CN114141526A

CN114141526A - Processing production line of magnetic coil

Info

Publication number: CN114141526A
Application number: CN202111139598.9A
Authority: CN
Inventors: 李伟
Original assignee: Xuzhou Onafulin Electronic Technology Co ltd
Current assignee: Xuzhou Onafulin Electronic Technology Co ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-03-04

Abstract

A processing production line of a magnetic coil comprises a winding machine, a feeding and discharging manipulator system, a precision machine and a packaging machine; the method comprises the following steps that a magnetic coil metal wire is wound by a winding machine, a feeding and discharging manipulator system comprises a feeding manipulator and a discharging manipulator, the magnetic coil wound by the winding machine is taken down by the feeding manipulator, the magnetic coil is assembled to a precision machine spindle through a series of motions, the magnetic coil precisely finished by the precision machine is taken down by the discharging manipulator, and the magnetic coil is placed into a packaging machine for packaging to obtain a magnetic coil finished product and is sent to a magnetic coil finished product warehouse; the feeding manipulator and the discharging manipulator have the same structure; the material loading manipulator comprises a base, a rotating seat, a first joint frame, a second joint frame, a grabbing hand and 2 visual components. The processing production line of the magnetic coil is reasonable in structural design and high in intelligent degree, can determine the position of the magnetic coil in real time and reasonably plan various operation paths in a feeding and discharging manipulator system among a winding machine, a precision machine and a packaging machine, and has wide application prospect.

Description

Processing production line of magnetic coil

Technical Field

The invention relates to the technical field of magnetic coils, in particular to a processing production line of a magnetic coil.

Background

The winding technology of the magnetic coil is the most important and the most key technology for manufacturing the magnetic coil, in the current industrial production, two methods are mainly used for manufacturing the magnetic coil, one is a one-step winding forming technology, the coil is characterized by one-step forming and good dynamic balance performance, the other is that a coil metal wire is firstly wound into a blank coil, then the blank coil is pressed into a flat wire board, and then the flat wire board is wound into a coil, namely the winding production technology, the coil is characterized by simple processing equipment, smooth appearance and poor dynamic balance performance, and the production technology is not suitable for large-batch automatic production.

With the development of industrial technology and the progress of science and technology, the automatic production technology is continuously applied to each process of industrial production, the automation degree is continuously improved, the production efficiency is greatly improved, and meanwhile, the labor intensity of workers is improved. The automatic production line of the magnetic coil needs to have the characteristics of short period, high precision, high efficiency and high yield, can be used for integrating a control technology, a sensor technology, a transmission technology and a network technology into a magnetic coil production process integrated system, can carry out the production, assembly and accurate automatic integrated process of the magnetic coil according to a set program and progress, and can enable the whole production line to smoothly run only by controlling the operation of a machine and maintaining the automatic equipment. Therefore, it is necessary to develop a production line for magnetic coils to achieve the above technical effects.

Chinese patent application No. CN202022723391.3 discloses a winding device for small-sized magnetic coils, which aims to rapidly and uniformly wind coils on a ring core, has good stability, can wind a plurality of coils by one-time wire storage, and does not improve the intelligent degree of the automatic production line of the magnetic coils.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide a processing production line of the magnetic coil, which has the advantages of reasonable structural design and high intelligent degree, can determine the position of the feeding and discharging manipulator system among a winding machine, a precision machine and a packaging machine in real time, reasonably plans various operation paths and has wide application prospect.

The technical scheme is as follows: a processing production line of a magnetic coil comprises a winding machine, a feeding and discharging manipulator system, a precision machine and a packaging machine; a magnetic coil metal wire is wound by a winding machine, a feeding and discharging manipulator system comprises a feeding manipulator and a discharging manipulator, the feeding manipulator takes off the magnetic coil wound by the winding machine 1, the magnetic coil is assembled to a precision machine spindle through a series of movements, the discharging manipulator takes off the magnetic coil precisely finished by the precision machine, the magnetic coil is placed into a packaging machine for packaging to obtain a magnetic coil finished product, and the magnetic coil finished product is sent to a magnetic coil finished product warehouse; the feeding manipulator and the discharging manipulator have the same structure; the feeding manipulator comprises a base, a rotating seat, a first joint frame, a second joint frame, a grabbing hand and 2 visual components;

an STM32 embedded chip is installed on the bottom surface of the base and serves as a bottom hardware driving controller, an embedded industrial personal computer carrying an Intel processor is installed inside the base and serves as an upper algorithm application controller, and the STM32 embedded chip and the embedded industrial personal computer complete real-time data exchange through a USB serial port; the inner part of the base is also provided with 4 direct current motors, the 4 direct current motors drive 4 corresponding wheels at the bottom of the base in an independent mode, and each direct current motor is integrally provided with a speed reducer and an encoder; the obstacle avoidance ultrasonic sensors are arranged on the left side, the right side, the front side and the rear side of the base respectively; the front end of the upper surface of the base is provided with 1 visual component;

the upper surface of the base is fixed with fixing rings which are distributed equidistantly through bolts, the upper surface of each fixing ring is rotatably connected with a rotary base through a bearing, the upper surface of each rotary base is rotatably connected with a first joint frame, the upper surface of each first joint frame is rotatably connected with a second joint frame through a connecting rotary drum, opposite sides of the first joint frame and the second joint frame are connected through hydraulic rods, the bottom surface of each second joint frame is provided with a track slide rail, and the sliding block end of each track slide rail is provided with a grabbing hand; and another visual assembly is arranged above the grabbing hand and is fixed on the second joint frame.

Furthermore, in the processing production line of the magnetic coil, the two sides of the rotating seat are respectively provided with the fixed seats, the interior of the bottom end of the first joint frame is provided with the driving assembly, the driving assembly comprises two rotating shafts, a first helical gear, a second helical gear, a connecting shaft and a first motor, the first motor is fixed on one side of the interior of the bottom end of the first joint frame through a fixing piece, the output end of the first motor is connected with the rotating rod through a coupler, and the second helical gear is sleeved on the circumference of the rotating rod; the first helical gear is meshed with the circumferential teeth of the second helical gear, rotating holes are formed in two sides of the rotating seat respectively, the two rotating shafts are connected with the inner sides of the circumferences of the rotating holes through bearings, the connecting shaft is arranged at the opposite ends of the two rotating shafts, and the opposite ends of the two rotating shafts are rotatably connected inside the two fixing seats.

Furthermore, foretell magnetic coil's processing lines, the slip end of track slide rail is opened there is the spout, rack plate and spout looks adaptation, and the welding of one side of track slide rail has L type sliding plate, and L type sliding plate one side is opened there is the guide hole, and sliding connection has the guide arm in the guide hole, and drive gear cup joints on the circumference of guide arm, and L type fixed plate sets up on the circumference of guide arm.

Furthermore, foretell magnetic coil's processing lines, every the vision subassembly includes CCD camera, image acquisition card, be provided with two telecentric machine vision camera lenses on the CCD camera, the CCD camera is connected with image acquisition card, image acquisition card adopts IEEE1394 to connect embedded industrial computer, keep away barrier ultrasonic sensor and pass through the net gape and transmit the peripheral obstacle information to the embedded industrial computer of surrounding environment in real time.

Furthermore, in the processing production line of the magnetic coil, the embedded industrial personal computer receives images collected by the visual components on the second joint frame in real time, calculates the real-time orientation and the position of the magnetic coil or the precision machine spindle wound by the winding machine through the collected images, constructs action routes through a large number of images collected by the visual components on the second joint frame, transmits instructions to the STM32 embedded chip, controls the first motor to drive the rotating rod to rotate, and drives the second bevel gear to rotate through the rotating rod, the rotating second bevel gear drives the first bevel gear to rotate, so that the rotating seat is driven to rotate through the two rotating shafts and the connecting shaft, the STM32 embedded chip simultaneously starts the hydraulic rod to enable the first joint frame and the second joint frame to rotate for a certain angle around the connecting rotating cylinder, and when the grabbing hand reaches a preset position, the TM32 embedded chip starts the track sliding rail, fine adjustment is carried out on the grabbing hand, and the grabbing hand is started to clamp the magnetic coil wound by the winding machine or assemble the clamped magnetic coil to the main shaft of the precision machine; before or after clamping is completed, the embedded industrial personal computer receives images acquired by the visual components of the base in real time, calculates the real-time orientation and the position of the feeding manipulator through the acquired images and the surrounding obstacle information of the obstacle avoidance ultrasonic sensor, constructs a dense map through a large number of images acquired by the visual components of the base, transmits instructions to an STM32 embedded chip, controls a direct current motor, enables the feeding manipulator to determine the position of the feeding manipulator in real time, reasonably plans a path, and completes the operation of clamping the feeding manipulator to a winding machine or assembling a precision machine spindle; when the image collected by the visual assembly of the base is displayed back to a certain previous place, the place is identified through closed loop detection, and the accumulated map point matching errors are eliminated through the mandatory constraint condition of the loop.

Further, in the processing production line of the magnetic coil, the winding machine comprises a mandrel mechanism, a wire feeding mechanism and a fixing mechanism, the mandrel mechanism comprises a first motor, a first belt transmission device and a mandrel sleeve, the wire feeding mechanism comprises a second motor, a second belt transmission device, a sliding block, a sliding rail, an air cylinder and a wire feeding nozzle, and the fixing mechanism comprises an upper bearing plate, a left vertical plate, a right vertical plate and a bottom plate; the upper bearing plate and the bottom plate are arranged in parallel up and down, and the upper bearing plate and the bottom plate are vertically and fixedly connected through a left vertical plate on the left side and a right vertical plate on the right side; the first motor is fixedly arranged on the bottom plate through a motor support and is positioned on the left side of the left vertical plate, the first motor is connected with a first belt transmission device on the left side, the first belt transmission device is connected with one end of a main shaft, and the other end of the main shaft penetrates through the left vertical plate to be axially fixed with the mandrel sleeve and drives the mandrel sleeve to rotate; the upper surface of the upper bearing plate is provided with a slide rail, the belt transmission device II is connected with the slide block through a belt clamp and drives the slide block to transversely move on the slide rail, the upper surface of the slide block is vertically provided with a fixed block, the front end face of the fixed block is provided with an air cylinder, and the bottom of the air cylinder is connected with a wire feeding nozzle and drives the wire feeding nozzle to longitudinally move.

Further, in the processing production line of the magnetic coil, the mandrel mechanism further comprises a shifting fork device, and the shifting fork device is arranged below the main shaft; the shifting fork device comprises a shifting fork cylinder and a shifting fork, the shifting fork cylinder is located below the belt transmission device, the right end of the shifting fork cylinder horizontally penetrates through the left vertical plate, the right end of the shifting fork cylinder is connected with the shifting fork, and the shifting fork is located below the main shaft.

Further, in the processing production line of the magnetic coil, the mandrel mechanism further comprises a compression roller device, and the compression roller device is installed on the outer side of the mandrel sleeve; the compression roller device comprises a compression roller, a compression roller bracket, a compression roller cylinder and a compression roller cylinder bracket, wherein the compression roller is fixed on the front side of the bottom plate through the compression roller bracket; the compression roller cylinder is fixed on the rear side of the bottom plate through a compression roller cylinder support and arranged towards the compression roller.

Further, foretell magnetic coil's processing lines, belt drive unit one includes belt lace wheel one and big belt pulley one, motor one is connected with belt lace wheel one, belt lace wheel one is connected with big belt pulley one through hold-in range one, big belt pulley one is connected with the main shaft left end.

Further, foretell magnetic coil's processing lines, belt drive unit two includes belt pulley two and big belt pulley two, motor two is connected with belt pulley two, belt pulley two is connected with big belt pulley two through hold-in range two.

The invention has the beneficial effects that:

(1) the processing production line of the magnetic coil is reasonable in structural design and high in intelligent degree, the magnetic coil wound by the winding machine is taken down by the feeding manipulator in the feeding and discharging manipulator system among the winding machine, the precision machine and the packaging machine, the magnetic coil wound by the winding machine is assembled to the precision machine spindle through a series of motions, the magnetic coil accurately finished by the precision machine is taken down by the discharging manipulator and is placed into the packaging machine for packaging, the magnetic coil is fully automatically grabbed, moved and assembled, and the connection of the winding machine, the precision machine and the packaging machine is rapidly realized, so that the whole production line is efficient and continuous in production, and the production period is shortened to improve the production yield;

(2) according to the processing production line of the magnetic coils, the feeding mechanical arm and the discharging mechanical arm adopt the STM32 embedded chip as a bottom hardware driving controller and an embedded industrial personal computer carrying an Intel processor as an upper algorithm application controller, the calculation speed is high, various environment maps are processed, calculated and constructed in real-time and continuous motion of the feeding mechanical arm and the discharging mechanical arm, meanwhile, real-time communication and task distribution are carried out, instructions are transmitted to the STM32 embedded chip, and various driving assemblies are controlled, so that the feeding mechanical arm and the discharging mechanical arm determine the positions of the feeding mechanical arm and the discharging mechanical arm in real time and reasonably plan an operation path.

Drawings

FIG. 1 is a top layout view of a magnetic coil manufacturing line according to the present invention;

fig. 2 is a schematic structural view of a feeding manipulator of the magnetic coil processing production line according to the present invention;

fig. 3 is a schematic cross-sectional structural view of a rotary base of a feeding manipulator of the magnetic coil processing line according to the present invention;

fig. 4 is a schematic connection diagram of a second joint frame and a grabbing hand of a feeding manipulator of the magnetic coil processing production line;

FIG. 5 is a frame diagram of a loading robot in a production line for processing magnetic coils according to the present invention;

FIG. 6 is a front view of a winding machine of the magnetic coil processing line according to the present invention;

FIG. 7 is a schematic structural view of a core shaft mechanism of a winding machine of the magnetic coil processing line according to the present invention;

in the figure: the wire winding machine comprises a wire winding machine 1, a mandrel mechanism 11, a first motor 111, a first motor support 1111, a first belt transmission device 112, a first small belt pulley 1121, a first large belt pulley 1122, a first synchronous belt 1123, a core shaft sleeve 113, a main shaft 114, a shifting fork device 115, a shifting fork cylinder 1151, a shifting fork 1152, a pressing roller device 116, a pressing roller 1161, a pressing roller support 1162, a pressing roller cylinder 1163, a pressing roller cylinder support 1164, a wire feeding mechanism 12, a second motor 121, a second belt transmission device 122, a second small belt pulley 1221, a second large belt pulley 1222, a second synchronous belt 1223, a sliding block 123, a sliding rail 124, a cylinder 125, a wire feeding nozzle 126, a fixing mechanism 13, an upper bearing plate 131, a left vertical plate 132, a right vertical plate 133, a bottom plate 134, a precision machine 2, a packaging machine 3, a feeding manipulator 4, a base 41, an STM32 embedded chip 411, an embedded industrial personal computer 412, a direct current motor 413, a wheel 414, an obstacle avoidance ultrasonic sensor 415, a rotary seat 42, a fixed seat 421, a large belt pulley 1122, a synchronous belt cylinder 1163, a synchronous belt bracket and a synchronous belt bracket 1163, The feeding robot comprises a first joint frame 43, a connecting rotary drum 431, a hydraulic rod 432, a second joint frame 44, a track sliding rail 441, a rack plate 442, a gear 443, an L-shaped fixing plate 443, a grabbing hand 45, a vision component 46, a CCD camera 461, an image acquisition card 462, a driving component 47, a rotating shaft 471, a first bevel gear 472, a second bevel gear 473, a connecting shaft 474 and a feeding manipulator 5.

Detailed Description

The invention will be further elucidated with reference to the accompanying figures 1-7 and specific examples.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The processing production line of the magnetic coil with the structure shown in fig. 1-7 comprises a winding machine 1, a feeding and discharging manipulator system, a precision machine 2 and a packaging machine 3; a magnetic coil metal wire is wound by a winding machine 1, a feeding and discharging manipulator system comprises a feeding manipulator 4 and a discharging manipulator 5, the magnetic coil wound by the winding machine 1 is taken down by the feeding manipulator 4 and assembled to a main shaft of a precision machine 2 through a series of movements, the magnetic coil precisely finished by the precision machine 2 is taken down by the discharging manipulator 5 and placed into a packaging machine 3 for packaging to obtain a magnetic coil finished product, and the magnetic coil finished product is sent to a magnetic coil finished product warehouse; the feeding manipulator 4 and the discharging manipulator 5 have the same structure; the feeding manipulator 4 comprises a base 41, a rotating base 42, a first joint frame 43, a second joint frame 44, a grabbing hand 45 and 2 vision components 46;

an STM32 embedded chip 411 is installed on the bottom surface of the base 41 and serves as a bottom hardware drive controller, an embedded industrial personal computer 412 carrying an Intel processor is installed inside the base 41 and serves as an upper-layer algorithm application controller, and the STM32 embedded chip 411 and the embedded industrial personal computer 412 complete real-time data exchange through USB serial ports; the base 41 is also internally provided with 4 direct current motors 413, the 4 direct current motors 413 drive 4 corresponding wheels 414 at the bottom of the base 41 in an independent manner, and each direct current motor 413 is integrally provided with a speed reducer and an encoder; the obstacle avoidance ultrasonic sensors 415 are arranged on the left side, the right side, the front side and the rear side of the base 41; the front end of the upper surface of the base 41 is provided with 1 visual component 46;

the upper surface of the base 41 is fixed with fixing rings 416 which are distributed equidistantly through bolts, the upper surface of each fixing ring 416 is rotatably connected with a rotating base 42 through a bearing, the upper surface of each rotating base 42 is rotatably connected with a first joint frame 43, the upper surface of each first joint frame 43 is rotatably connected with a second joint frame 44 through a connecting rotary drum 431, opposite sides of the first joint frame 43 and the second joint frame 44 are connected through hydraulic rods 432, the bottom surface of each second joint frame 44 is provided with a track sliding rail 441, and the sliding block end of each track sliding rail 441 is provided with a grabbing hand 45; another vision assembly 46 is arranged above the gripping hand 45 and is fixed to the second articulated frame 44.

In addition, the two sides of the rotating base 42 are respectively provided with a fixed base 421, a driving assembly 47 is arranged inside the bottom end of the first joint frame 43, the driving assembly 47 includes two rotating shafts 471, a first bevel gear 472, a second bevel gear 473, a connecting shaft 474 and a first motor, the first motor is fixed on one side inside the bottom end of the first joint frame 43 through a fixing piece, the output end of the first motor is connected with a rotating rod through a coupler, and the second bevel gear 473 is sleeved on the circumference of the rotating rod; the first bevel gear 472 is engaged with the circumferential teeth of the second bevel gear 473, two sides of the rotating base 42 are respectively provided with a rotating hole, the two rotating shafts 471 are connected with the inner sides of the circumferences of the rotating holes through bearings, the connecting shaft 474 is arranged at the opposite ends of the two rotating shafts 471, and the opposite ends of the two rotating shafts 471 are rotatably connected inside the two fixing bases 421.

Furthermore, the sliding end of the track sliding rail 441 is provided with a sliding groove, the rack plate 442 is matched with the sliding groove, one side of the track sliding rail 441 is welded with an L-shaped sliding plate, one side of the L-shaped sliding plate is provided with a guide hole, a guide rod is connected in the guide hole in a sliding manner, the driving gear 443 is sleeved on the circumference of the guide rod, and the L-shaped fixing plate 443 is arranged on the circumference of the guide rod.

Further, each of the vision components 46 includes a CCD camera 461 and an image acquisition card 462, a double telecentric machine vision lens is disposed on the CCD camera 461, the CCD camera 461 is connected with the image acquisition card 462, the image acquisition card 462 is connected to the embedded industrial personal computer 412 by IEEE1394, and the obstacle avoidance ultrasonic sensor 415 transmits the surrounding obstacle information to the embedded industrial personal computer 412 through a portal in real time.

In addition, the winding machine 1 includes a mandrel mechanism 11, a wire feeding mechanism 12, and a fixing mechanism 13, the mandrel mechanism 11 includes a first motor 111, a first belt transmission device 112, and a mandrel sleeve 113, the wire feeding mechanism 21 includes a second motor 121, a second belt transmission device 122, a slider 123, a slide rail 124, an air cylinder 125, and a wire feeding nozzle 126, and the fixing mechanism 13 includes an upper bearing plate 131, a left vertical plate 132, a right vertical plate 133, and a bottom plate 134; the upper bearing plate 131 and the bottom plate 134 are arranged in parallel up and down, and the upper bearing plate 131 and the bottom plate 134 are vertically and fixedly connected through a left vertical plate 132 on the left side and a right vertical plate 133 on the right side; the first motor 111 is fixedly mounted on the bottom plate 134 through a motor bracket 1111 and is positioned on the left side of the left vertical plate 132, the first motor 111 is connected with a first belt transmission device 112 on the left side, the first belt transmission device 112 is connected with one end of the main shaft 114, and the other end of the main shaft 114 penetrates through the left vertical plate 132 to be axially fixed with the mandrel sleeve 113 and drives the mandrel sleeve 113 to rotate; the right side of the lower surface of the upper bearing plate 131 of the second motor 121, the second belt transmission device 122 is mounted on the upper surface of the upper bearing plate 131, the second motor 121 is connected with the second belt transmission device 122, a slide rail 124 is arranged on the front side of the upper surface of the upper bearing plate 131, the second belt transmission device 122 is connected with the slide block 123 through a belt clamp and drives the slide block 123 to move transversely on the slide rail 124, a fixed block 1231 is vertically mounted on the upper surface of the slide block 123, an air cylinder 125 is arranged on the front end surface of the fixed block 1231, and the bottom of the air cylinder 125 is connected with the wire feeding nozzle 126 and drives the wire feeding nozzle 126 to move longitudinally.

Further, the mandrel mechanism 11 further includes a shifting fork device 115, and the shifting fork device 115 is installed below the main shaft 114; the shifting fork device 115 comprises a shifting fork cylinder 1151 and a shifting fork 1152, the shifting fork cylinder 1151 is located below the first belt transmission device 112, the right end of the shifting fork cylinder 1151 horizontally penetrates through the left vertical plate 132, the right end of the shifting fork cylinder 1151 is connected with the shifting fork 1152, and the shifting fork 1152 is located below the main shaft 114.

Further, the mandrel mechanism 11 further comprises a pressing roller device 116, and the pressing roller device 116 is installed outside the mandrel sleeve 113; the press roller device 116 comprises a press roller 1161, a press roller support 1162, a press roller cylinder 1163 and a press roller cylinder support 1164, the press roller 1161 is fixed on the front side of the bottom plate 134 through the press roller support 1162, the press roller 1161 is arranged in parallel with the mandrel sleeve 113 and is located on the front upper side of the mandrel sleeve 113, the press roller 1161 is tightly pressed on the mandrel sleeve 113 through an extension spring and rotates along with the rotation of the mandrel sleeve 113 along with the press roller 1161; the compression roller cylinder 1163 is fixed on the rear side of the bottom plate 134 through a compression roller cylinder support 1164, and the compression roller cylinder 1163 is arranged towards the compression roller 1161.

Further, the first belt transmission device 112 includes a first small belt pulley 1121 and a first large belt pulley 1122, the first motor 111 is connected with the first small belt pulley 1121, the first small belt pulley 1121 is connected with the first large belt pulley 1122 through a first synchronous belt 1123, and the first large belt pulley 1122 is connected with the left end of the main shaft 114. The second belt transmission device 122 comprises a second small belt pulley 1221 and a second large belt pulley 1222, the second motor 121 is connected with the second small belt pulley 1221, and the second small belt pulley 1221 is connected with the second large belt pulley 1222 through a second synchronous belt 1223.

Examples

Based on the above structural basis, as shown in fig. 1-7.

The processing production line of the magnetic coil is reasonable in structural design and high in intelligent degree, the magnetic coil wound by the winding machine 1 is taken down by the feeding manipulator 4 in the feeding and discharging manipulator system among the winding machine 1, the precision machine 2 and the packaging machine 3 and is assembled to the main shaft of the precision machine 2 through a series of movements, the magnetic coil accurately finished by the precision machine 2 is taken down by the discharging manipulator 5 and is placed into the packaging machine 3 for packaging, full-automatic grabbing, moving and assembling of the magnetic coil are achieved, connection of the winding machine 1, the precision machine 2 and the packaging machine 3 is rapidly achieved, the whole production line is efficient and continuous in production, the production period is shortened, and the production yield is improved.

The precision machine 2 and the packaging machine 3 in the prior art are adopted, and the implementation of the technical scheme of the invention is not affected.

The feeding manipulator 4 and the discharging manipulator 5 have the same structure and the same operation mode.

The embedded industrial personal computer 412 of the feeding manipulator 4 receives the images collected by the vision assembly 46 on the second articulated frame 44 in real time, calculates the real-time orientation and position of the magnetic coil wound by the winding machine 1 or the main shaft of the precision machine 2 through the collected images, constructs an action route through a large number of images collected by the vision assembly 46 on the second articulated frame 44, transmits an instruction to the STM32 embedded chip 411, controls the first motor to drive the rotating rod to rotate, and drives the second bevel gear 473 to rotate through the rotating rod, the rotating second bevel gear 473 drives the first bevel gear 472 to rotate, thereby driving the rotating base 42 to rotate through the two rotating shafts 471 and the connecting shaft 474, the STM32 embedded chip 411 simultaneously starts the hydraulic rod 432 to enable the first articulated frame 43 and the second articulated frame 44 to rotate a certain angle around the connecting rotating cylinder 431, when the grabbing hand 45 reaches a preset position, the TM32 embedded chip 411 starts the track sliding rail 441 to finely adjust the grabbing hand 45, and starts the grabbing hand 45 to clamp the magnetic coil wound by the winding machine 1 or assemble the clamped magnetic coil to the main shaft of the precision machine 2; before or after clamping, the embedded industrial personal computer 412 receives images collected by the visual components 46 of the base 41 in real time, calculates the real-time orientation and the position of the feeding manipulator 4 through the collected images and the surrounding obstacle information of the obstacle avoidance ultrasonic sensor 415, constructs a dense map through a large number of images collected by the visual components 46 of the base 41, transmits an instruction to the STM32 embedded chip 411, controls the direct current motor 413, enables the feeding manipulator 4 to determine the position of the feeding manipulator 4 in real time, reasonably plans a path, and completes the operation of removing the feeding manipulator 4 from the winding machine 1 to clamp or remove the precise machine 2 spindle assembly; when the image captured by the vision component 46 of the base 41 is displayed back to a previous location, the location is identified by closed loop detection and the cumulative map point matching errors are eliminated by the mandatory constraints of the loop.

The grabbing hand 45 is only a grabbing hand in the prior art, and the implementation of the technical scheme of the invention is not affected.

Furthermore, by adopting the STM32 embedded chip 411 as a bottom hardware drive controller and matching the embedded industrial personal computer 412 carrying an Intel processor as an upper algorithm application controller, the problem of slow calculation when the STM32 embedded chip 411 is used alone is solved, the STM32 embedded chip 411 is only used for integrating wheel type odometer and data acquisition thereof, the drive control of a first motor, a direct current motor 414 and the like, calculation, packaging and data transmission to the embedded industrial personal computer 412, the embedded industrial personal computer 412 is used for receiving the environment information sensed by the obstacle-avoiding ultrasonic sensors 415 and 2 visual components 46, various environment maps are processed, calculated and constructed by the real-time and continuous motion of the feeding manipulator 4, real-time communication and task allocation are carried out simultaneously, and instructions are transmitted to the STM32 embedded chip 411 and controlled by the STM32 embedded chip 411, so that the feeding manipulator 4 determines the self position in real time, And reasonably planning an operation path.

Further, direct current motor 413 and first motor etc. are all integrated to be equipped with reduction gear and encoder, the encoder comprises hall code wheel and hall element, at direct current motor rotation in-process, the disc hall code wheel that has the distributed magnetic pole detects coaxial electrode's angular velocity and angle displacement, convert digital pulse signal into through magnetoelectric induction, thereby the route of calculating the action of material loading manipulator and transmitting embedded industrial computer 412 to handle for STM32 embedded chip transmission, the reduction gear carries out the speed reduction and handles, it is big to have avoided material loading manipulator 4 turning radius, the motion flexibility has not enough problem.

This application coiling machine 1, structural design is reasonable, convenient operation, and degree of automation is high, is applicable to the coil coiling of different line footpaths, winding method requirement.

The working process is as follows: the first motor 111 drives the first belt transmission device 112, the first belt transmission device 112 drives the main shaft 114 to rotate, the core shaft sleeve 113 and the main shaft 114 are axially fixed and rotate along with the main shaft 114, at the moment, the wire feeding nozzle 126 of the wire feeding mechanism 12 and the core shaft sleeve 113 move simultaneously and are matched with each other, the wire feeding nozzle 126 reciprocates on the core shaft sleeve, the core shaft sleeve 113 rotates, and the enameled wire is wound on the core shaft sleeve 113 according to a certain rule. Wherein, the cylinder 125 stretches and retracts to drive the wire feeding nozzle 126 to move up and down, namely when the cylinder 125 extends out, the wire feeding nozzle 125 is acted on the wire feeding nozzle 125 to press the wire feeding nozzle 125 on the mandrel sleeve 113, and when the cylinder 125 contracts, the wire feeding nozzle 126 is separated from the mandrel sleeve 113; the second belt transmission device 122 is driven by the second motor 121, the belt clamp and the second belt transmission device 122 are fixed together through bolts and move back and forth along with the second belt transmission device 122, the sliding block 23 of the sliding rail 24 is fixedly connected with the belt clamp and moves along with the second belt transmission device 122, the wire feeding nozzle 126 is connected with the sliding block 124 through the air cylinder 125 and the fixing block 1231, and accurate and rapid horizontal movement of the wire feeding nozzle 126 is achieved.

The motor bracket 1111 is fixed to the base plate 134 through a U-shaped hole, and a first synchronous belt 1123 of the first belt transmission device 112 is tensioned by adjusting the distance of the motor bracket 1111.

Further, in the winding process, the wire feeding nozzle 126 reciprocates on the core shaft sleeve 113, the core shaft sleeve 113 rotates, and the enamel wire is wound on the core shaft sleeve 13 according to a certain rule. During the winding process, the wire has a certain tension, which may cause disorder of winding of the wire and low coil formation degree if the wire is not fixed and finished, so the pressure roller device 116 is installed outside the mandrel sleeve 113 to solve the above problem.

Further, fix compression roller support 1162 on bottom plate 134, compression roller 1161 is on mandrel sleeve 113 through extension spring stiction, and when mandrel sleeve 113 rotated, compression roller 1161 followed the rotation, pressed the wire on mandrel sleeve 113, carried out thick accurately, has solved the wire winding and has disorderly, the problem that the coil shaping degree is low. After winding, the compression roller cylinder 1163 lifts the compression roller, and the shifting fork 1152 pushes out the mandrel sleeve 113 and the coil together.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

In addition, any combination between the embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the present invention.

Claims

1. A processing production line of magnetic coils is characterized by comprising a winding machine (1), a feeding and discharging manipulator system, a precision machine (2) and a packaging machine (3); a magnetic coil metal wire is wound by a winding machine (1), a feeding and discharging manipulator system comprises a feeding manipulator (4) and a discharging manipulator (5), the magnetic coil wound by the winding machine (1) is taken down by the feeding manipulator (4), the magnetic coil is assembled to a main shaft of a precision machine (2) through a series of movements, the magnetic coil precisely finished by the precision machine (2) is taken down by the discharging manipulator (5), and the magnetic coil is placed into a packaging machine (3) for packaging to obtain a magnetic coil finished product and is sent to a magnetic coil finished product warehouse; the feeding manipulator (4) and the blanking manipulator (5) have the same structure; the feeding manipulator (4) comprises a base (41), a rotating seat (42), a first joint frame (43), a second joint frame (44), a grabbing hand (45) and 2 visual components (46);

an STM32 embedded chip (411) is installed on the bottom surface of the base (41) and serves as a bottom hardware drive controller, an embedded industrial personal computer (412) carrying an Intel processor is installed inside the base (41) and serves as an upper-layer algorithm application controller, and the STM32 embedded chip (411) and the embedded industrial personal computer (412) complete real-time data exchange through USB serial ports; the inner part of the base (41) is also provided with 4 direct current motors (413), the 4 direct current motors (413) drive 4 corresponding wheels (414) at the bottom of the base (41) in an independent mode, and each direct current motor (413) is integrally provided with a speed reducer and an encoder; 4 side surfaces of the base (41), namely the left side surface, the right side surface, the front side surface and the rear side surface, are provided with obstacle avoidance ultrasonic sensors (415); the front end of the upper surface of the base (41) is provided with 1 visual component (46);

the upper surface of the base (41) is fixed with fixing rings (416) which are distributed equidistantly through bolts, the upper surface of each fixing ring (416) is rotatably connected with a rotating base (42) through a bearing, the upper surface of each rotating base (42) is rotatably connected with a first joint frame (43), the upper surface of each first joint frame (43) is rotatably connected with a second joint frame (44) through a connecting rotary drum (431), opposite sides of the first joint frame (43) and the second joint frame (44) are connected through hydraulic rods (432), a track sliding rail (441) is arranged on the bottom surface of each second joint frame (44), and a grabbing hand (45) is arranged at the sliding block end of each track sliding rail (441); another visual component (46) is arranged above the grabbing hand (45) and is fixed on the second joint frame (44).

2. The processing production line of the magnetic coil according to claim 1, wherein the two sides of the rotating base (42) are respectively provided with a fixed base (421), the bottom end of the first joint frame (43) is internally provided with a driving assembly (47), the driving assembly (47) comprises two rotating shafts (471), a first bevel gear (472), a second bevel gear (473), a connecting shaft (474) and a first motor, the first motor is fixed on one side of the bottom end of the first joint frame (43) through a fixing member, the output end of the first motor is connected with a rotating rod through a coupling, and the second bevel gear (473) is sleeved on the circumference of the rotating rod; the first bevel gear (472) is meshed with the circumferential teeth of the second bevel gear (473), rotating holes are formed in two sides of the rotating seat (42) respectively, the two rotating shafts (471) are connected with the inner sides of the circumferences of the rotating holes through bearings, the connecting shaft (474) is arranged at the opposite ends of the two rotating shafts (471), and the opposite ends of the two rotating shafts (471) are rotatably connected to the insides of the two fixing seats (421).

3. The processing production line of the magnetic coil as claimed in claim 2, wherein the sliding end of the track sliding rail (441) is provided with a sliding slot, the rack plate (442) is matched with the sliding slot, one side of the track sliding rail (441) is welded with an L-shaped sliding plate, one side of the L-shaped sliding plate is provided with a guide hole, a guide rod is connected in the guide hole in a sliding manner, the driving gear (443) is sleeved on the circumference of the guide rod, and the L-shaped fixing plate (443) is arranged on the circumference of the guide rod.

4. The processing production line of the magnetic coil as set forth in claim 3, wherein each of the vision components (46) comprises a CCD camera (461) and an image acquisition card (462), the CCD camera (461) is provided with a double telecentric machine vision lens, the CCD camera (461) is connected with the image acquisition card (462), the image acquisition card (462) is connected with the embedded industrial personal computer (412) by adopting IEEE1394, and the obstacle avoidance ultrasonic sensor (415) transmits surrounding obstacle information of the surrounding environment to the embedded industrial personal computer (412) in real time through a network port.

5. The magnetic coil processing production line of claim 4, characterized in that the embedded industrial personal computer (412) receives images collected by the vision components (46) on the second joint frame (44) in real time, calculates the real-time orientation and position of the magnetic coil wound by the winding machine (1) or the spindle of the precision machine (2) through the collected images, constructs an action route through a large number of images collected by the vision components (46) on the second joint frame (44), transmits an instruction to the STM32 embedded chip (411), controls the first motor to drive the rotating rod to rotate, and drives the second bevel gear (473) to rotate through the rotating rod, and the rotating second bevel gear (473) drives the first bevel gear (472) to rotate, so that the rotating seat (42) is driven to rotate through the two rotating shafts (471) and the connecting shaft (474), and the STM32 embedded chip (411) simultaneously starts the hydraulic rods (432) to enable the first joint frame (43) and the second joint frame (43) to rotate The frame (44) rotates a certain angle around the connecting rotary drum (431), when the grabbing hand (45) reaches a preset position, the TM32 embedded chip (411) starts the track sliding rail (441), so that the grabbing hand (45) is finely adjusted, and the grabbing hand (45) is started to clamp the magnetic coil wound by the wire winding machine (1) or assemble the clamped magnetic coil to the main shaft of the precision machine (2); before or after clamping, the embedded industrial personal computer (412) receives images collected by a visual assembly (46) of the base (41) in real time, calculates the real-time orientation and the position of the feeding manipulator (4) through the collected images and the surrounding obstacle information of the obstacle avoidance ultrasonic sensor (415), constructs a dense map through a large number of images collected by the visual assembly (46) of the base (41), transmits an instruction to an STM32 embedded chip (411), controls a direct current motor (413), enables the feeding manipulator (4) to determine the self pose and reasonably plan the path in real time, and completes the operation of clamping or assembling a main shaft of a precision machine (2) by a winding machine (1) of the feeding manipulator (4); when the image collected by the vision component (46) of the base (41) is displayed back to a certain previous place, the place is identified through closed loop detection and the accumulated map point matching errors are eliminated through the mandatory constraint condition of the loop.

6. The processing production line of the magnetic coil according to claim 1, wherein the winding machine (1) comprises a mandrel mechanism (11), a wire feeding mechanism (12) and a fixing mechanism (13), the mandrel mechanism (11) comprises a first motor (111), a first belt transmission device (112) and a mandrel sleeve (113), the wire feeding mechanism (21) comprises a second motor (121), a second belt transmission device (122), a sliding block (123), a sliding rail (124), an air cylinder (125) and a wire feeding nozzle (126), and the fixing mechanism (13) comprises an upper bearing plate (131), a left vertical plate (132), a right vertical plate (133) and a bottom plate (134); the upper bearing plate (131) and the bottom plate (134) are arranged in parallel up and down, and the upper bearing plate (131) and the bottom plate (134) are vertically and fixedly connected through a left vertical plate (132) on the left side and a right vertical plate (133) on the right side; the motor I (111) is fixedly mounted on the bottom plate (134) through a motor support (1111) and is positioned on the left side of the left vertical plate (132), the motor I (111) is connected with a belt transmission device I (112) on the left side, the belt transmission device I (112) is connected with one end of the main shaft (114), and the other end of the main shaft (114) penetrates through the left vertical plate (132) to be axially fixed with the mandrel sleeve (113) and drives the mandrel sleeve (113) to rotate; the wire feeding device is characterized in that the right side of the lower surface of an upper bearing plate (131) of a second motor (121), a second belt transmission device (122) is installed on the upper surface of the upper bearing plate (131), the second motor (121) is connected with the second belt transmission device (122), a sliding rail (124) is arranged on the front side of the upper surface of the upper bearing plate (131), the second belt transmission device (122) is connected with a sliding block (123) through a belt clamp and drives the sliding block (123) to transversely move on the sliding rail (124), a fixing block (1231) is vertically installed on the upper surface of the sliding block (123), an air cylinder (125) is arranged on the front end face of the fixing block (1231), and the bottom of the air cylinder (125) is connected with a wire feeding nozzle (126) and drives the wire feeding nozzle (126) to longitudinally move.

7. The line for machining magnetic coils according to claim 6, characterized in that said mandrel means (11) further comprise fork means (115), said fork means (115) being mounted below the main shaft (114); the shifting fork device (115) comprises a shifting fork cylinder (1151) and a shifting fork (1152), the shifting fork cylinder (1151) is located below the first belt transmission device (112) and the right end of the shifting fork cylinder horizontally penetrates through the left vertical plate (132), the right end of the shifting fork cylinder (1151) is connected with the shifting fork (1152), and the shifting fork (1152) is located below the main shaft (114).

8. The processing line of magnetic coils according to claim 7, characterized in that the mandrel mechanism (11) further comprises a roller device (116), the roller device (116) being mounted outside the mandrel sleeve (113); the compression roller device (116) comprises a compression roller (1161), a compression roller support (1162), a compression roller cylinder (1163) and a compression roller cylinder support (1164), the compression roller (1161) is fixed on the front side of the bottom plate (134) through the compression roller support (1162), the compression roller (1161) is arranged in parallel with the mandrel sleeve (113) and is located on the front upper side of the mandrel sleeve (113), the compression roller (1161) is tightly pressed on the mandrel sleeve (113) through a tension spring and rotates along with the rotation of the mandrel sleeve (113) of the compression roller (1161); the compression roller air cylinder (1163) is fixed on the rear side of the bottom plate (134) through a compression roller air cylinder support (1164), and the compression roller air cylinder (1163) is arranged towards the compression roller (1161).

9. The production line of claim 8, wherein the first belt transmission device (112) comprises a first small pulley (1121) and a first large pulley (1122), the first motor (111) is connected with the first small pulley (1121), the first small pulley (1121) is connected with the first large pulley (1122) through a first synchronous belt (1123), and the first large pulley (1122) is connected with the left end of the main shaft (114).

10. The processing line of the magnetic coil as claimed in claim 9, wherein the second belt transmission device (122) comprises a second small pulley (1221) and a second large pulley (1222), the second motor (121) is connected with the second small pulley (1221), and the second small pulley (1221) is connected with the second large pulley (1222) through a second synchronous belt (1223).