CN209544151U - Coil winding machine - Google Patents
Coil winding machine Download PDFInfo
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- CN209544151U CN209544151U CN201822279143.7U CN201822279143U CN209544151U CN 209544151 U CN209544151 U CN 209544151U CN 201822279143 U CN201822279143 U CN 201822279143U CN 209544151 U CN209544151 U CN 209544151U
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- coil winding
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- 230000000712 assembly Effects 0.000 claims description 34
- 238000000429 assembly Methods 0.000 claims description 34
- 238000002788 crimping Methods 0.000 claims description 29
- 238000003825 pressing Methods 0.000 claims description 20
- 230000000873 masking effect Effects 0.000 claims description 18
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 26
- 239000003292 glue Substances 0.000 description 19
- 238000009434 installation Methods 0.000 description 13
- 229910052802 copper Inorganic materials 0.000 description 11
- 239000010949 copper Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 239000004020 conductor Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 235000018927 edible plant Nutrition 0.000 description 8
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- 230000000694 effects Effects 0.000 description 6
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- 230000002035 prolonged effect Effects 0.000 description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of coil winding machines, including rack, and are respectively arranged in rack: fiery ox feeding mechanism, for supplying the fiery ox to coiling；Thread supplying device, for supplying the electric wire being wound on fiery ox；Rotation drive device for installing fiery ox, and drives fiery Niu Xuanzhuan；Coiling auxiliary manipulator combined system, coiling auxiliary device including manipulator and the connection manipulator, the coiling auxiliary device is installed in rotation drive device under the driving of the manipulator from fiery ox feeding mechanism ox of getting fire, electric wire is taken from thread supplying device again, assists wire intertwist on the fiery ox that rotation drive device drives.The utility model can be time saving and energy saving automatically by wire intertwist on fiery ox, without artificial, improves winding efficiency, structure is simple, and occupied area is little.
Description
Technical field
The utility model relates to fiery ox making apparatus technical fields, and a kind of coil winding machine for the production of fiery ox is especially arranged.
Background technique
Fiery ox, also known as transformer, are the devices for changing alternating voltage using the principle of electromagnetic induction, and main member is just
Grade coil, secondary coil and iron core, major function have voltage transformation, current transformation, impedance transformation, isolation, pressure stabilizing etc..Fire at present
The coiling of ox is realized by artificial mode, more time-consuming, and human cost is high.
Utility model content
Based on this, in view of the above-mentioned problems, providing a kind of coil winding machine for being able to achieve automatic winding.
To reach the purpose of this utility model, the utility model uses following technical scheme:
A kind of coil winding machine, including rack, and be respectively arranged in rack:
Fiery ox feeding mechanism, for supplying the fiery ox to coiling；
Thread supplying device, for supplying the electric wire being wound on fiery ox；
Rotation drive device for installing fiery ox, and drives fiery Niu Xuanzhuan；
Coiling auxiliary manipulator combined system, the coiling auxiliary device including manipulator and the connection manipulator, institute
It states coiling auxiliary device and is installed on rotation drive device from fiery ox feeding mechanism ox of getting fire under the driving of the manipulator
On, then from thread supplying device take electric wire, assist wire intertwist on the fiery ox that rotation drive device drives.
Above-mentioned coil winding machine realizes can be time saving and energy saving automatically by wire intertwist on fiery ox, without artificial, improve around
Line efficiency.
In one embodiment, the thread supplying device includes for coil holder and set on the coiling on coil holder；
The quantity of the manipulator is at least one；The coiling auxiliary device include the first clamping device, the second clamping device and
First cutting mechanism, first clamping device are used to clamp the starting point to be wound in the electric wire on fiery ox, or for clamping
It has been wound in the latter end of the electric wire on fiery ox；Second clamping device is for clamping fiery ox；First cutting mechanism
For cutting electric wire after fiery ox winds electric wire.
In one embodiment, the thread supplying device further includes being set to for the wire fixing clamp on coil holder, the solidus fixture
There is the electric wire passageway passed through for electric wire；The wire clamp corresponds to the second clamping device setting, is used for second clamping machine
Structure clamping.
In one embodiment, the wire fixing clamp has the solidus structure for fastening electric wire；The coiling auxiliary dress
Setting further includes thread releasing mechanism and third clamping device, and the thread releasing mechanism corresponds to the second clamping device setting, for the
Wire fixing clamp is driven to unclamp electric wire after two gripper mechanism grips wire fixing clamps；The third clamping device is used to unclamp electric wire in wire fixing clamp
The starting point of electric wire is clamped afterwards.
In one embodiment, the wire fixing clamp includes threading frame and solidus structure, and the threading is provided with first and wears
First perforation and biperforate accommodating cavity are perforated and are connected to hole, coaxial second of perforating with described first；Institute
Stating solidus structure includes saddle, quiet piece of crimping and driving spring；One end of the saddle is located at outside the threading frame, the other end
It is stretched in the accommodating cavity across the wire fixing clamp, and is formed with connection first perforation and is worn with biperforate third
Hole；The electric wire passageway that first perforation, the second perforation and third perforation composition are passed through for electric wire；Quiet piece of the crimping is set to
It threads on frame, and stretches in the third perforation；The saddle, which has, is located at quiet piece of the crimping separate pushing hands
The line pressing rod of side；The driving spring linkage saddle, for driving line pressing rod that electric wire is pressed on quiet piece of the crimping；
The thread releasing mechanism is used for by overcoming the resistance of the driving spring to push the saddle, to drive line pressing rod quiet far from crimping
Block is to unclamp electric wire.
In one embodiment, the quantity of the manipulator is at least two, first clamping device, the second clamping
Mechanism and thread releasing mechanism are set on a manipulator；The third clamping device and the first cutting mechanism are set to another manipulator
On.
In one embodiment, first clamping device includes the first clamp assemblies and actuator, second folder
Holding mechanism includes the second clamp assemblies and actuator, and the third clamping device includes third clamp assemblies and actuator, described
First cutting structure includes the first scissors and actuator；First clamping device and the second clamping device share a driving
The shared actuator of part, first clamping device and the second clamping device is the first actuator, and first actuator is used for
The first clamp assemblies and the second clamp assemblies are driven to carry out holding action；The third clamping device and the first cutting mechanism share
The shared actuator of one actuator, the third clamping device and the first cutting mechanism is the second actuator, the second actuator
Holding action is carried out for third clamp assemblies and the first scissors of driving carries out cutting movement.
In one embodiment, the third clamp assemblies are located at the side of second actuator, the third folder
The third folder that component includes two connections, second actuator is held, the third folder has third clamping bar, the third folder
Bar has bar free end and bar fixing end, and the side of two third clamping bar facing each other is equipped with the first fixture block.
In one embodiment, the coil winding machine further includes sebific duct feeding mechanism, is additionally provided on the two third clamping bars
The second fixture block being set side by side with first fixture block；The side of the second fixture block facing each other is equipped with for clamping sebific duct
Clamp slot, the clamp slot is laterally extended along the third clamping bar set on second fixture block；Second fixture block passes through
Connecting spring connects the third clamping bar.
In one embodiment, the folder for clamping electric wire is correspondingly provided on the side of the first fixture block facing each other
Wire casing, the clamp slot is laterally extended along the third clamping bar set on second fixture block, and the both ends of the clamp slot are passed through
Wear first fixture block.
In one embodiment, first fixture block is equipped with close to the side of the free end of the third clamping bar for pressing from both sides
The third fixture block of gummed paper, the third fixture block flush setting with first fixture block.
In one embodiment, the coil winding machine further includes the adhesive tape-supplying device for supplying masking tape, it is described around
Line auxiliary device further includes pinch roller.
In one embodiment, the coiling auxiliary device further includes the second cutting mechanism for cutting gummed paper, described
First cutting mechanism and the second cutting mechanism are respectively arranged on two different manipulators.
In one embodiment, the coil winding machine further include for paster apparatus, it is described for paster apparatus have gummed paper piece
Supply area；The coiling auxiliary device further includes suction piece part and the encapsulated mechanism of paper of line；The encapsulated mechanism of paper of line include mounting blocks,
It is pivotally connected the mounting blocks and through the shafts of the mounting blocks, the resiliency urged mechanism on the mounting blocks, described in connection
The briquetting of resiliency urged mechanism and the driving mechanism of the connection shaft, interior be equipped with of the shaft are worn for what electric wire passed through
String holes, the center position for extending radially to the shaft of shaft described in a lateral edge of the threading hole, the other side is along described
Radially extending for shaft forms opening through the shaft, mounting blocks and driving mechanism；The shaft has sticky paper section, the pressure
Block corresponds to the sticky paper section setting, and the resiliency urged mechanism is for driving briquetting that gummed paper is pressed on sticky paper section.
In one embodiment, the suction piece part is the broken line block equipped with sucker, is set on the free end of the broken line block
There is entrance hole.
In one embodiment, the coil winding machine auxiliary device includes broken line block, is set on the free end of the broken line block
There is incoming line
Detailed description of the invention
Fig. 1 is the schematic perspective view of coil winding machine described in an embodiment of the present invention；
Fig. 2 is the cross-sectional view of the wire fixing clamp of coil winding machine described in Fig. 1；
Fig. 3 is the schematic perspective view of the fiery ox installation part in Fig. 1；
Fig. 4 is the exploded view of fiery ox installation part shown in Fig. 3；
Fig. 5 is that the starting point of electric wire is wound in the schematic diagram on the winding terminal of solidus bar；
Fig. 6 is to apply thrust F in the schematic diagram on drive block；
Fig. 7 is that the winding terminal of solidus bar is retracted in intermediate bar, the schematic diagram that the starting point of electric wire falls off from solidus bar；
Fig. 8 is the structural schematic diagram for paster apparatus in Fig. 1；
Fig. 9 is the assembly of a part of component composition of the coiling auxiliary device in Fig. 1 being set on the first manipulator
Schematic perspective view；
Figure 10 is the schematic perspective view in another orientation of assembly shown in Fig. 9；
Figure 11 is the assembly of the another part component composition of the coiling auxiliary device in Fig. 1 being set on the second manipulator
The schematic perspective view of body；
Figure 12 is the schematic perspective view in another orientation of assembly shown in Figure 11；
Figure 13 is enclosed the enlarged drawing at position by circle A in Figure 12；
Figure 14 is the connection schematic diagram of the second fixture block and third clamping bar in Figure 11；
Figure 15 is the partial schematic diagram of the broken line block in Figure 11；
Figure 16 is the operation schematic diagram of broken line block broken line；
Figure 17 is the partial structure diagram of the encapsulated paper device of line；
Figure 18 is the schematic perspective view of the shaft in Figure 17；
Figure 19 is enclosed the enlarged drawing of part by circle B in Figure 18；
Figure 20 is the schematic perspective view of existing one fiery ox.
In figure:
11, rack；12, fiery ox feeding mechanism；13, sebific duct feeding mechanism；20, thread supplying device；21, for coil holder；22, for line
Circle；30, wire fixing clamp；31, frame is threaded；311, accommodating cavity；312, the first perforation；313, the second perforation；314, quiet piece of crimping；315,
Pressuring line groove；32, saddle；33, sliding block；331, third is perforated；332, line pressing rod；34, wire pressing block；341, crimping protrusion；35, it pushes away
Hand；36, driving spring；40, rotation drive device；41, fixed frame；42, rotary drive；43, fiery ox installation part；44, intermediate
Bar；441, first through hole；442, the second through-hole；45, fiery ox mounting rod；451, fixed part；452, elastic rod；453, interconnecting piece；
46, solidus mechanism；461, drive block；462, solidus bar；463, winding terminal；464, solidus portion；465, connecting spring；466, conducting wire
Bar；467, conductor wire end；50, adhesive tape-supplying device；51, gummed paper zone circle；60, for paster apparatus；61, copper sheet supply area；62, gummed paper
Piece supply area；71, the first manipulator；72, the second manipulator；73, coiling auxiliary device；81, the first fixed block；82, it first drives
Moving part；83, the first folder；831, the first clamping bar；832, first connecting rod；833, cavity；84, the second folder；841, second connects
Extension bar；842, the second clamping bar；843, the first clamping part；844, the second clamping part；85, thread releasing mechanism；851, loose ends cylinder；852,
Pushing block；86, the second scissors；861, the second shear body；871, mounting blocks；872, shaft；873, section is limited；874, it is pivotally connected section；875,
Sticky paper section；8751, excircle face；8752, groove；8753, planar portions；876, threading hole；877, it is open；878, gear；
879, briquetting；8791, elastic layer；88, elastic pushing block component；881, push rod；882, bar spring is driven；91, the second fixed block；93,
Second actuator；94, third folder；941, third clamping bar；942, the first fixture block；943, clamp slot；944, the second fixture block；945,
Clamp slot；946, fixed spring；947, third fixture block；948, third connecting rod；95, pressboard；96, the first scissors；961,
One shear body；97, pinch roller；991, frame member is inhaled；992, frame end is inhaled；993, broken line block；994, incoming line；995, sucker；997, rack gear；
100, fiery ox.
Specific embodiment
In the description of the present invention, it should be understood that term " length ", " width ", "top", "bottom", "inner",
The orientation or positional relationship of the instructions such as "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this reality
It is described with novel with simplified, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, " second ", feature can be expressed or
Person implicitly includes one or more of the features.
In the description of the present invention, unless otherwise clearly defined and limited, term " connection ", " fixation " should be done extensively
Reason and good sense solution may be a detachable connection for example, it may be being fixedly connected, or integral；It can be mechanical connection, it can also be with
It is electrical connection；Can be directly connected, can also indirectly connected through an intermediary, can be connection inside two elements or
The interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it
"lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to
Cross the other characterisation contact between them.
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
Please refer to Fig. 1 to Figure 13, be one preferred embodiment of the utility model a kind of coil winding machine, including rack 11 and
Fiery ox feeding mechanism 12, sebific duct feeding mechanism 13, thread supplying device 20, the adhesive tape-supplying device 50, confession being respectively arranged in rack 11
Paster apparatus 60 and coiling auxiliary manipulator combined system.
As shown in Figure 1, fiery ox feeding mechanism 12 is used to supply the fiery ox 100 to coiling.In the present embodiment, fiery ox supply
Device 12 is support holder structure.Sebific duct feeding mechanism 13 is for supplying sebific duct.In the present embodiment, sebific duct feeding mechanism 13 is also support
Dish structure,
For thread supplying device 20 for supplying electric wire, electric wire can be copper wire, multi cord, rubber sheathed wire or other electric wires.For line
Device 20 includes, for coil 22 and at least one wire fixing clamp 30, using for coil holder 21 and set at least one on coil holder 21
The gauge wire required for the fiery ox coiling of supply；It is arranged in a one-to-one correspondence for coil 22 and wire fixing clamp 30.For coil quantity and
The quantity of wire fixing clamp carries out corresponding setting according to the specification of fiery ox and the demand of coiling.In the present embodiment, for coil
Quantity is three, and for supplying copper wire, multi cord and rubber sheathed wire respectively, corresponding, the quantity of wire fixing clamp is also three.
In the present embodiment, the electric wire passageway that there is wire fixing clamp 30 electric wire to pass through, and also there is the solidus for fastening line
Structure.Solidus structure clamps electricity when electric wire is not wound on fiery ox 100 for unclamping electric wire in wire intertwist fire ox 100
Line pulls electric wire from the fiery ox for being transferred to the installation of rotation drive device 40 for coil holder 21 convenient for wire fixing clamp.Specifically, such as Fig. 2
Shown, wire fixing clamp 30 includes threading frame 31 and solidus structure, and threading frame 31 is equipped with the first perforation 312, it is 312 coaxial to perforate with first
Second perforation 313 and connection first perforation 312 and second perforation 313 accommodating cavity 311；Solidus structure includes that crimping is quiet
Block, saddle 32 and driving spring 36；32 one end of saddle is located at outside threading frame 31, and the other end passes through wire fixing clamp 30 and stretches to accommodating
In chamber 311, and it is formed with the third perforation 331 of connection the first perforation 312 and the second perforation 313；First perforation 312, second is worn
The electric wire passageway that hole 313 and 331 composition of third perforation are passed through for electric wire；Quiet piece of crimping is set on threading frame, and stretches to the
Quiet piece 314 of crimping in three perforation 331；Saddle 32 and the sliding of wire fixing clamp 30 are arranged, and saddle 32, which has, is located at quiet piece 314 of crimping
The line pressing rod 332 of side；Electric wire sequentially passes through the first perforation 312, quiet piece 314 of the crimping third perforation between line pressing rod 332
331 parts and the second perforation 313；36 catenating slider 33 of driving spring, for driving line pressing rod 332 that electric wire is pressed on crimping
On quiet piece 314.When electric wire to be unclamped, the direction for overcoming the resistance of driving spring 36 towards threading frame 31 pushes saddle 32, makes
The line pressing rod 332 of saddle 32 can achieve the purpose that loose ends far from quiet piece 314 of crimping.
Saddle 32 includes sliding block 33 and the pushing hands 35 outside threading frame 31, and one end of sliding block 33 connects pushing hands 35, separately
One end sliding wears threading frame 31 and stretches in threading frame 31；Third perforation 331 and line pressing rod 332 are set on sliding block 33, pressure
Line bar 332 is located at quiet piece 314 side far from pushing hands 35 of crimping.
Optionally, line pressing rod 332 is equipped with wire pressing block 34 towards quiet piece 314 of crimping of side, and wire pressing block 34 is towards crimping
Quiet piece 314 of side is equipped with crimping protrusion 341, and crimping protrusion 341 is prolonged along the direction of the axis perpendicular to third perforation 331
Stretch setting.Quiet piece 314 of crimping is equipped with corresponding crimping protrusion 341 and is equipped with pressuring line groove 315, and crimping protrusion 341 is for tight by electric wire
It is pressed in pressuring line groove 315, crimping protrusion 341 and pressuring line groove 315 combine the fastening force that can increase to electric wire, so that electric wire
It is not easy under the effect of external force relative to quiet piece 314 generation movement of crimping.In the present embodiment, driving spring 36 is sheathed on sliding block
On 33, and it is held between pushing hands and threading frame 31.
As shown in Figure 1, rotation drive device 40 is used to install fiery ox, and drive fiery Niu Xuanzhuan.Rotation drive device 40 is wrapped
Include fixed frame 41, the rotary drive 42 on fixed frame 41, the fiery ox installation part 43 for connecting rotary drive 42, fiery ox
Installation part 43 is for installing fiery ox.
Fiery ox installation part 43 includes fiery ox mounting rod 45 and the centre for connecting fiery ox mounting rod 45 and rotary drive 42
Bar 44.When installing fiery ox, fiery ox is connected by way of buckle with fiery ox mounting rod 45, specifically: fiery ox mounting rod 45 has
Connect the interconnecting piece of the fixed part 451 of intermediate bar 44, the mounting portion for installing fiery ox and connecting portion 451 and mounting portion
453, the one end of mounting portion far from intermediate bar is tapered, and size is gradually reduced away from the direction of intermediate bar, in order to install
Portion is inserted into the inner cavity of fiery ox, and mounting portion includes at least two elastic rods 452, and elastic rod 452 surrounds the axis of fiery ox mounting rod 45
Annular is uniformly distributed, and when installation, mounting portion is inserted into the interior intracavitary of fiery ox, and 452 elasticity of elastic rod is fastened in fiery ox, is realized pair
The fastening of fiery ox is installed, so that fiery ox is not susceptible to mobile or is rotated in coiling.
Further, fiery ox installation part 43 is equipped with solidus mechanism 46 for fixing electric wire, for wire intertwist in
If the starting point of electric wire is not wound in the starting point be fixed on stitch and just fix electric wire before fiery ox is upper, in order to which electric wire is subsequent
Winding on fiery ox.In the present embodiment, solidus mechanism 46 is set on intermediate bar 44.
As shown in Figure 3 and Figure 4, solidus mechanism 46 includes drive block 461, connecting spring 465 and solidus bar 466；Driving
Block 461 is located at outside intermediate bar 44；Solidus bar 466 and the sliding of intermediate bar 44 are arranged；One end of solidus bar 466 connects drive block 461,
The other end, which wears intermediate bar 44 and extends to, forms winding terminal 463 outside intermediate bar 44, correspond to that solidus bar 466 passes through on intermediate bar 44 the
One through-hole 441；465 linkage driving block 461 of connecting spring and intermediate bar 44.When the free end of fixed electric wire, as shown in figure 5, will
Wire intertwist is fixed on the winding terminal 463 of solidus bar 466；After fiery ox winds electric wire, as shown in fig. 6, applying thrust F
In on drive block 461, thrust F overcomes the resistance of connecting spring 465 to push drive block 461, drives the winding terminal of line pressing rod 332
463 are retracted in intermediate bar 44, and as described in Figure 7, intermediate bar 44 pushes the free end of electric wire to fall off from winding terminal 463, later
The power being applied on pushing block 852 is removed, pushing block 852 spends driving solidus bar 466 automatically again in the restoring force of connecting spring 465
Position, the winding terminal 463 of solidus bar 466 stretch out intermediate bar 44 again.In this embodiment, it is preferred that the axis of solidus bar 466
Perpendicular to the axis of intermediate bar 44.
Preferably, winding terminal 463 include the two solidus portions 464 being oppositely arranged, this can make electric wire in " 8 " font be wound in around
On line end 463, so that the free end energy tight twist of electric wire is on winding terminal 463.
Solidus mechanism 46 further includes conductor rod 466, and conductor rod 466 is slidably connected with intermediate bar 44；The one of conductor rod 466
End connection pushing block 852, the other end pass through intermediate bar 44 and extend to formation conductor wire end 467 outside intermediate bar 44, and conductor wire end 467 is used for electric wire
It bypasses, to play the role of guiding to electric wire, meanwhile, conductor rod 466 can also play one to the movement of entire solidus mechanism 46
The effect of guiding, so that stable linear motion does in entire solidus mechanism 46；Corresponding lead bar 466 is equipped with conducting wire on intermediate bar 44
The second through-hole 442 that bar 466 passes through.In this embodiment, it is preferred that axis of the axis of conductor rod 466 perpendicular to intermediate bar 44
Line.
Connecting spring 465 is set in intermediate bar 44, and the both ends of connecting spring 465 are separately connected pushing block 852 and intermediate bar 44.
For supplying the masking tape being wound on fiery ox, masking tape can be wound on fiery ox adhesive tape-supplying device 50, so that
Two layers of the electric wire that need to be separated is separated by masking tape, it can also be used to will be wound in starting point and/or the end of the electric wire on fiery ox
End is fixed on fiery ox.Adhesive tape answers device to have the gummed paper zone circle 51 for being wound with masking tape.The quantity of gummed paper zone circle 51 is according to fire
The quantity and specification of the required gummed paper of ox coiling determines.
For paster apparatus 60 for supplying gummed paper piece and copper sheet.As shown in figure 8, there is copper sheet supply area for paster apparatus 60
61 and gummed paper piece supply area 62.In the present embodiment, copper sheet supply area 61 and gummed paper piece supply area 62 are the confession of side opening
Cavity configuration is answered, gummed paper piece is bitter edible plant film.
Coiling auxiliary manipulator combined system includes manipulator and the coiling auxiliary device 73 for connecting manipulator；Coiling is auxiliary
Device 73 is helped to be installed in rotation drive device 40 under the driving of manipulator from fiery ox feeding mechanism 12 ox 100 of getting fire, then from
Thread supplying device 20 takes electric wire, assists wire intertwist on the fiery ox 100 that rotation drive device 40 drives.
The quantity of manipulator is at least one, and the quantity of manipulator is configured according to the actual needs.In the present embodiment
In, auxiliary bobbin winder device 73 includes the first clamping device, the second clamping device, thread releasing mechanism 85, third clamping device, the first sanction
It cuts mechanism and inhales frame member 991, the first clamping device is for clamping the starting point to be wound in the electric wire on fiery ox 100；Second folder
Mechanism is held for clamping fiery ox 100；The corresponding second clamping device setting of thread releasing mechanism 85, in the second gripper mechanism grips fire
Wire fixing clamp 30 is driven to unclamp electric wire after ox 100, the first cutting mechanism is for cutting electric wire after fiery ox 100 winds electric wire；The
Latter end of three clamping devices for the electric wire that grip shears are had no progeny after electric wire is cut；Frame member 991 is inhaled for drawing fiery ox
100, the structure in the shape of a rod of frame member 991 is inhaled, the free end for inhaling frame member 991 is to inhale frame end 992.
In the present embodiment, as shown in Figure 1, the first clamping device, the second clamping device and thread releasing mechanism 85 are set to the
On one manipulator 71, and the output end of the first manipulator 71, third clamping device, first are connected by one first fixed block 81
Cutting mechanism and suction frame member 991 are set on the second manipulator 72, and connect the second manipulator by one second fixed block 91
72 output end.
First clamping device, the second clamping device, thread releasing mechanism 85, third clamping device, the first cutting mechanism and suction frame
Part 991 matches under the driving of the first manipulator 71 and the second manipulator 72 completes the coiling course of work are as follows: the second manipulator
72 drivings inhale frame member 991 and give the second gripper mechanism grips from fiery ox feeding mechanism 12 ox 100 of getting fire；Then, the first manipulator
71 the second clamping devices of driving install fiery ox 100 to rotation drive device 40；Then, the second folder of the first manipulator 71 driving
Mechanism is held from wire fixing clamp 30 pulls near electric wire to mounted fiery ox 100 up for coil holder 21, thread releasing mechanism 85 drives solidus
Folder 30 unclamps electric wire；Again then, the second manipulator 72 drives the starting point of third gripper mechanism grips electric wire to fiery ox 100
Near the stitch either solidus bar 462 of solidus mechanism 46, the first manipulator 71 driving wire fixing clamp 30, which moves, makes rising for electric wire
Beginning is fastened on stitch or on solidus bar 462；Later, rotation drive device 40 drives fiery ox 100 to rotate, the first machine
Tool hand 71 drives wire fixing clamp 30 along the axis direction linear uniform motion of fiery ox 100, so that electric wire uniform winding is in fiery ox 100
On；After wire intertwist, if the end needs of electric wire are fastened on stitch, the first manipulator 71 driving first is pressed from both sides
The end part that mechanism is cut close to electric wire is held, the first clamping device clamps the latter end of electric wire, then the first manipulator
71 drive the first clamping device to be fastened with the latter end movement of the electric wire after cutting on stitch again；Later, second
The first cutting mechanism of driving of manipulator 72 moves to the latter end of electric wire, and the first cutting mechanism cuts electric wire.Wherein, electric wire
Starting point only is not needing to be fastened when on stitch, and just selection is fastened on the solidus bar 462 of solidus mechanism 46,
According to electric wire it needs to be determined that.In other embodiments, it can will inhale frame member 991 remove, pass through the first manipulator 71 driving the
Two clamping devices are directly got fire from fiery ox feeding mechanism 12 in the installation to rotation drive device 40 of ox 100.
In one embodiment, coiling auxiliary device 73 includes the first clamping device, the second clamping device and the first sanction
Mechanism is cut, but not including that third clamping device and suction frame member 991, these three mechanisms can be set on same manipulator, solidus
Folder 30 only always fastens the threading passageway of wire clamp 30, does not have solidus structure.In this case, the first clamping device, the second folder
Hold the process that mechanism and the first cutting mechanism complete coiling under the driving of manipulator are as follows: the second clamping device of robot drives from
Fiery ox feeding mechanism 12 is got fire in the installation to rotation drive device 40 of ox 100；Then, the first clamping device of robot drives pulls
Near the fiery ox 100 that the starting point of electric wire to rotation drive device 40 is installed or near the solidus bar 462 of solidus mechanism 46,
Later, the first clamping device of robot drives movement makes the starting point of electric wire be fastened on the stitch of fiery ox 100 or solid
On the solidus bar 462 of line mechanism 46；Then, the first clamping device unclamps electric wire, and the second clamping device of robot drives is from for line
Take wire fixing clamp 30 to fiery 100 attachment of ox on frame 21, after wire fixing clamp 30 moves to fiery ox 100 nearby, rotation drive device 40 is driven
Ox 100 of getting angry rotation, meanwhile, the second clamping device of robot drives is made with wire fixing clamp 30 along the axis direction of fiery ox 100 even
Speed linear motion, so that electric wire uniform winding is on fiery ox 100；After wire intertwist fire ox 100, the first cutting mechanism will be electric
Line is cut, the then latter end of electric wire of the first clamping device of robot drives after cutting, and the electricity that grip shears are had no progeny
The latter end of line, after the structure division of the electric wire after the first gripper mechanism grips are cut well, robot drives first are clamped
Mechanism kinematic makes the latter end of the electric wire after cutting be fastened on the stitch of fiery ox 100.In other embodiments, first
Cutting mechanism can be set on other manipulators, after wire intertwist, pass through other the first guillotines of robot drives
Then structure cuts electric wire close to electric wire.
In one embodiment, coiling auxiliary device 73 includes the first clamping device, the second clamping device and the first guillotine
Structure, this three mechanisms are set on a manipulator, and the first cutting mechanism, which is arranged in, to be cut on the position of electric wire；Thread supplying device
20 do not have wire fixing clamp 30.In this case, the first clamping device, the second clamping device and the first cutting mechanism are in manipulator
The lower working principle for completing coiling of driving are as follows: the starting point of robot drives the first gripper mechanism grips electric wire to fiery ox is solid
462 attachment of solidus bar of line mechanism 46, subsequent robot drives wire motion make the starting point of electric wire be fastened Yu Huoniu's
On stitch or the solidus bar 462 of solidus mechanism 46；Subsequent rotation drive device 40 drives fiery Niu Xuanzhuan, while manipulator drives
Perhaps the second clamping device pushes electric wire or other devices of outside to push electric wire to dynamic first clamping device, makes electric wire along fire
The axis direction of ox does linear uniform motion, so that electric wire uniform winding is on fiery ox, after wire intertwist, robot drives
First clamping device includes the latter end for the electric wire being wound on fiery ox, and clamps the end portion for the electric wire being wound on fiery ox
Point, the latter end movement of electric wire is then driven, so that the latter end of electric wire is fastened on the stitch of Yu Huoniu；Finally,
First cutting mechanism cuts the latter end for winding the electric wire on fiery ox.In other embodiments, the first cutting mechanism can be set
It sets on other manipulators, after wire intertwist, by other first cutting mechanisms of robot drives close to electric wire, then
Cut electric wire.
In the present embodiment, the first clamping device includes the first clamp assemblies and actuator, and the second clamping device includes the
Two clamp assemblies and actuator, third clamping device include third clamp assemblies and actuator, and the first cutting mechanism includes first
Scissors 96 and actuator；First clamping device and the second clamping device share an actuator, the first clamping device and the second folder
Holding the shared actuator of mechanism is the first actuator 82, and the first actuator 82 is for driving the first clamp assemblies and the second clamping group
Part carries out holding action；Third clamping device and the first cutting mechanism share an actuator, and third clamping device and first are cut out
Cutting the shared actuator of mechanism is the second actuator 93, the second actuator 93 for third clamp assemblies carry out holding action and
The first scissors 96 is driven to carry out cutting movement.First actuator 82 can be gripper cylinder, clamping hydraulic cylinder, clamping motor configuration
Or other are used to that the first clamp assemblies and the second clamp assemblies to be driven to carry out the dynamic structure of holding action, the second actuator 93
Can for gripper cylinder, clamping motor configuration, clamping hydraulic cylinder or other for drive third clamp assemblies carry out holding action
The dynamic structure of trimming action is carried out with the first scissors 96 of driving.
As shown in Figure 9 and Figure 10, specifically, the first actuator 82 is set on the first fixed block 81；First clamp assemblies position
In the side of the first actuator 82, the first clamp assemblies include the first folder 83 of two the first actuators of connection 82；In order to make
Two folders 84 can smoothly clamp fiery ox 100 and wire fixing clamp 30, and the second clamp assemblies are located at the first clamp assemblies far from the first driving
The side of part 82, the second clamp assemblies include the second folder 84 for being separately connected two the first folders 83；Thread releasing mechanism 85 is located at
Side of first clamp assemblies far from the second clamp assemblies is formed between the first folder 83 and fully comes together in two first folders 83
The cavity 833 that thread releasing mechanism 85 can be made to pass through afterwards.
First folder 83 includes for the first clamping bar 831 and the first clamping bar 831 of connection of clamping and the first actuator
82 first connecting rod 832；Cavity 833 is formed between first connecting rod 832.First clamping bar 831 is located at the second clamp assemblies
Side, so that the second clamp assemblies will not stop clamping of first clamping bar 831 to electric wire.
Second clamping bar 842 includes the second clamping bar 842 and the second company for connecting the second clamping bar 842 and first connecting rod 832
Extension bar 841；Prolong in the direction of second clamping bar 842 and the first clamping bar 831 along the axis of the output shaft perpendicular to the first actuator 82
It stretches, and the extending direction of the extending direction of the second clamping bar 842 and the first clamping bar 831 is on the contrary, so that the first clamping bar 831 and the second folder
Bar 842 is staggered, to make to will not influence respective holding action between the first clamping bar 831 and the second clamping bar 842.
Second clamping bar 842 has the first clamping part 843 and the second clamping part 844, and the first clamping part 843 is for clamping solidus
Folder 30, the first clamping part 843 closes on the setting of thread releasing mechanism 85, so that thread releasing mechanism 85 can drive the first clamping part 843 to clamp
Wire fixing clamp 30.Second clamping part 844 is for clamping fiery ox 100.
The saddle setting of the corresponding wire fixing clamp 30 of thread releasing mechanism 85, for pushing the saddle of wire fixing clamp 30, so that wire fixing clamp 30
Unclamp electric wire.Thread releasing mechanism 85 includes loose ends cylinder 851 and the pushing block 852 for connecting loose ends cylinder 851.
As is illustrated by figs. 11 and 12, in the present embodiment, third clamp assemblies are located at the side of the second actuator 93, third
Clamp assemblies include the third folder 94 of two the second actuators 93 of connection.Third folder 94 can be used for clamping copper wire, rubber
Line, multi cord, copper sheet, masking tape, gummed paper piece or sebific duct.First scissors 96 is for cutting electric wire.
Specifically, as shown in Figure 13 and Figure 14, one first fixture block is equipped on the side of two third clamping bars, 941 facing each other
942 and one second fixture block 944, the first fixture block 942 and the second fixture block 944 are set side by side, and the longitudinal direction along third clamping bar 941 is prolonged
It stretches.The side of second fixture block, 944 facing each other is equipped with the clamp slot 945 for clamping sebific duct, and clamp slot 945 is along third clamping bar
941 be laterally extended is arranged in the second fixture block 944, and the second fixture block 944 is run through at the both ends of clamp slot 945.Second fixture block 944 passes through
Fixed spring 946 connects third clamping bar 941.When clamping sebific duct, the second fixture block 944 closes up, and the first fixture block 942 does not close up, sebific duct
Enter to two clamp slots 945 formation clamp hole in, sebific duct will not deform under the action of clamp hole, be conducive to electric wire into
Enter to sebific duct, realizes that glue pipe socket is set on the end of electric wire.When clamping electric wire, the first fixture block 942 closes up, and realizes to electric wire
Clamping.
In the present embodiment, the first fixture block 942 is wholely set with third clamping bar 941.In other embodiments, the first fixture block
942 and third clamping bar 941 can split settings, and preferably the first fixture block 942 and third clamping bar 941 are detachably connected, in order to
The replacement of one fixture block 942.
The clamp slot 943 for clamping electric wire, clamp slot are correspondingly provided on the side of two first fixture blocks, 942 facing each other
943 are arranged on the first fixture block 942 along being laterally extended for third clamping bar 941, and the first fixture block 942 is run through at the both ends of clamp slot 943,
Clamp slot 943 matches with electric wire, and when clamping electric wire, two first fixture blocks 942 close up, and electric wire passes through two clamp slots 943 composition
The clamping to electric wire is realized in clamp hole, and the clamp slot 943 passed through by the way that electric wire is arranged on the first fixture block 942 can make electricity
Line will not deform when clamped.The size of clamp slot 943 is less than the size of sebific duct slot.
Clamp slot 943 is equal with the quantity of sebific duct slot, and is arranged in a one-to-one correspondence.Further, clamp slot 943 and clamp
The quantity of slot 945 is at least two, and the size of each clamp slot 943 is not identical, and the size of each clamp slot 945 is not identical, each to press from both sides
The size of tube seat 945 is greater than the size of corresponding clamp slot 943.In the present embodiment, clamp slot 943 and clamp slot 945
Quantity is three, and the size of three clamp slots 943 is all different, for clamping copper wire, rubber sheathed wire and multi cord respectively.Three
The size of clamp slot 945 is also all different, for clamping three kinds of various sizes of sebific ducts respectively.
In the present embodiment, when wire intertwist is after on fiery ox 100, when end will be arranged sebific duct, the second manipulator 72
For action drives third folder 94 close to sebific duct to be taken, third folder 94 passes through the second folder under the driving of the second actuator 93
Block 944 clamps sebific duct, and then the second manipulator 72 drives the second coiling auxiliary device 73 to be set to glue pipe socket on the end of electric wire.
The side of two third clamping bars, 941 facing each other is symmetrically arranged with third fixture block 947, and third fixture block 947 is located at the first folder
Block 942 and the second fixture block 944 are close to the side of the free end of third clamping bar 941, for clamping masking tape, gummed paper piece or copper
Piece.In order to make the first fixture block 942, the second fixture block 944 and third fixture block 947 not influence mutual clamping effect, third fixture block 947
Setting, i.e. third fixture block are flushed backwards to the side of third clamping bar 941 backwards to the side of third clamping bar 941 and the first fixture block 942
947 flush setting with the first fixture block 942.
An at least third clamping bar 941 be equipped with pressboard 95, pressboard 95 be used for gummed paper flexing be affixed on fiery ox 100 it
Before overlay in the end of the gummed paper on fiery ox 100 so that the end of gummed paper is tightly attached on fiery ox 100, the starting point of gummed paper is made to exist
Gummed paper flexing is not easy to fall off from fiery ox 100 when being covered on fiery ox 100, ensure that gummed paper smoothly flexing can be pasted on fiery ox 100
On.Pressboard 95 extends along the longitudinal direction of third clamping bar 941, and pressboard 95 can be set in the free end of third clamping bar 941
End face on, also can be set third clamping bar 941 backwards to third fixture block 947 side or other will not influence third
The position of 94 clamping effect of folder, such as the holding paper effect of third fixture block 947 will not be stopped.In the present embodiment, two thirds are pressed from both sides
The free end that third clamping bar 941 is stretched out in one end of the free end of bar 941 forms paper pressing end.Fiery ox is affixed in the starting point of gummed paper
After on 100, manipulator drives the paper pressing end of pressboard 95 to be pressed on the starting point of gummed paper, and the starting point of gummed paper is made tightly to stick at fiery ox
On 100.
Preferably, pressboard 95 is made of elastic material, so that pressboard 95 can be by of masking tape or gummed paper piece
Beginning is seamlessly pasted on fiery ox 100, so that masking tape or gummed paper piece can be preferably pasted on object.?
In the present embodiment, pressboard 95 is made of rubber material.
As shown in figure 11, the first scissors 96 is located at side of the third connecting rod 948 far from third clamping bar 941, the first scissors
96 include two the first shear bodies 961, and one end of two the first shear bodies 961 is slidably connected two third connecting rods 948 respectively, another
The direction away from the second actuator 93 is held to extend, two the first shear bodies 961 intersect setting and pivot joint.
As shown in Figure 10, coiling auxiliary device 73 further includes pinch roller 97 and the second cutting mechanism, and pinch roller 97 is used in gummed paper
Flexing is pressed on gummed paper when being affixed on fiery ox 100, and the second cutting mechanism is used to cut gummed paper after fiery ox 100 pastes masking tape
Band.Second cutting mechanism includes the second scissors 86 and actuator, and the actuator of the second cutting mechanism is the second actuator 93, and second
Actuator 93 is for driving the second scissors 86 to carry out cutting movement.In the present embodiment, pinch roller 97 is set on the second manipulator 72,
And the second fixed block 91 of connection；Second cutting mechanism is set on the first manipulator 71.In other embodiments, pinch roller 97 can be set
The second manipulator 72 or other machines can also be set in the second cutting mechanism on the first manipulator 71 perhaps other manipulators
Tool is on hand.In the present embodiment, under the driving cooperation of the first manipulator 71 and the second manipulator 72, the third of third folder 94
Fixture block 947, pinch roller 97, the first cutting mechanism the first scissors 96 match and masking tape can be pasted on fiery ox 100, for will
Rewiring layer separates or the end of electric wire is fixed on fiery ox 100.Operating process are as follows: the second manipulator 72 drives third folder
The starting point that mechanism clamps masking tape by two third fixture blocks 947 is held, masking tape is pulled, is pasted on the starting point of masking tape
On fiery ox 100；Then, the second manipulator 72 movement drives pinch roller 97 to be pressed on gummed paper, and fiery ox 100 is then in rotation driving dress
It sets and is rotated under 40 driving, so that gummed paper flexing is pasted on fiery ox 100, realizes and separate the end of electric wire rewiring layer either
Portion is fixed on fiery ox 100；After gummed paper flexing is good, the second manipulator 72 drives third clamping device far from fiery ox 100；It
Afterwards, the first manipulator 71 drives the second cutting mechanism close to the latter end of masking tape, and the second cutting mechanism cuts masking tape,
After paper-cut band is cut, the first manipulator 71 drives the second cutting mechanism far from fiery ox 100.In other embodiments, it can also incite somebody to action
Second cutting mechanism is got rid of, and cuts gummed paper by the first cutting mechanism.
In the present embodiment, the first fixed block 81 and the first actuator 82 be respectively positioned on thread releasing mechanism 85 and the second scissors 86 it
Between, so that the first fixed block 81 and the first actuator 82 will not stop the movement of thread releasing mechanism 85 and the second scissors 86.Specifically,
Thread releasing mechanism 85 is set on the first actuator 82, and the second scissors 86 is set to one of the first fixed block 81 far from the first actuator 82
Side.
Second scissors 86 includes two the second shear bodies 861, and one end of two the second shear bodies 861 is slidably connected two the respectively
One connecting rod 832, the other end extend away from the direction of the first fixed block 81；Two the second shear bodies 861 intersect setting simultaneously
Pivot joint.
Coiling auxiliary device 73 further includes suction piece part, for adsorbing gummed paper piece and copper sheet；In the present embodiment, such as Figure 15 institute
Show, suction piece part is the broken line block 993 with sucker 995, and the free end on broken line block 993 is equipped with incoming line 994.Further
Ground, in the present embodiment, as shown in figure and figure, broken line block 993 is set on the second manipulator 72.In other embodiments, broken line
Block 993 can also be set on the first manipulator 71 or on other manipulators.
In the present embodiment, the operating process of broken line are as follows: when needing broken line, as shown in figure 16, the movement of the second manipulator 72 is driven
Make broken line block 993 close to electric wire, and enter to electric wire in incoming line 994, then the second manipulator 72 drives the second coiling auxiliary
Device 73 is helped to make broken line movement according to broken line requirement with electric wire；After broken line, fiery ox 100 is again in rotation drive device 40
Row coiling movement is rotated under driving, while the second manipulator 72 drives the movement of the second coiling auxiliary device 73 to make broken line block 993
It is detached from electric wire, and drives the second coiling auxiliary device 73 far from fiery ox 100.When broken line block 993 is set to other coiling auxiliary devices
When on 73, the broken line process and the second manipulator of the robot drives of the coiling auxiliary device 73 coiling auxiliary device 73 are connected
The broken line process of 72 the second coiling auxiliary devices 73 of driving is the same.
In other embodiments, suction piece part is only to have the structure for inhaling gummed paper function, and coiling auxiliary device 73 further includes certainly
The broken line block 993 of incoming line 994 is equipped with by holding, in this embodiment, which is only used for broken line, suction piece part and folding
Line block 993 can be set on the first manipulator 71, can also be respectively arranged on two different manipulators.
Coiling auxiliary manipulator auxiliary system further includes the encapsulated paper device of line, for treating the electricity being wound on fiery ox 100
The starting point of line and/or end encapsulated paper as needed.As shown in Fig. 9, Figure 12 and Figure 17, the encapsulated paper device of line includes connection
Mounting blocks 871, the shaft 872 for wearing mounting blocks 871 and being pivotally mounted block 871, the elastic pushing block group on mounting blocks 871
Part 88, the briquetting 879 for connecting elastic pushing block component 88 and the driving mechanism for connecting shaft 872, interior be equipped with of shaft 872 are used for
The threading hole 876 that electric wire passes through；Threading hole 876 runs through the both ends of shaft 872；The radial direction of one lateral edge shaft 872 of threading hole 876
The center position of shaft 872 is extended to, the other side radially extends through shaft 872, mounting blocks 871 and drives along shaft 872
Motivation is configured to opening 877 so that electric wire can laterally entering to threading hole 876 from shaft 872, convenient for electric wire disengaging threading
In hole 876；Shaft 872 has sticky paper section 875, and the corresponding sticky paper section 875 of briquetting 879 is arranged, and elastic pushing block component 88 is for driving
Gummed paper is pressed in sticky paper section 875 by briquetting 879, and driving mechanism is rotated for drive shaft 872, so that shaft of the gummed paper in rotation
872 and platen briquetting 879 collective effect under curling be cylindrical in shape structure.
If the direction of Figure 18, width towards the center of shaft 872 of threading hole 876 are gradually reduced, this aspect is convenient for electricity
On the other hand the entrance of line enables electric wire to be gradually introduced to the center position of shaft 872.Further, threading hole 876
Side close to the center of shaft 872 is arc-shaped shape, so that shaft 872 will not scratch electric wire in rotation.
Shaft 872 includes sequentially connected limit section 873, pivot joint section 874 and sticky paper section 875, and pivot joint section 874 is through peace
Block 871 is filled, and is pivotally mounted block 871；The size for limiting section 873 is greater than the size of pivot joint section 874, and limit section 873 abuts installation
Block 871.
Further, the lateral surface of sticky paper section 875 has excircle face 8751 and planar portions 8753,8753 edge of planar portions
Shaft 872 it is axially extending.Planar portions 8753 are used to paste the starting point of gummed paper, and the starting of gummed paper is pasted by planar portions 8753
End can increase the starting point of gummed paper and the cohesive force at sticky paper end, so that the starting point of gummed paper is rolled into tubular structure starting in gummed paper
It is not easy to fall off from sticky paper section 875 because pullling power when the stage, guarantees that gummed paper can be crimped smoothly and be cylindrical in shape structure.
Still further, as shown in figure 19, the excircle face 8751 of sticky paper section 875 is equipped with several grooves 8752, recessed
Slot 8752 is used to reduce the cohesive force of the excircle face 8751 and the gummed paper for being rolled into tubular structure of sticky paper section 875, so that tubular
The gummed paper of structure can easily be shut down from sticky paper section 875.The shape of groove 8752 is unrestricted, can be for along shaft 872
The extended strip of axis direction, can also in rounded shape, square shape or other shapes.
Briquetting 879 is equipped with elastic layer 8791 towards the side of shaft 872, and the corresponding sticky paper section 875 of elastic layer 8791 is arranged,
So that briquetting 879 is pressed on sticky paper layer by elastic layer 8791.The setting of elastic layer 8791 can make briquetting 879 and sticky paper section
875 be flexible contact, rather than rigid contact, so that briquetting 879 can be close to sticky paper layer, will not generate gap, and then make
The tubular structure of size qualification can be surrounded by obtaining gummed paper.
It is opposite that elastic 88 elastic compression of pushing block component deformation can drive briquetting 879 that can be occurred according to the shape of sticky paper section 875
The displacement answered, holding are close to always sticky paper layer and terminate at planar portions 8753 so that gummed paper can originate in planar portions 8753, so that
Gummed paper can be crimped smoothly and be cylindrical in shape structure.Specifically, elastic pushing block component 88 is set in mounting blocks 871, elastic pushing block component 88
Including push rod 881 and drive bar spring 882；One end of push rod 881 connects briquetting 879, and the other end stretches in mounting blocks 871；It drives
Bar spring 882 is located in mounting blocks 871, and is located at side of the push rod 881 far from briquetting 879, drives the both ends point of bar spring 882
Push rod 881 and mounting blocks 871 are not supported.
Driving mechanism includes the gear 878 in shaft 872, the elastic pushing block component 88 on mounting blocks 871, connects
The briquetting 879 and the rack gear 997 on another coiling auxiliary device 73 for connecing elastic pushing block component 88, threading hole 876 along turn
Axis 872 extends radially through gear 878, and rack gear 997 matches with gear 878, and 72 drive rack 997 of the second manipulator pushes gear
878 rotate with shaft 872, to realize that gummed paper curling is cylindrical in shape structure.In the present embodiment, gear 878 is set to shaft 872
It is pivotally connected in section 874.
The mounting blocks 871 and rack gear 997 of the encapsulated paper device of line are respectively arranged on two different manipulators, in this reality
It applies in example, the mounting blocks 871 and rack gear 997 of the encapsulated paper device of line are respectively arranged on the first manipulator 71 and the second manipulator 72.
In the present embodiment, before wire fixing clamp 30 is not grabbed by the second clamp assemblies of the first coiling auxiliary device 73,
Under the driving cooperation of first manipulator 71 and the second manipulator 72, the encapsulated paper device cooperation broken line block 993 of line can need to be wound in
Gummed paper is wrapped as needed in the end of electric wire on fiery ox 100；When the encapsulated paper of line, electric wire needs the part of encapsulated paper to be respectively positioned on solidus
The lower section of folder 30, for example, if the latter end and start-up portion of the electric wire that need to be wound on fiery ox 100 are both needed to cladding sized paper
Or only latter end coats sized paper, then needs the start-up portion and the latter end position that make to be wound in the electric wire on fiery ox 100
In the lower section of wire fixing clamp 30；If the electric wire that need to be wound on fiery ox 100 only has start-up portion that need to coat gummed paper, need to only make to wind
The lower section that electric wire on Yu Huoniu 100 only has start-up portion to be located at wire fixing clamp 30.In the present embodiment, on electric wire encapsulated paper behaviour
Make process are as follows: the movement of the first manipulator 71 drives shaft 872 close to the Cord section below of wire fixing clamp 30, and makes electric wire from threading
The opening 877 in hole 876 enters in threading hole 876, and the electric wire position of encapsulated paper is needed to be located at the lower section of sticky paper section 875；Then
The movement of two manipulators 72 drives broken line block 993 to draw gummed paper piece and send to sticky paper section 875, and pastes the starting point of sticky paper section 875
In in planar portions 8753, later, the one end for the free end that the second manipulator 72 drives pressboard 95 to stretch out third clamping bar 941 is pressed on
On the starting point of gummed paper piece, so that the starting point of gummed paper piece can tightly stick in sticky paper section 875；Subsequent second manipulator 72 acts
997 meshing gear 878 of rack gear is driven, and gear 878 is driven to move in a straight line, so that gear 878 is rotated with shaft 872, rotation
Gummed paper curling is cylindrical in shape structure under the cooperation of the briquetting 879 of platen by the shaft 872 turned, and the gummed paper of tubular structure stretches out sticky paper
875 one end far from gear 878 of section；After gummed paper curling is cylindrical in shape structure, the second manipulator 72 acts drive third folder again
The gummed paper that 94 third fixture block 947 clamps tubular structure stretches out the side of the part of sticky paper section 875；Then the second manipulator 72 is dynamic
It drives the second coiling auxiliary device 73 to pull the gummed paper of tubular structure, so that the gummed paper of tubular structure is detached from sticky paper section 875, and make
The gummed paper of tubular structure, which moves to electric wire, needs the position of encapsulated paper, and subsequent second actuator 93 drives third folder 94 to unclamp tubular
The gummed paper of structure, later the second manipulator 72 movement drive third folder 94 is mobile third fixture block 947 is made to cover entire volume as far as possible
The gummed paper of tubular, the third folder 94 of the second actuator 93 driving later close up, and third folder 94 is made to squeeze entire reel structure
Gummed paper, so that the gummed paper of entire reel structure tightly sticks on the part of the encapsulated paper of need of electric wire；The second actuator 93 drives later
Third folder 94 unclamps the gummed paper of tubular structure, and the second manipulator 72 drives the second coiling auxiliary device 73 far from electric wire, electric wire
The work for coating gummed paper is completed.When the start-up portion and latter end that the position that electric wire need to coat gummed paper is electric wire, passed in and out
Operation above-mentioned twice, if only live wire need to coat the start-up portion or latter end of the part live wire of gummed paper, only
Carry out an aforesaid operations.
By taking the coiling of the fiery ox 100 of specification production as an example, the concrete operating principle of the coil winding machine of the present embodiment is carried out
Specific to introduce, detailed process is as follows:
1, under the driving cooperation of the first manipulator 71 and the second manipulator 72, the second clamping bar 842 of the second folder 84
Frame member 991 is inhaled in the cooperation of second clamping part 844, ox 100 of getting fire on Cong Huoniu feeding mechanism 12, and fiery ox 100 is installed on rotation
On 100 installation part of fiery ox of driving device 40, wherein as shown in figure 20, one end of the fiery ox 100 of supply is equipped with X stitch and Y needle
Foot, the other end is successively arranged a1 stitch, a2 stitch, a3 stitch and a4 stitch, and is equipped with A slot corresponding with a1 stitch and a2 needle
The corresponding B slot of foot and the corresponding C slot of a3 stitch, D slot corresponding with a4 stitch and E slot.
2, the encapsulated paper of fiery ox 100: under the driving cooperation of the first manipulator 71, the second manipulator 72, pass through third folder
94 third fixture block 947, pinch roller 97 and the second scissors 86 matches, and blue glue is taken from adhesive tape-supplying device 50, winds blue glue
It is enclosed in n1 on the fiery ox 100 driven by rotation drive device 40.
3, coiling W winding: fiery ox 100 is wound with the multi cord of first size, in the first manipulator 71 and the second manipulator
Under 72 driving cooperation, by the cooperation of broken line block 993 and the encapsulated paper device of line, broken line block 993 is by sucker 995 from for patch
In the sticky paper section 875 for the shaft 872 that sheet devices take bitter edible plant film to be affixed on the encapsulated paper device of line, the encapsulated paper device of line is by two bitter edible plant glue
Piece is respectively coated by the start-up portion and latter end of the multi cord for the first size that need to be wound in sticky paper section 875；Then
Under the cooperation driving of the first manipulator 71 and the second manipulator 72, pass through the first folder 83, the second clamping bar of the second folder 84
842 the first clamping part 843, the first fixture block 942 of third folder 94 and the first scissors 96 match, and take from thread supplying device 20
The multi cord, and by the root multi cord along being around on the fiery ox 100 that rotation drive device 40 drives, point two layers, respectively first
Layer circle and second layer circle, wherein the starting point of multi cord, which is first wound on a1 stitch, is then passed through A slot, and the clearing end of multi cord twines
It is around on X stitch；Then under the cooperation driving of the first manipulator 71, the second manipulator 72, pass through the third of third folder 94
Fixture block 947, pinch roller 97 and the second scissors 86 match, and take blue adhesive tape from masking tape feeding mechanism, are wound in blue adhesive tape by revolving
N2 circle on the fiery ox 100 that rotary driving device 40 drives.
4, copper-clad piece: the second manipulator 72 drove broken line block 993 to draw copper from the copper sheet supply area for paster apparatus before this
Piece gives fiery ox 100；Then, the first manipulator 71 drives the fly line on the first folder 83 clamping copper sheet, and by fly line on copper sheet
It is wound on a4 stitch；Then, the second manipulator 72 driving third folder 94 clamps sebific duct by the second fixture block 944, and by glue
Pipe is pushed into bond pad locations, and solder joint wraps downward；Again then, under the driving cooperation of the first manipulator 71 and the second manipulator 72, lead to
The third fixture block 947, pinch roller 97 and the second scissors 86 for crossing third folder 94 match, and blue glue is taken from adhesive tape-supplying device 50,
Make blue glue be wound in n3 on the fiery ox 100 driven by rotation drive device 40 to enclose.
5, coiling W winding: first under the cooperation driving of the first manipulator 71 and the second manipulator 72, pass through the first folder
83, the first clamping part 843 of the second clamping bar 842 of the second folder 84, the first fixture block 942 of third folder 94 match, from confession
The rubber sheathed wire of root first size is taken on line apparatus 20, and makes the root rubber sheathed wire on the fiery ox 100 that rotation drive device 40 drives
N4 circle is wound, the starting point of the root rubber sheathed wire and end are wound in respectively on X stitch and Y stitch；Then in the first manipulator
71 and second manipulator 72 cooperation driving under, pass through 86 phase of the second fixture block 944, pinch roller 97 and the second scissors of third folder 94
Cooperation, takes yellow glue from thread supplying device 20, and yellow glue is made to wrap n5 circle on the fiery ox 100 that rotation drive device 40 drives；Then,
Two manipulators 72 drive third folder 94 to take white rubber tube from sebific duct feeding mechanism by the second fixture block 944, and white rubber tube is sheathed on
It on the starting point of three rubber sheathed wires, then is supplied in disk from sebific duct and takes black glue pipe, black glue pipe sleeve is set to the end of three twisted wires
On.
6, coiling W winding: first the first manipulator 71 and the second manipulator 72 cooperation driving under, by broken line block 993,
Shaft 872, briquetting 879, elastic pushing block component 88, gear 878 and rack gear 997 match, and fetch bitter edible plant film from for paster apparatus,
And the bitter edible plant film is coated into the to be wound on the starting point of the copper wire on fiery ox 100 of six roots of sensation first size；Then in the first machine
Tool hand 71 and the second manipulator 72 cooperation driving under, by the first folder 83, the second clamping bar 842 of the second folder 84 first
Clamping part 843, third folder 94 the first fixture block 942 match, fetch the six roots of sensation copper wire from thread supplying device 20, and by this six
Root copper wire winds n6 circle on the fiery ox 100 that rotation drive device 40 drives, and the starting point of the six roots of sensation copper wire is wound in a3 stitch
On, and pass through C slot；Then pass through the of third folder 94 under the cooperation driving of the first manipulator 71 and the second manipulator 72 again
Three fixture blocks 947, pinch roller 97 and the second scissors 86 match, and fetch yellow glue from adhesive tape-supplying device 50, will be wound in yellow glue
The end of six roots of sensation copper wire on fiery ox 100 is fixed on fiery ox 100.
7, coiling W winding: first under the cooperation driving of the first manipulator 71 and the second manipulator 72, pass through broken line block 993
It is combined with the encapsulated paper device of line, takes bitter edible plant glue from for paster apparatus, the need of the second size of root are wound in the copper wire on fiery ox 100
Start-up portion and latter end use the bitter edible plant glue of the size to coat；Then matching in the first manipulator 71 and the second manipulator 72
It closes under driving, is cut by the third fixture block 947 of third folder 94, the first fixture block 942 of third folder 94, pinch roller 97 and second
Knife 86 matches, and the root copper wire is taken from thread supplying device 20, is affixed on the starting point of the root copper wire on fiery ox 100, later, from
Yellow glue band is taken on adhesive tape-supplying device 50, and the starting point of the root copper wire is fixed on fiery ox 100 by yellow glue band；Then
Under the cooperation driving of one manipulator 71 and the second manipulator 72, pass through the first folder 83, the second clamping bar 842 of the second folder 84
The first clamping part 843, third folder 94 the first fixture block 942 match, the back-roll of the copper wire of the second size of root is driven in rotation
N7 circle, the starting point of the root copper wire are first wound on a4 stitch on the fiery ox 100 that dynamic device 40 drives, and are then passed through D slot, end portion
Divide and initially pass through C slot, then is wound on third front line.
8, coiling W winding: before coiling, under the cooperation driving of the first manipulator 71 and the second manipulator 72, pass through
Shaft 872, briquetting 879, elastic pushing block component 88, gear 878 and rack gear 997 match, and will need to be wrapped in one of fiery ox 100
The latter end of the multi cord of second size is coated by bitter edible plant glue；When winding, in the first manipulator 71 and the second manipulator 72
Under cooperation driving, pass through the first folder 83, the first clamping part 843 of the second clamping bar 842 of the second folder 84, third folder 94
First fixture block 942 and the first scissors 96 match, by the multi cord of second size along clockwise direction in rotation drive device
Winding n8 circle, the starting point of the multi cord of second size are wound on a1 stitch on the fiery ox 100 of 40 drivings, and end is first worn
It crosses B slot to be wound in again on a2 stitch, arrives this, entire winding process finishes.
In addition to the coiling of the fiery ox of the disclosure above makes embodiment, according to specific fiery ox model and manufacture craft, may be used also
The fiery ox coiling production method of others that can be carried out including the use of coil winding machine, is cooperated with the corresponding component of auxiliary bobbin winder device
The driving of manipulator is completed.
Above-mentioned coil winding machine realizes can be time saving and energy saving automatically by wire intertwist on fiery ox, without artificial, improve around
Line efficiency, and the coiling of the utility model act to the driving for only needing 80 manipulator of coiling auxiliary device under matched
At structure is simple, and occupied area is little.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (16)
1. a kind of coil winding machine, which is characterized in that including rack, and be respectively arranged in rack:
Fiery ox feeding mechanism, for supplying the fiery ox to coiling；
Thread supplying device, for supplying the electric wire being wound on fiery ox；
Rotation drive device for installing fiery ox, and drives fiery Niu Xuanzhuan；
Coiling auxiliary manipulator combined system, the coiling auxiliary device including manipulator and the connection manipulator, it is described around
Line auxiliary device is installed in rotation drive device under the driving of the manipulator from fiery ox feeding mechanism ox of getting fire, then
Electric wire is taken from the thread supplying device, assists wire intertwist on the fiery ox that the rotation drive device drives.
2. coil winding machine according to claim 1, which is characterized in that the thread supplying device includes for coil holder and being set to described
For the coiling on coil holder；The quantity of the manipulator is at least one；The coiling auxiliary device include the first clamping device,
Second clamping device and the first cutting mechanism, first clamping device be used for clamp the electric wire to be wound on fiery ox
Beginning, or the latter end for clamping the electric wire being wound on fiery ox；Second clamping device is for clamping fiery ox；Institute
The first cutting mechanism is stated for cutting electric wire after fiery ox winds electric wire.
3. coil winding machine according to claim 2, which is characterized in that the thread supplying device further includes being set to for consolidating on coil holder
Wire clamp, the wire fixing clamp have the electric wire passageway passed through for electric wire；The wire fixing clamp corresponds to the second clamping device setting,
For second gripper mechanism grips.
4. coil winding machine according to claim 3, which is characterized in that the wire fixing clamp has the solidus knot for fastening electric wire
Structure；The coiling auxiliary device further includes thread releasing mechanism and third clamping device, and the thread releasing mechanism corresponds to second clamping
Mechanism setting, for driving wire fixing clamp to unclamp electric wire after the second gripper mechanism grips wire fixing clamp；The third clamping device is used
In the starting point for clamping electric wire after wire fixing clamp unclamps electric wire.
5. coil winding machine according to claim 4, which is characterized in that the wire fixing clamp includes threading frame and solidus structure, institute
Threading is stated to be provided with the first perforation, perforate and be connected to described first with first perforation coaxial second and perforate and described the
Biperforate accommodating cavity；The solidus structure includes saddle, quiet piece of crimping and driving spring；One end of the saddle is located at institute
State threading frame outside, the other end pass through the wire fixing clamp stretch in the accommodating cavity, and be formed with connection it is described first perforation and
Biperforate third perforation；The electric wire passageway that first perforation, the second perforation and third perforation composition are passed through for electric wire；
Quiet piece of the crimping is set on threading frame, and stretches in the third perforation；The saddle has quiet positioned at the crimping
The line pressing rod of the side of block；The driving spring links the saddle, quiet for driving line pressing rod that electric wire is pressed on the crimping
On block；The thread releasing mechanism is used for by overcoming the resistance of the driving spring to push the saddle, to drive line pressing rod separate
Quiet piece of crimping to unclamp electric wire.
6. coil winding machine according to claim 4, which is characterized in that the quantity of the manipulator is at least two, described the
One clamping device, the second clamping device and thread releasing mechanism are set on a manipulator；The third clamping device and first is cut
Mechanism is set on another manipulator.
7. coil winding machine according to claim 6, which is characterized in that first clamping device include the first clamp assemblies and
Actuator, second clamping device include the second clamp assemblies and actuator, and the third clamping device includes third clamping
Component and actuator, first cutting structure include the first scissors and actuator；First clamping device and the second clamping
Mechanism shares an actuator, and the actuator that first clamping device and the second clamping device share is the first actuator, institute
State the first actuator for drive the first clamp assemblies and the second clamp assemblies progress holding action；The third clamping device and
First cutting mechanism shares an actuator, and the actuator that the third clamping device and the first cutting mechanism share is the second drive
Moving part, the second actuator carries out holding action for third clamp assemblies and the first scissors of driving carries out cutting movement.
8. coil winding machine according to claim 7, which is characterized in that the third clamp assemblies are located at second actuator
Side, the third clamp assemblies include the third folder of two connections, second actuator, and the third folder has the
Three clamping bars, the third clamping bar have bar free end and bar fixing end, and the side of two third clamping bar facing each other is equipped with
First fixture block.
9. coil winding machine according to claim 8, which is characterized in that the coil winding machine further includes sebific duct feeding mechanism, two institutes
State the second fixture block for being additionally provided on third clamping bar and being set side by side with first fixture block；The side of the second fixture block facing each other
It is equipped with the clamp slot for clamping sebific duct, the clamp slot is laterally extended along the third clamping bar set on second folder
Block；Second fixture block connects the third clamping bar by connecting spring.
10. coil winding machine according to claim 9, which is characterized in that corresponding on the side of the first fixture block facing each other
Equipped with the clamp slot for clamping electric wire, the clamp slot is laterally extended along the third clamping bar set on second fixture block,
And first fixture block is run through at the both ends of the clamp slot.
11. according to the described in any item coil winding machines of claim 8 to 10, which is characterized in that first fixture block is close to described
The side of the free end of three clamping bars is equipped with the third fixture block for doubling paper, and the third fixture block is flushed with first fixture block and set
It sets.
12. coil winding machine according to claim 11, which is characterized in that the coil winding machine further includes for supplying masking tape
Adhesive tape-supplying device, the coiling auxiliary device further include pinch roller.
13. coil winding machine according to claim 12, which is characterized in that the coiling auxiliary device further includes for cutting gummed paper
The second cutting mechanism, first cutting mechanism and the second cutting mechanism are respectively arranged on two different manipulators.
14. coil winding machine according to claim 1, which is characterized in that the coil winding machine further includes the confession for paster apparatus
Paster apparatus has gummed paper piece supply area；The coiling auxiliary device further includes suction piece part and the encapsulated mechanism of paper of line；The line packet
Gummed paper mechanism includes mounting blocks, the pivot joint mounting blocks and the shaft through the mounting blocks, the bullet on the mounting blocks
Property pushing mechanism, the briquetting of the connection resiliency urged mechanism and the connection shaft driving mechanism, set in the shaft
There are the threading hole passed through for electric wire, the centre bit for extending radially to the shaft of shaft described in a lateral edge of the threading hole
Place is set, the other side forms opening through the shaft, mounting blocks and driving mechanism along radially extending for the shaft；The shaft
With sticky paper section, the briquetting corresponds to the sticky paper section setting, and the resiliency urged mechanism is for driving briquetting to be pressed on gummed paper
In sticky paper section.
15. coil winding machine according to claim 14, which is characterized in that the suction piece part is the broken line block equipped with sucker, institute
The free end for stating broken line block is equipped with entrance hole.
16. according to the described in any item coil winding machines of claim 2 to 10, which is characterized in that the coil winding machine auxiliary device includes
The free end of broken line block, the broken line block is equipped with incoming line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822279143.7U CN209544151U (en) | 2018-12-29 | 2018-12-29 | Coil winding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822279143.7U CN209544151U (en) | 2018-12-29 | 2018-12-29 | Coil winding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209544151U true CN209544151U (en) | 2019-10-25 |
Family
ID=68268275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822279143.7U Expired - Fee Related CN209544151U (en) | 2018-12-29 | 2018-12-29 | Coil winding machine |
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| Country | Link |
|---|---|
| CN (1) | CN209544151U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616317A (en) * | 2018-12-29 | 2019-04-12 | 鲁班嫡系机器人（深圳）有限公司 | Coil winding machine |
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2018
- 2018-12-29 CN CN201822279143.7U patent/CN209544151U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616317A (en) * | 2018-12-29 | 2019-04-12 | 鲁班嫡系机器人（深圳）有限公司 | Coil winding machine |
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| TR01 | Transfer of patent right |
Effective date of registration: 20200429 Address after: Henggang street Longgang District of Shenzhen City, Guangdong province 518172 about six Jin Tang Industrial Zone Qin Fu Road No. 28 building A 5F Co-patentee after: Bao Hui Science & Technology Co.,Ltd. Patentee after: ROBOTICS ROBOTICS (SHENZHEN) Ltd. Address before: Henggang street Longgang District of Shenzhen City, Guangdong province 518172 about six Jin Tang Industrial Zone Qin Fu Road No. 28 building A 5F Patentee before: ROBOTICS ROBOTICS (SHENZHEN) Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191025 |
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| CF01 | Termination of patent right due to non-payment of annual fee |