at the lower part of the contact pin track and comprises a plugging stop block and a plugging stop block driving device. The plugging stop block is arranged in parallel with the pin bearing plate in the length direction, the side face of the plugging stop block is attached to the side face of the pin bearing plate, and the upper plane of the plugging stop block is attached to one part of the bottom face of the downward sliding part to prevent the L-shaped pins from sliding down; and the plugging stop block driving device drives the plugging stop block to move up and down, and when the plugging stop block moves down, the upper end surface of the plugging stop block and the lower end surface of the lower sliding part are separated to block the track port of the contact pin.

Preferably, the mutual inductor shell enters from the feeding end of the shell track and flows to the discharging end through the first clamping device and the second clamping device, the discharging end is the front side, and the feeding end is the rear side; the first sorting device and the second sorting device are air nozzles; the first sorting device is arranged at the rear part of the second clamping device, and the length direction of the air nozzle points to the lower part of the second clamping device; the second sorting device is arranged at the rear part of the pressing device, and the length direction of the air nozzle points to the lower part of the sliding pressing block of the pressing device and is used for blowing the pressed mutual inductor shell away from the shell track; or the first sorting device and the second sorting device are electric push rods or pneumatic push rods, and the first sorting device and the second sorting device are arranged on the side surface or the bottom surface of the shell track.

Preferably, the device further comprises a detection device electrically connected with the controller; the detection device is a correlation grating;

the detection device is arranged along the pin track and the shell track and used for detecting and positioning the L-shaped pins on the pin track and the mutual inductor shell on the shell track.

Better, still be equipped with vibration mechanism, vibration mechanism drive contact pin track is vibration from beginning to end for realize that the contact pin removes to the discharge end.

Preferably, the pin track comprises a rectangular rod and a cover plate arranged in parallel around the side face of the rectangular rod, and a gap between the baffle and the rectangular rod forms a track;

preferably, the rectangular bar is arranged to be inclined in the cross-sectional direction.

A control method of an automatic pin inserting device of a mutual inductor shell is characterized by comprising the following steps:

the linear driving module drives the contact pin bearing plate to do reciprocating linear motion so as to take out the contact pin in the contact pin track and place the contact pin in a position convenient for the contact pin manipulator to grab;

when the contact pin loading board is provided with a contact pin clamping groove:

the pin bearing plate moves towards the end part of the downward sliding part, and the pin bearing plate seals an outlet at the end part of the downward sliding part in the movement process;

when the vacant pin clamping groove moves to the position of the L-shaped pin outlet of the downward sliding part, the L-shaped pin in the downward sliding part of the pin track falls into the pin clamping groove;

then, reversely running, and moving the pin bearing plate provided with the L-shaped pins to a position close to the pin manipulator;

preferably, the linear driving module drives the pin bearing plate to do reciprocating linear motion so as to take out the pins in the pin track and place the pins at positions convenient for the pin manipulator to grab;

when the contact pin loading board is equipped with two contact pin draw-in grooves:

the pin bearing plate moves towards the end part of the downward sliding part, and the pin bearing plate and the plugging device plug an outlet at the end part of the downward sliding part in the movement process;

when the two vacant contact pin clamping grooves move to the other side of the position of the L-shaped contact pin outlet of the lower sliding part, the blocking stop block of the blocking device moves downwards to remove the blocking of the outlet on the lower end face of the lower sliding part, and at the moment, only the middle insertion pin bearing plate blocks the outlet on the end part of the lower sliding part;

afterwards, the reverse operation, the contact pin loading board that will place L shape contact pin removes the position that is close to the contact pin manipulator, and the in-process that removes, two contact pin draw-in grooves are through the L shape contact pin exit position of gliding part, and L shape contact pin falls into inside two contact pin draw-in grooves in proper order.

Preferably, the controller detects the position of the mutual inductor shell through the detection device, and when the position of the jack on the mutual inductor shell is coincident with the position of the L-shaped contact pin, the controller controls the second clamping device to fix the mutual inductor shell;

the controller controls the grabbing mechanism to horizontally move to the upper part of the position of the contact pin clamping groove, and the controller controls the grabbing mechanism to move downwards to enable the vacuum suction head to suck the contact pin;

the controller controls the grabbing mechanism to move above the position of the mutual inductor shell, and the L-shaped contact pin and the mutual inductor shell jack are overlapped in the vertical direction;

the controller controls the grabbing mechanism to move downwards, and the L-shaped contact pin is inserted into the jack of the mutual inductor shell;

after the contact pin is completed, the controller controls the first clamping device to clamp the mutual inductor shell which is close to the rear side of the mutual inductor shell with the contact pin completed, then controls the second clamping device to remove clamping on the shell with the contact pin completed, and finally the controller starts the first sorting device and ejects the shell out of the clamping position of the second clamping device through the air nozzle.

Preferably, the mutual inductor shell with the completed contact pin is blown to the lower part of the pressing device by the first sorting device, the pressing device is controlled by the controller to press the L-shaped contact pin again, and then the second sorting device is controlled to blow the mutual inductor shell out of the shell track.

The invention has the beneficial effects that:

1. the labor input is reduced, and meanwhile, the damage to the health of workers is reduced;

2. the efficiency of the contact pin is improved.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention

FIG. 2 is a schematic diagram of the connection of an embodiment of the present invention with a pin vibration plate and a shell vibration plate

FIG. 3 is a top view of an embodiment of the present invention

FIG. 4 is a schematic view of the pin track discharge end of an embodiment of the present invention

FIG. 5 is a schematic view of the pin track discharge end of an embodiment of the present invention

FIG. 6 is a side view of the pin track discharge end of one embodiment of the present invention

FIG. 7 is a schematic view of the pin track discharge end of an embodiment of the present invention

FIG. 8 is a schematic view of the discharge end of the housing rail of one embodiment of the present invention

FIG. 9 is a schematic view of the discharge end of the housing rail of one embodiment of the present invention

FIG. 10 is an enlarged view of the housing track discharge end and pin track discharge end of one embodiment of the present invention

FIG. 11 is a schematic view of a housing fixing device and a pressing device on a housing rail according to an embodiment of the present invention

In the figure:

622. a clamping block; 621. a clamping cylinder; 400d, a shell detection device to be plugged; 400c, a slide position detection device; 400b, a pin discharging detection device; 400a, a pin shortage detection device; 100. a frame body; 752. a driving device for the blocking stopper; 751. blocking the stop block; 750. a plugging device; 740. a vibration mechanism; 645. a second sorting device; 646. discharging the material box; 643. a briquette drive mechanism; 642. sliding a pressing block; 641. a press block fixing frame; 640. a pressing device; 530. a vacuum suction head; 520. a plug-in lever drive device; 510. a plug rod; 630. a first sorting device; 620. a second holding device; 610. a first holding device; 730. a linear driving module; 721. a pin clamping groove; 720. a contact pin bearing plate; 710. a down slide part; 500. inserting a pin manipulator; 600. a housing track; 700. inserting a pin track; 800. a shell vibrating disk; 644. a baffle plate; 900. inserting a pin vibrating disc;

Detailed Description

In order to make the technical solution and the advantages of the present invention clearer, the following explains embodiments of the present invention in further detail.

As shown in fig. 1, the automatic pin inserting apparatus for a transformer shell includes a frame body 100, a pin vibrating plate 900 and a shell vibrating plate 800. The frame body 100 is used for mounting each component and can be built by aluminum-plastic profiles. The vibration disc is also called as a rotary vibration disc, is an auxiliary device of an automatic assembly machine, and can orderly discharge various products. The automatic assembling machine can be matched with automatic assembling equipment to assemble all parts of a product into a complete product. The invention adopts a rotary vibration disc to realize the sequencing of pins and shells, and then the pins and the shells are input into the pin track 700 and the shell track 600 of the device.

An operation platform is arranged on the upper portion of the frame body 100, and a pin rail 700 and a housing rail 600 are arranged on the operation platform of the frame body 100. The pin track 700 includes a feed end and a discharge end, and the feed end of the pin track 700 is connected to the output end of the pin vibration plate 900. The housing track 600 is disposed parallel to the pin track 700, and the housing track 600 also includes a feed end and a discharge end. The feed end of the housing rail 600 is connected to the output end of the housing vibratory plate 800. The pin inserting mechanical arm 500 is arranged at the discharging ends of the pin inserting rail 700 and the shell rail 600, and when the L-shaped pins and the mutual inductor shell respectively reach the discharging ends of the pin inserting rail 700 and the shell rail 600, the pin inserting mechanical arm 500 grabs the L-shaped pins and inserts the L-shaped pins into the jacks of the mutual inductor shell. The automatic control device is also provided with a controller and a detection device, wherein the detection device is used for detecting whether the contact pin and the mutual inductor shell reach the set position or not, and if the contact pin and the mutual inductor shell reach the set position, corresponding operation is carried out according to the set program. The shell track 600 is provided with a sliding groove with the width being the same as the length of the mutual inductor shell as the track of the mutual inductor shell.

To achieve automatic control, the pin vibration plate 900, the housing vibration plate 800, the pin manipulator 500, the pin track 700, and the housing track are electrically connected to the controller. The device is connected with an air source or a negative pressure air source through a pneumatic valve, the air source or the negative pressure air source can be further arranged in the embodiment, and a controller is electrically connected with the air source and the negative pressure air source and is also electrically connected with the pneumatic valve to realize pneumatic control. Or, in this embodiment, a main interface of the air source and the negative pressure air source is provided, and the main interface is connected with an external air source and a negative pressure air source.

The pin track 700 is disposed on the frame 100. The pin track 700 is provided with L-shaped through holes as a track for the L-shaped pins.

To facilitate maintenance and repair, the pin track 700 is configured as a modular type, including a rectangular bar track and a cover plate disposed on the upper portion of the rectangular bar, the cover plate being disposed on the side of the rectangular bar adjacent to the housing track 600. An L-shaped gap is formed between the upper cover plate and the side cover plate and the rectangular rod so as to limit the moving range of the L-shaped contact pin. A gap is arranged between the cover plate at the upper part and the cover plate at the side surface, so that the operation condition of the contact pin and the detection of the contact pin are convenient to detect. The rectangular rods and the cover plate of the pin track 700 can be mounted on the frame body through the bracket.

The L-shaped contact pins are right-angled, one side of each L-shaped contact pin is lapped on the upper plane of the rectangular rod, and the other side of each L-shaped contact pin is lapped on the side face, close to the shell track 600, of the rectangular rod. Preferably, in order to realize the bearing of the L-shaped pin and prevent the L-shaped pin from sliding off, as shown in the figure, the track is set in an inclined state. The upper side of the rectangular section is an inclined side when the section of the rectangular rod is seen, and the side of the rectangular rod which is positioned at the uppermost part is propped against the middle part of the L-shaped contact pin, so that the stability of the L-shaped contact pin can be effectively ensured.

In order to realize the inclination of the advancing pin track 700 of the pin from the feeding end to the discharging end, a vibration mechanism 740 is provided, the cover plate of the pin track 700 can be connected with the fixed part of the vibration mechanism, and the rectangular rod is connected with the vibration part of the vibration mechanism.

As shown in the drawing, the vibration mechanism 740 is provided on the frame body, and since the vibration mechanism 740 is provided with a motion mechanism, a protective case is provided outside thereof in order to ensure safety. The vibration mechanism may be driven by a cam or by an electric or pneumatic telescopic mechanism. When adopting cam mechanism to set up, vibration mechanism is equipped with a driving motor, the periphery and the vibration axle butt of cam, perhaps the cam is the positive polytropic through the fillet processing. The vibration shaft is inserted in the vibration sliding hole or the vibration track, and a spring is arranged between the vibration shaft and the end part of the vibration sliding hole or the vibration track and used for realizing the reset of the vibration shaft. The cam is connected with a rotating shaft of the driving motor, and when the cam rotates, the vibrating shaft is driven to do reciprocating linear motion. When the vibration mechanism 740 is realized by adopting a telescopic mechanism, the vibration shaft driven by an electric motor or an air cylinder is popped up, and the vibration shaft driven by a spring is recovered to realize reciprocating motion.

Because the electric drive is adopted and the electromagnetic coils are arranged, the current is greatly changed in the process of electrifying and powering off, and more harmonic waves are generated, so that the requirement on equipment is high, and the linear motion part is pneumatically driven in the embodiment. The controller controls the compression pump to work, or the equipment is provided with a negative pressure air source and a positive pressure air source.

The vibration axis of the vibration mechanism 740 has the same longitudinal direction as the pin track 700, and the vibration direction is the same as the longitudinal direction. The vibration shaft of the vibration mechanism 740 is connected to the rectangular bar of the pin track 700 to realize vibration of the rectangular bar. Meanwhile, in order to ensure the vibration range of the rectangular bar, a gap is formed between the pin track 700 and the end of the output track of the pin vibrating plate 900. When the two are abutted, the pin on the pin vibrating plate 900 can slide to the pin track 700, and when the two are separated, the forward movement of the pin can be realized in a vibration mode.

As shown in fig. 4, the end of the input end of the pin track 700 is provided with a detection device, which is a pin starvation detection device 400 a. The detection device is a correlation grating or an infrared correlation module. The cover plate on the upper part of the rectangular rod in fig. 4 is provided with a gap for passing light. And opposite light gratings are arranged at the upper part and the lower part of the gap for detection. And when the absence of the contact pin on the rectangular rod track is detected, controlling the rectangular rod track to be in butt joint with the output track of the contact pin vibration disc to receive the contact pin.

L shape contact pin closely arranges when rectangular pole upper portion, and it is higher to the required precision of equipment to adopt the manipulator to snatch, can improve the cost of product, has consequently set up contact pin discharging device at contact pin track 700's output.

The pin discharging apparatus includes a down slide 710, a pin carrier 720, and a linear driving module 730.

As shown, the lower slide has a downwardly extending portion of the body of the pin track 700. The downslide 710 curves downward along the pin track 700 body and has a horizontal face at its end. The lower sliding part 710 is provided therein with an L-shaped slot hole, or with a rectangular bar and upper and side cover plates. Preferably, in order to facilitate the stable arrangement of the pins, the end of the lower sliding part is provided with an L-shaped sliding groove as a track. The L-shaped sliding slot of the horizontal portion of the downslide 710 interfaces with the gap enclosed by the rectangular bar and the cover plate of the pin track 700 body. And realizing the connection of the tracks. The end surface of the lower end of the down slide portion 710 is a flat surface.

The linear driving module 730 is driven by a cylinder and comprises a cylinder, a sliding track and a sliding table. The cylinder sets up on the platform on support body upper portion, cylinder and support body fixed connection. The sliding track is arranged on the platform at the upper part of the frame body along the direction of the push rod of the air cylinder. The sliding table is connected with the sliding track in a sliding mode, and the free end of the cylinder push rod is fixedly connected with the sliding table. The pin carrier plate 720 is disposed on the sliding table. The pin carrier 720 is a long flat cube, and the length direction thereof is the same as the length direction of the sliding rail. The flat surface of the pin carrier plate 720 is a vertical surface, and the upper surface is a rectangular strip. The upper plane of the pin carrier plate 720 is attached to the lower end surface of the down-slide part, and the two can slide relatively.

The upper plane of the pin carrier 720 is provided with a pin slot 721 for placing a pin. When the pin engaging groove 721 slides on the lower end surface of the lower slide portion, the pin engaging groove coincides with the L-shaped groove of the lower end surface of the lower slide portion 710, and the pin inside the L-shaped groove falls into the pin engaging groove.

In order to detect whether the lower sliding part 710 has enough pins, detecting devices are arranged on two sides of the lower sliding part, and the detecting device is a pin discharging detecting device 400 b. When the situation that the contact pin is insufficient is detected, the vibration device is started in time to feed materials, or the shutdown operation is carried out, and the mutual inductor shell without the contact pin is prevented from entering a finished product area.

Since the movement trace of the slider of the linear driving module 730 is defined, the position of the stop thereof is fixed, that is, the end position is fixed, so that the position of the pin slot 721 can be determined. But the influence of the operation of equipment self and external factor, its position can change, leads to unable the grabbing contact pin because of the position changes for prevent to get the contact pin, and then leads to the mutual-inductor casing of not contact pin to get into the finished product district. A slider position detection device 400c is provided at a position of the slider near the pin manipulator 500 to ensure that the slider is accurately in place. When the position of the sliding block deviates, the correction is prompted in time.

The shell of the mutual inductor in the prior art is generally provided with two jacks, so that one pin clamping groove can be arranged, and then the operation of the pin manipulator 500 is realized by limiting the stop position of the pin clamping groove 721 to correspond to the position of the jack of the shell of the mutual inductor.

Preferably, two pin slots are designed, and the distance between the two pin slots 721 is the same as the distance between the two jacks on the transformer housing. At this time, when the pin slot 721 passes through the lower outlet of the downward sliding part 710, the pin slot 721 already containing the pin is likely to be jammed, so a blocking device 750 needs to be designed to realize the sliding of the pin on the unidirectional motion track of the two pin slots on the pin bearing plate 720 in the direction of sliding to the pin manipulator 500. When the device runs in the reverse direction, the pin outlet at the lower end of the lower slide part 710 is blocked. A blocking device 750 is therefore provided below the pin track 700. As shown, the plugging device 750 includes a plugging stopper 751 and a plugging stopper driving device 752. The blocking stopper 751 is of a flat plate structure and is rectangular and long, and the width of the contact pin bearing plate 720 and the width of the blocking stopper 751 are both smaller than the length of a single side of a contact pin. The blocking stopper 751 is disposed in parallel with the pin carrier plate 720 in a length direction and has a side surface attached to a side surface of the pin carrier plate 720. The upper plane of the blocking stopper 751 abuts against a part of the bottom surface of the lower slide 710 to prevent the L-shaped pin from sliding off. The blocking stoppers 751 are flush with and arranged side by side with the upper end surface of the pin carrier plate 720 and block the outlet of the lower end surface of the lower slider 710. And the blocking stopper driving device 752 drives the blocking stopper 751 to move up and down, the blocking stopper 751 moves down, and the upper end surface of the blocking stopper 751 and the lower end surface of the lower sliding part 710 are separated to block the end of the pin track 700. When the pin slot 721 of the pin carrier 720 is dropped into the pin, one side of the pin is attached to the side of the pin carrier 720 and the other side is embedded in the pin slot. The other side of the pin protrudes out of the pin slot. The width of the pin carrier plate 720 and the blocking stopper 751 are arranged in parallel and can slide up and down relatively. The upper plane of the blocking stopper 751 is attached to the bottom surface of the lower slide 710, so even if the pin slot 721 slides to the bottom of the lower slide 710 and corresponds to the outlet of the lower slide 710, the pin will not fall into the pin slot under the action of the blocking stopper. When the pin loading plate 720 moves in the direction of the pin guide 700 from the direction of the pin manipulator, the stopper driving device 752 drives the stopper 751 to separate from the lower slide 710. The plugging stopper 751 is attached to the lower end face of the lower sliding part 710, so that the pins are plugged and prevented from falling, and the two pin clamping grooves still keep a plugging state after passing. When the pin carrier 720 moves from the direction of the pin track 700 to the direction of the pin manipulator, the blocking stopper 751 descends, the upper plane of the blocking stopper 751 is separated from the lower end face of the down slide 710, and at this time, two pins sequentially pass through the lower end face of the down slide 710 and then sequentially fall into the pin slot 721. At this time, after the pin falls into the return process, when the pin manipulator 500 is moved to the pin slot, the pin in the downward sliding part 710 may continuously fall into the pin slot but cannot completely fall into the pin slot, so that the pin can be prevented from being jammed. The blocking stop drive 752 of the blocking device 750 is still implemented as a pneumatic cylinder. The cylinder and the frame body or the contact pin track are fixedly connected, the sliding direction of the push rod of the cylinder is the up-down direction, and the end part of the push rod of the cylinder is fixedly connected with the blocking stop 751.

The shell track 600 is provided with a sliding groove with the width being the same as the length of the mutual inductor shell as the track of the mutual inductor shell. The transformer housing is arranged inside the chute and slides inside. And the end of the transformer housing provided with the receptacle faces the pin track 700. As shown, the housing rail 600 is a sliding groove, which is mounted on the frame body through a bracket. At the end of the chute are a first clamping device 610, a second clamping device 620 and a hold-down device 640.

The first clamping device 610 and the second clamping device 620 are used for achieving fixing of the transformer shell. The first clamping device 610 and the second clamping device 620 have the same structure, and can be realized by an electric push rod or a pneumatic push rod. The first clamping device 610 and the second clamping device 620 in this embodiment use pneumatic push rods, and include a clamping cylinder 621 and a clamping block 622. The clamping block is located on the upper portion of the sliding groove of the shell track 600, and the clamping block is fixedly connected with the free end of the push rod of the clamping cylinder. The moving direction of the clamping push rod is the up-down direction. When the mutual inductor reaches the lower part of the first clamping device or the second clamping device, the push-out air valve of the air cylinder is opened, the push rod is pushed out, and the clamping block presses the mutual inductor shell positioned at the lower part of the clamping block, so that the fixation of the position of the mutual inductor shell is realized, and the needle inserting operation is facilitated. One end of the shell of the mutual inductor, which is provided with the jack, faces the contact pin track, and the clamping block is pressed at the end of the shell of the mutual inductor, which is not provided with the jack. The clamping cylinder is fixed on the upper part of the frame body through a bracket.

In order to detect the position of the instrument transformer, as shown in the drawing, a device to be inserted into the hole housing detection 400d is provided in front of the second holding device 620. The structure of the device is the same as that of the detection device, and the device is realized by adopting a grating correlation module.

After the mutual inductor shell reaches the position of the to-be-plugged hole, the clamping block of the second clamping device 620 falls to clamp the mutual inductor shell, and after the mutual inductor shell is clamped, the shell inside the shell rail 600 stops flowing, and at the moment, the pin inserting operation is carried out. After the pin is inserted, the transformer shell with the pin needs to be moved out, and the transformer shell is moved into a flat area or moved into the position of the next working procedure. The function of the first sorting device 630 is to remove the transformer housing that completed the pins. As shown, the first sorting device 630 is an air nozzle. The air nozzle is connected with the positive pressure air source through an electric control air valve, the air nozzle is a slender tube, and the tube opening of the air nozzle faces the lower part of the second clamping device 620. When the instrument transformer housing needs to be removed, the first clamping device 610 clamps one instrument transformer housing before the instrument transformer housing where the pin is completed, then the second clamping device 620 is released, and then the air nozzle is started to blow the instrument transformer housing at the lower part of the second clamping device 620 away. Finally, the first holding device 610 is released to continue the pin insertion process.

As shown, the first and second clamping devices are juxtaposed in the longitudinal direction of the housing rail 600, the first clamping device 610 is located at the rear of the second clamping device 620, and the pressing device 640 is located at the front of the second clamping device 620.

The pressing device is optional, and the main function of the pressing device is to ensure that the contact pin is completely inserted into the jack of the shell of the mutual inductor.

The pressing device 640 includes a pressing block fixing frame 641, a sliding pressing block 642, and a pressing block driving mechanism 643. The pressing block fixing frame 641 is fixedly connected with the casing rail 600. The sliding pressing block 642 is connected with the pressing block fixing frame 641 in a sliding mode in the vertical direction, and the sliding pressing block 642 is overlapped with the sliding groove of the shell thigh. The press block driving mechanism 643 drives the slide press block 642 to move up and down.

Baffle 644 is attached to housing track 600 or slidably attached to the side of sliding press 642 that is perpendicular to the housing track. As shown in fig. 11, a baffle 644 is fixedly connected to the end of the housing rail 600, and the baffle stands in the middle of the chute to block the transformer housing. After blocking, the sliding press block 642 descends to press the pins.

When the baffle is in sliding connection with the side face of the sliding pressing block 642, the sliding pressing 642 descends to press the contact pins, the sliding pressing block is abutted against the shell rail 600 to block the transformer shell, and then the sliding pressing 642 is lifted to complete the pressing process. Then the baffle plate continuously rises, and the baffle plate rises along with the baffle plate and releases the blocking of the transformer shell. The compacted transformer housing can then be moved by a second sorting device 645 to a finished product area. At the moment, a rectangular ring can be arranged on the side surface of the sliding pressing block 642, the baffle 644 is T-shaped and is inserted into the rectangular ring, the baffle 644 can be driven to ascend simultaneously when the sliding pressing block ascends to a certain height, the baffle descends along with the sliding pressing block 642 after the sliding pressing block 642 descends, and the lower end of the baffle 644 can be contacted with the shell rail and then the sliding pressing block 642 can continuously descend to press the shell of the transformer.

Alternatively, the baffle 644 is disposed on one side of the chute through a separate mechanism, and when the mutual inductor needs to be compressed, the baffle 644 pops out and blocks the mutual inductor transversely in the middle of the chute.

The second sorting device 645 may be an air nozzle, through which air is blown away from the transformer housing. Because the mutual-inductor casing is the plastics material, weight is lighter, is fit for the mode of blowing off. Or the electric push rod is adopted to push away the sliding groove.

As shown in the figure, a discharging box 646 is connected to an end of the discharging end of the casing rail 600, and the discharging box 646 introduces the transformer casing separated from the casing rail 600 into a finished product collecting device such as a collecting box.

The pin inserting manipulator 500 comprises a two-dimensional motion platform and a grabbing mechanism, wherein the two-dimensional motion platform is vertically arranged, and the grabbing mechanism is arranged on the two-dimensional motion platform. As shown in the figure, the two-dimensional platform comprises a horizontal moving platform arranged on the frame body, a vertical moving platform arranged on the horizontal moving platform, and a grabbing mechanism arranged on the vertical moving platform. The horizontal moving platform and the vertical moving platform are linear motion mechanisms, and belong to the technology commonly used in the prior art. A vacuum suction head 530 is provided on the gripping mechanism of the pin manipulator 500. The contact pin is absorbed through the mode of vacuum adsorption in this application. And then inserted into the jack of the transformer housing. When the second clamping device 620 clamps the transformer shell, the connection line between the jack on the transformer shell and the pin slot 721 is parallel to the horizontal moving direction of the grabbing mechanism. At this time, the vacuum suction head moves to the position of the pin clamping slot 721, descends to suck the pin, and then moves to the upper part of the jack of the transformer housing, and since the direction of the horizontal movement of the vacuum suction head 530 is parallel to the line connecting the jack of the transformer housing and the pin clamping slot, the jack of the pin can be realized through the precision setting. At present, the pin is larger than 1 mm, the jack is slightly smaller than the pin, and the precision of the two-dimensional motion platform can easily realize accurate positioning.

Preferably, the vacuum suction head 530 is a cube, a suction hole is formed in the middle of the cube, and the upper end of the suction hole is connected with an external negative pressure air source through an electric air valve. The both sides in the hole are inhaled to the lower part of cube are equipped with the spout, and spout inside is equipped with prevents empting the piece. The anti-toppling block is connected with the sliding groove in a sliding mode and slides in the up-and-down direction. The inboard upper and lower direction of spout is equipped with the constant head tank, prevents empting the piece and sets up spacing arch in the position that corresponds, and spacing arch is pegged graft in the inside of constant head tank, and the constant head tank is used for injecing prevents empting the piece landing. The anti-toppling block plays a role in preventing the pins from tilting in the process of grabbing and inserting the pins. In particular, the method comprises the following steps of,

the anti-falling block can be completely inserted into the sliding groove, the lower plane of the anti-falling block is flush with the lower plane of the vacuum system, and the contact pin can be sucked by the suction hole at the moment. The suction hole is formed between the two square dumping blocks, the gap between the two anti-dumping blocks is slightly larger than the outer diameter of the L-shaped contact pin, after the contact pin is sucked, the vacuum suction head 530 ascends, the anti-dumping blocks slide downwards under the action of gravity, and then a blocking surface is formed on two sides of the L-shaped contact pin, so that the L-shaped contact pin can be prevented from inclining. Because the blocking L-shaped contact pin with the two anti-falling blocks can keep a vertical state when the contact pin is inserted, and meanwhile, the anti-falling blocks are blocked by the shell of the mutual inductor to ascend in the descending process of the vacuum suction head, the contact pin cannot be influenced. Meanwhile, in the grabbing process, the L-shaped contact pin cannot be sucked under the influence of the resistance rise of the contact pin bearing plate 720.

Based on the structure, the method using the device comprises the following steps:

step A, the linear driving module 730 drives the pin bearing plate 720 to do reciprocating linear motion so as to take out the pins in the pin track 700 and place the pins at positions convenient for the pin manipulator 500 to grab;

with one pin slot 721:

the pin bearing plate 720 moves toward the end of the lower slider 710, and the pin bearing plate 720 seals the outlet of the end of the lower slider 710 during the movement.

When the vacant pin slot 721 moves to the position corresponding to the L-shaped pin exit of the lower slide 710, the L-shaped pin inside the lower slide 710 of the pin track 700 falls into the pin slot 721;

thereafter, the reverse operation moves the pin carrier plate 720, on which the L-shaped pins are placed, to a position close to the pin robot 500.

When two pin pockets 721 are provided:

the pin bearing plate 720 moves towards the end of the downward sliding part 710, and the pin bearing plate 720 and the plugging device 750 plug the outlet at the end of the downward sliding part 710 in the movement process;

when the two vacant pin slots 721 move to the other side of the L-shaped pin outlet of the lower slide 710, the blocking stopper 751 of the blocking device 750 moves downward to unblock the outlet on the lower end face of the lower slide 710, and at this time, only the middle pin bearing plate 720 blocks the outlet on the end of the lower slide 710;

thereafter, the reverse operation is performed, the pin loading plate 720 with the L-shaped pins placed thereon is moved to a position close to the pin manipulator 500, and in the moving process, the two pin slots 721 sequentially fall into the two pin slots 721 through the L-shaped pin exit positions of the down-slide 710.

Step B, the controller detects the position of the shell of the mutual inductor through the detection device, and when the position of the jack on the shell of the mutual inductor is superposed with the position of the L-shaped contact pin, the controller controls the second clamping device 620 to fix the shell of the mutual inductor;

the controller controls the grabbing mechanism to move horizontally to the upper part of the position of the pin clamping slot 721, and the controller controls the grabbing mechanism to move downwards so that the vacuum suction head 530 sucks the pins;

after the pins are inserted, the controller controls the first clamping device 610 to clamp the transformer housing next to the rear side of the transformer housing where the pins are inserted, then controls the second clamping device 620 to release the clamping of the housing where the pins are inserted, and finally, the controller starts the first sorting device 630 to eject the housing out of the clamping position of the second clamping device 620 through the air nozzle.

In the step B, the first sorting device 630 blows the mutual inductor shell with the completed contact pins to the lower part of the pressing device 640, the controller controls the pressing device to press the contact pins, and after the contact pins are pressed, the controller controls the second sorting device to blow the shell out of the shell track.

In summary, the present invention is only a preferred embodiment, and is not intended to limit the scope of the present invention, and various changes and modifications can be made by workers in the light of the above description without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the content of the specification, and all equivalent changes and modifications in the shape, structure, characteristics and spirit described in the scope of the claims of the present invention are included in the scope of the claims of the present invention.

Claims

1. The utility model provides an automatic pin device of mutual-inductor casing, includes support body (100), its characterized in that:

the frame body (100) is provided with:

the pin feeding device is arranged at the discharge end of the pin track (700) and used for dispersing the L-shaped pins which are tightly arranged;

the shell rail (600) is arranged in parallel with the pin inserting rail (700), and a shell fixing device is arranged at the output end of the shell rail (600);

the pin inserting mechanical arm (500) is arranged at the discharging ends of the pin inserting rail (700) and the shell rail (600);

the controller is electrically connected with the pin inserting mechanical arm (500), the pin inserting rail (700) and the shell rail (600);

the pin inserting mechanical arm (500) comprises a two-dimensional motion platform and a grabbing mechanism, wherein the two-dimensional motion platform is vertically arranged, and the grabbing mechanism is arranged on the two-dimensional motion platform; the grabbing mechanism of the contact pin manipulator (500) grabs the L-shaped contact pins scattered on the contact pin feeding device, then moves to the upper part of the mutual inductor shell clamped by the shell fixing device and inserts the L-shaped contact pins into the jack of the mutual inductor shell.

2. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the pin feeding device of the pin track (700) comprises:

a downward sliding part (710) which is bent downward along the pin track (700) main body and the lower end surface of which is a horizontal plane;

the upper plane of the pin bearing plate (720) is attached to one part of the lower end face of the lower sliding part (710), and a pin clamping groove (721) is formed in one end, close to the pin manipulator, of the upper plane;

the linear driving module (730) drives the pin bearing plate (720) to do reciprocating linear motion in the length direction of the pin bearing plate so as to divide the L-shaped pins which are tightly arranged in the pin track (700) into the pin clamping grooves (721);

the housing fixing device of the housing rail (600) includes:

the first clamping device (610) and the second clamping device (620) are arranged in parallel along the shell track (600), and the second clamping device (620) is close to the end part of the discharge end of the shell track (600);

a first sorting device (630) for moving the transformer housing out of the corresponding position of the second holding device (620);

after the second clamping device (620) acts, the mutual inductor shell is fixed on the shell track (600), and at the moment, the jack on the mutual inductor shell is positioned on the extension line of the length direction of the pin inserting clamping groove (721);

before the first sorting device (630) acts, the first clamping device (610) acts and fixes a transformer shell before the transformer shell with the pins;

the first clamping device (610) is an electric push rod or a pneumatic push rod, a movable push rod of the first clamping device is vertically overlapped with the shell track (600), and the movable push rod is fixed by extruding the shell of the mutual inductor after falling;

and a vacuum suction head (530) is arranged on a grabbing mechanism of the pin inserting mechanical arm (500), and the vacuum suction head (530) moves between a mutual inductor shell jack fixed by the second clamping device (620) and a pin inserting clamping groove (721).

3. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the second clamping device (620) is provided with a pressing device (640) at the rear part, and the pressing device (640) comprises:

a press block fixing frame (641) fixedly connected with the shell track (600),

the sliding pressing block (642) is connected with the pressing block fixing frame (641) in a sliding mode in the vertical direction and is overlapped with the shell track (600) up and down;

a press block driving mechanism (643) for driving the sliding press block (642) to move up and down;

a baffle (644) connected with the shell track (600) or connected with the side surface of the sliding pressing block (642) in a sliding way, wherein the side surface is vertical to the shell track (600);

and a second sorting device (645) for moving the transformer shell after the secondary compression joint out of the shell track (600).

4. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the upper plane of the pin bearing plate (720) is provided with two pin clamping grooves (721): the distance between the two pin clamping grooves (721) is the same as that of the jacks on the transformer shell;

correspondingly, two vacuum suction heads (530) or two groups of vacuum suction heads (530) are arranged on the grabbing mechanism of the pin inserting mechanical arm (500);

plugging devices (750) are arranged on the lower portions of the pin tracks (700), and each plugging device (750) comprises:

the plugging stopper (751) is arranged in parallel with the pin bearing plate (720) in the length direction, the side surface of the plugging stopper (751) is attached to the side surface of the pin bearing plate (720), and the upper plane of the plugging stopper (751) is attached to one part of the bottom surface of the downward sliding part (710) to prevent the L-shaped pins from sliding off;

and a blocking stopper driving device (752) which drives the blocking stopper (751) to move up and down, wherein when the blocking stopper (751) moves down, the upper end surface of the blocking stopper and the lower end surface of the downward sliding part (710) are separated to block the port of the pin track (700).

5. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the mutual inductor shell enters from the feeding end of a shell track (600) and flows to the discharging end through a first clamping device (610) and a second clamping device (620), the discharging end is the front, and the feeding end is the rear;

the first sorting device (630) and the second sorting device (645) are air nozzles;

the first sorting device (630) is arranged at the rear part of the second clamping device (620), and the length direction of the air nozzle points to the lower part of the second clamping device (620);

the second sorting device (645) is arranged at the rear part of the pressing device (640), and the length direction of the air nozzle points to the lower part of a sliding pressing block (642) of the pressing device (640) to blow the pressed mutual inductor shell away from the shell track (600);

or the like, or, alternatively,

the first sorting device (630) and the second sorting device (645) are electric push rods or pneumatic push rods, and the first sorting device and the second sorting device (630, 645) are arranged on the side surface or the bottom surface of the shell track (600).

6. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the detection device is electrically connected with the controller;

the detection device is a correlation grating;

the detection device is arranged along the pin track (700) and the shell track (600) and used for detecting and positioning the L-shaped pin on the pin track (700) and the mutual inductor shell on the shell track (600).

7. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the device is also provided with a vibration mechanism (740), wherein the vibration mechanism (740) drives the contact pin track (700) to vibrate back and forth so as to realize the movement of the contact pin to the discharge end.

8. The automatic pin inserting device for the mutual inductor shell as claimed in claim 1, wherein:

the pin track (700) comprises a rectangular rod and a cover plate arranged around the side face of the rectangular rod in parallel, and a gap between the baffle plate and the rectangular rod forms a track.

9. The automatic pin inserting device for the mutual inductor shell as claimed in claim 8, wherein:

the rectangular rod is obliquely arranged in the cross section direction.

10. The method for controlling the automatic pin inserting device of the mutual inductor shell according to claim 2, wherein the method comprises the following steps:

the linear driving module (730) drives the pin bearing plate (720) to do reciprocating linear motion so as to take out pins in the pin track (700) and place the pins at positions convenient for the pin manipulator (500) to grab;

when the pin bearing plate (720) is provided with a pin slot (721):

the pin bearing plate (720) moves towards the end part of the downward sliding part (710), and the pin bearing plate (720) seals an outlet at the end part of the downward sliding part (710) in the movement process;

when the vacant pin clamping groove (721) moves to the L-shaped pin outlet position of the downward sliding part (710), the L-shaped pins in the downward sliding part (710) of the pin track (700) fall into the pin clamping groove (721);

thereafter, the reverse operation moves the pin carrier plate (720) on which the L-shaped pins are placed to a position close to the pin manipulator (500).

11. The method for controlling the automatic pin inserting device of the mutual inductor shell according to claim 4, wherein the method comprises the following steps:

when the pin bearing plate (720) is provided with two pin slots (721):

the pin bearing plate (720) moves towards the end part of the downward sliding part (710), and the pin bearing plate (720) and the plugging device (750) plug an outlet at the end part of the downward sliding part (710) in the movement process;

when the two vacant pin clamping grooves (721) move to the other side of the L-shaped pin outlet position of the lower sliding part (710), the blocking stopper (751) of the blocking device (750) moves downwards to release the blocking of the outlet of the lower end face of the lower sliding part (710), and at the moment, only the middle pin bearing plate (720) blocks the outlet of the end part of the lower sliding part (710);

and then, the reverse operation is carried out, the pin bearing plate (720) with the placed L-shaped pins is moved to a position close to the pin manipulator (500), and in the moving process, when the two pin clamping grooves (721) pass through the L-shaped pin outlet positions of the downward sliding part (710), the L-shaped pins sequentially fall into the two pin clamping grooves (721).

12. The method for controlling the automatic pin inserting apparatus of the mutual inductor shell according to claim 10 or 11, wherein:

the controller detects the position of the mutual inductor shell through the detection device, and when the position of the jack on the mutual inductor shell is superposed with the position of the L-shaped contact pin, the controller controls the second clamping device (620) to fix the mutual inductor shell;

the controller controls the grabbing mechanism to horizontally move to the upper part of the position of the pin clamping groove (721), and the controller controls the grabbing mechanism to move downwards to enable the vacuum suction head (530) to suck the pins;

after the pin inserting is finished, the controller controls the first clamping device (610) to clamp the mutual inductor shell which is close to the rear side of the mutual inductor shell with the finished pin, then controls the second clamping device (620) to release clamping of the shell with the finished pin, and finally the controller starts the first sorting device (630) and ejects the shell out of the clamping position of the second clamping device (620) through the air nozzle.

13. The method for controlling the automatic pin inserting device of the mutual inductor shell as claimed in claim 12, wherein:

the first sorting device (630) blows the mutual inductor shell with the finished pins to the lower part of the pressing device (640), the controller controls the pressing device (640) to press the L-shaped pins again, and then the second sorting device (645) is controlled to blow the mutual inductor shell out of the shell track (600).