WO2021056476A1 - 一种高保真耳机喇叭全自动控制式音圈绕线及取放装置 - Google Patents

一种高保真耳机喇叭全自动控制式音圈绕线及取放装置 Download PDF

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Publication number
WO2021056476A1
WO2021056476A1 PCT/CN2019/108746 CN2019108746W WO2021056476A1 WO 2021056476 A1 WO2021056476 A1 WO 2021056476A1 CN 2019108746 W CN2019108746 W CN 2019108746W WO 2021056476 A1 WO2021056476 A1 WO 2021056476A1
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Prior art keywords
iii
cylinder
winding
telescopic rods
cylinders
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PCT/CN2019/108746
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English (en)
French (fr)
Inventor
罗云锋
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赣州鑫冠科技股份有限公司
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Priority to PCT/CN2019/108746 priority Critical patent/WO2021056476A1/zh
Publication of WO2021056476A1 publication Critical patent/WO2021056476A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R31/00—Apparatus or processes specially adapted for the manufacture of transducers or diaphragms therefor

Definitions

  • the invention relates to a voice coil winding and pick-and-place device, in particular to a high-fidelity earphone speaker automatic control type voice coil winding and pick-and-place device.
  • a horn is actually a conversion device that converts electrical energy into sound.
  • the coil When different electronic energy is transmitted to the coil, the coil generates a kind of energy to interact with the magnetic field of the magnet. This interaction causes the paper plate to vibrate because the electronic energy changes at any time , The coil of the horn will move forward or backward, so the paper tray of the horn will follow it. This action changes the density of the air and produces sound.
  • the voice coil is one of the important components of the speaker.
  • the voice coil produces an alternating current that changes with the audio, cutting the magnetic lines of force to produce mechanical vibration, and driving the paper cone to vibrate to produce sound.
  • the voice coil winding machine is used to wind the coil, mainly used in the electroacoustic industry, mainly used in the horn, vibration motor and other industries.
  • the present invention In order to overcome the existing high-fidelity earphone speaker voice coil winding and pick-and-place device, the present invention generally does not have a control system and cannot realize fully automated operation. It requires manual auxiliary winding and manual pick-and-place operation, which is labor-intensive. , The shortcomings of low winding efficiency and slow manual pick-and-place speed.
  • the technical problem to be solved by the present invention is to provide a high-fidelity earphone speaker fully-automatically controlled voice coil winding and pick-and-place device.
  • the present invention provides such a high-fidelity earphone speaker fully-automatically controlled voice coil winding and pick-up device, which includes a pay-off device, a cutting device, a winding device, a pick-and-place device, and a conveying device.
  • a pay-off device a cutting device, a winding device, a pick-and-place device, and a conveying device.
  • the pay-off device includes servo motor I, rotating rod I, left and right cylinder I, left and right telescopic rod I, thread catching cylinder I, manipulator I, tension roller, upper and lower telescopic rod I, and upper and lower cylinder I;
  • the shearing device includes shearing cylinder I, upper and lower cylinders II, upper and lower telescopic rods II, fixed connecting plate, shearing cylinder II, pneumatic shears I, and pneumatic shears II;
  • the winding device includes servo motor II, rotating rod II, table, bearing I, winding plate I, winding column I, thread catching cylinder II, L-shaped fixing frame I, rotating rod III, servo motor III, L-shaped fixing Frame II, bearing II, industrial camera I, manipulator II, manipulator III, winding column II, thread catching cylinder III, winding plate II, rotating rod IV, servo motor IV;
  • the pick-and-place device includes industrial camera II, sponge baffle plate, left and right telescopic rod II, left and right cylinder II, voice coil column, upper and lower telescopic rod III, upper and lower cylinder III, left and right telescopic rod III, upper and lower telescopic rod IV, upper and lower cylinder IV, Left and right telescopic rod IV, left and right cylinder III;
  • the conveying device includes a driven roller, a circulating belt, a servo motor V, and a driving roller;
  • a rotating rod I is arranged above the servo motor, and the servo motor I is connected with the rotating rod I; the left and right cylinders I are arranged above the rotating rod I, and the left and right telescopic rods I and the left and right cylinders I are arranged on the right side of the left and right cylinders I.
  • left and right telescopic rods I Connected with left and right telescopic rods I; on the right side of the left and right telescopic rods I are provided with thread catching cylinder I, the left and right telescopic rods I are connected with the thread catching cylinder I; below the thread catching cylinder I is provided with a manipulator I, the thread catching cylinder I is connected with the manipulator I; a tension roller is arranged under the manipulator I, an upper and lower telescopic rod I is arranged under the tension roller, and the tension roller is connected with the upper and lower telescopic rod I; an upper and lower air cylinder is arranged under the upper and lower telescopic rod I I.
  • the upper and lower telescopic rods I are connected with the upper and lower cylinders I, and the upper and lower cylinders I are arranged on the right side of the servo motor I;
  • a shearing cylinder I is arranged at the upper right of the thread catching cylinder I, a shearing cylinder II is arranged on the right side of the shearing cylinder I, and a fixed connecting plate is arranged between the shearing cylinder I and the shearing cylinder II.
  • the cylinder I and the shearing cylinder II are connected by a fixed connecting plate, and the shearing cylinder I and the shearing cylinder II are arranged in parallel; the upper and lower telescopic rods II are arranged directly above the fixed connecting plate, and the fixed connecting plate is opposite to the upper and lower telescopic rods II.
  • the upper and lower telescopic rods II are provided with upper and lower cylinders II, the upper and lower telescopic rods II are connected with the upper and lower cylinders II; below the fixed connecting plate are respectively provided with pneumatic shears I and II, pneumatic shears I and set in The upper shearing cylinder I is connected, the pneumatic shear II is connected with the upper shearing cylinder II, and the pneumatic shear II is arranged on the right side of the pneumatic shear I;
  • a winding column I is arranged under the pneumatic shears I and II, and a winding disk I is arranged under the winding column I.
  • the winding column I is connected with the winding disk I; it is arranged on the right side of the winding column I.
  • a bearing I is arranged under the winding disc I ,
  • a workbench is set under the bearing I, the bearing I is connected with the workbench, and the winding disc I and the bearing I are set on the left half of the workbench;
  • the rotating rod II is connected with the bearing I and rotates.
  • the rod II is connected with the winding disk I;
  • the servo motor II is arranged under the rotating rod II, and the rotating rod II is connected with the servo motor II;
  • the L-shaped fixing frame I and the L-shaped fixing frame are arranged on the right side of the servo motor II I is set under the worktable, the servo motor II is fixedly connected with the left end of the L-shaped fixing frame I, and the top of the L-shaped fixing frame I is fixedly connected with the worktable;
  • a rotating rod III on the right side of the L-shaped fixing frame I a worktable is set directly above the rotating rod III, and the rotating rod III is fixedly connected with the worktable; a servo motor III is set directly under the rotating rod III, The rotating rod III is connected with the servo motor III;
  • the L-shaped fixing frame II is arranged on the right side of the rotating rod III, the L-shaped fixing frame II is arranged under the workbench, and the top of the L-shaped fixing frame II is fixedly connected with the worktable ;
  • Servo motor IV is arranged on the right side of L-shaped fixing frame II, servo motor IV is arranged under the worktable, servo motor IV is fixedly connected with the right end of L-shaped fixing frame II;
  • a rotating rod IV is arranged above the servo motor IV, and the servo motor IV is connected to the rotating rod IV; a hole is provided on the worktable, and the rotating rod IV extends to the top of the worktable through the hole provided on the worktable;
  • a bearing II is arranged above the table, which is connected to the worktable; above the bearing II, a winding disc II is arranged, and the bearing II and the winding disc II are arranged on the right half of the worktable; the rotating rod IV is connected to the bearing II , The rotating rod IV is connected with the winding disc II;
  • the winding column II and the thread catching cylinder III are respectively arranged above the winding disk II.
  • the winding column II is arranged on the right side of the thread catching cylinder III.
  • the winding column II is connected with the winding disk II, and the winding column II is connected with the winding drum.
  • the diameter of the thread column I is the same, the thread catching cylinder III is connected with the winding plate II; the thread catching cylinder III is provided with a manipulator III, the thread catching cylinder III is connected with the manipulator III; the upper left of the manipulator III is provided with an industrial camera I, the industrial camera I corresponds to the position of the workbench;
  • a sponge baffle plate on the right side of winding column II, which is movably connected with winding column II and winding column I; on the right side of the sponge baffle, there are left and right telescopic rods II, which are connected with each other.
  • the left and right telescopic rods II are connected; the left and right cylinders II are arranged on the right side of the left and right telescopic rods II, and the left and right telescopic rods II are connected with the left and right cylinders II;
  • the upper and lower telescopic rods IV are arranged above the left and right cylinders II, and the left and right cylinders II are connected with the upper and lower telescopic rods IV;
  • the voice coil column is arranged above the winding column II, and the voice coil column is connected with the winding column II and the winding column respectively.
  • the diameter of the bobbin I is the same, the lower end of the voice coil column is movably connected with the upper ends of the bobbin II and the upper end of the bobbin I; the upper and lower telescopic rods III are arranged above the voice coil column, and the voice coil column is connected with The upper and lower telescopic rods III are connected; the upper and lower telescopic rods III are provided with upper and lower cylinders III, and the upper and lower telescopic rods III are connected with the upper and lower cylinders III;
  • the upper and lower cylinders III On the right side of the upper and lower cylinders III are provided with left and right telescopic rods III, the upper and lower cylinders III are connected with the left and right telescopic rods III; on the right of the left and right telescopic rods III are provided with upper and lower cylinders IV, the left and right telescopic rods III are connected with the upper and lower cylinders IV;
  • the upper and lower telescopic rods IV are arranged below the upper and lower cylinders IV, and the upper and lower cylinders IV are connected with the upper and lower telescopic rods IV;
  • the left and right cylinders II are arranged under the upper and lower telescopic rods IV, and the upper and lower telescopic rods IV are connected with the left and right cylinders II;
  • the right side of the cylinder IV is provided with left and right telescopic rods IV, and the upper and lower cylinders IV are connected with the left and right telescopic rods IV
  • a circulating belt is installed under the industrial camera II, and a driven roller is provided on the left side of the circulating belt, and the circulating belt is movably connected with the driven roller; a servo motor V and a driving roller are provided on the right side of the circulating belt, and the circulating belt Connect with the driving roller, which is connected with the servo motor V;
  • Servo motor I left and right cylinder I, thread catching cylinder I, manipulator I, up and down cylinder I, servo motor II, cutting cylinder I, up and down cylinder II, cutting cylinder II, thread catching cylinder II, servo motor III, industrial camera I , Manipulator II, Manipulator III, Thread Clamping Cylinder III, Servo Motor IV, Servo Motor V, Industrial Camera II, Left and Right Cylinders II, Up and Down Cylinders III, Up and Down Cylinders IV, and Left and Right Cylinders III are respectively connected to the control system.
  • Working principle When preparing to work, the staff first puts the wire roller on the rotating rod I, and draws the wire from the wire roller, passes through the tension roller, and then guides it to the manipulator I, and then the staff restarts the control system .
  • the industrial camera I set up above the workbench can take pictures of the working conditions on the workbench and feed it back to the control system.
  • the control system can control and adjust the operation of each device according to the feedback image information.
  • the control system controls the manipulator I to grasp the guided thread, and then controls the left and right cylinders I to drive the thread catching cylinder I through the left and right telescopic rods I, and the manipulator I and the wire move to the right together.
  • the control system controls the servo motor I to drive the wire roller to rotate through the rotating rod I to pay off.
  • the control system When the manipulator I and the thread are driven to move above the manipulator II, the control system then controls the thread-clamping cylinder I to drive the manipulator I and the thread to move downward together to drive the thread to the position of the manipulator II.
  • the control system then controls the manipulator II to grab the thread, and then the control system controls the manipulator I to release the thread, and controls the thread grabbing cylinder I to drive the manipulator I back to the original position, and then the control system controls the left and right cylinders I to drive the thread grabbing cylinder I. Return to the original position.
  • the control system controls the thread grabbing cylinder II to drive the manipulator II and the thread to adjust the up and down positions. Then the control system controls the servo motor II to start running, and the servo motor II drives the winding disc I to rotate through the rotating rod II. Since the wire grasped by the robot II passes through the bobbin I, when the winding disk I drives the bobbin I and the robot II and the wire rotate together, the wire can be wound on the bobbin I. At the same time, the control system controls the upper and lower cylinder I to drive the tension roller to drive the tension roller according to the set tension, and the wire on the tension roller moves up and down, which can wind the wire on the winding column I into a cylindrical voice coil.
  • the control system controls the winding action to stop.
  • the control system then controls the left and right cylinders I to drive the manipulator I to move, and the control system controls the manipulator I to grab the wire passing through the tension roller.
  • the control system controls the upper and lower cylinders II to drive the shearing cylinder I and the shearing cylinder II to move downwards at the same time through the upper and lower telescopic rods II and the fixed connecting plate.
  • the shearing cylinder I and the shearing cylinder II drive the pneumatic shear I and the pneumatic shear II to move to the left and right sides of the winding column I respectively.
  • the control system then adjusts the pneumatic shear I and the pneumatic shear II to the corresponding positions according to the position of the voice coil and the line on the winding column I captured by the industrial camera I, and then the control system controls the pneumatic shear I and the pneumatic shear II to the voice coil Cut the lines on the left and right sides. After the cutting is completed, the control system controls the upper and lower cylinders II to drive the pneumatic shears I and II back to their original positions.
  • the control system controls the servo motor III to operate, and the servo motor III drives the worktable to rotate 180 degrees. Rotate the winding disc II to the original position of the winding disc I, and then repeat the above operation to complete the next winding operation.
  • the control system controls the left and right cylinders III to drive the upper and lower cylinders IV and the upper and lower cylinders III to adjust the left and right directions, and adjust the upper and lower cylinders III and the voice coil column to have Right above the bobbin I of the voice coil. Then the control system controls the upper and lower cylinders III to drive the voice coil column to move downward, and completely connect the lower end of the voice coil column with the upper end of the winding column I with the voice coil.
  • the control system then controls the upper and lower cylinders IV to drive the left and right cylinders II, and the sponge baffle to adjust the upper and lower positions, and adjust the sponge baffle to the position corresponding to the voice coil on the winding column I. Then the control system controls the left and right cylinders II to drive the sponge baffle to move to the left to support the voice coil on the winding column I. The control system then controls the upper and lower cylinders IV to drive the sponge baffle and the supported voice coil to move upward together. And drive the voice coil to take the voice coil column.
  • the control system then controls the left and right cylinders III to drive the voice coil column and the voice coil on the voice coil column to move to the right together.
  • Industrial Camera II can feed back the captured image information to the control system.
  • the control system controls the servo motor V to drive the driving roller, and the endless belt stops running. At this time, the voice coil jig set on the circulating belt is located just below the voice coil column.
  • the control system controls the upper and lower cylinders III and the upper and lower cylinders IV to respectively drive the voice coil column and the sponge baffle to move downwards.
  • the control system controls the left and right cylinders II to drive the sponge baffle to move to the right.
  • the sponge baffle releases the supported voice coil, and the voice coil falls onto the voice coil fixture.
  • the control system then controls the left and right cylinder III to drive the voice coil column back to its original position.
  • the invention provides a high-fidelity earphone speaker fully-automatically controlled voice coil winding and pick-up device, which has a pay-off device, a cutting device, a winding device, a pick-up device, a conveying device, and a control system.
  • Automated operation saves labor costs, liberates labor, greatly reduces enterprise costs, greatly improves winding efficiency, accelerates the speed of picking and placing, and is conducive to the production and development of enterprises. Simple structure, convenient use, and easy Maintenance and repair.
  • Figure 1 is a schematic diagram of the front view structure of the present invention.
  • a full-automatic control voice coil winding and pick-up device for high-fidelity earphone speakers includes a pay-off device, a cutting device, a winding device, a pick-up device, a conveying device, and a control system 54;
  • the pay-off device includes servo motor I1, rotating rod I2, left and right cylinder I4, left and right telescopic rod I5, thread catching cylinder I6, manipulator I7, tension roller 8, upper and lower telescopic rod I9, and upper and lower cylinder I10.
  • the shearing device includes shearing cylinder I17, upper and lower cylinders II18, upper and lower telescopic rods II19, fixed connecting plate 20, shearing cylinder II21, pneumatic shears I22, and pneumatic shears II23.
  • the winding device includes servo motor II11, rotating rod II12, table 13, bearing I14, winding plate I15, winding column I16, thread catching cylinder II24, L-shaped fixing frame I25, rotating rod III26, servo motor III27, L-shaped Fixed frame II28, bearing II29, industrial camera I30, manipulator II31, manipulator III32, winding column II33, thread catching cylinder III34, winding plate II35, rotating rod IV36, servo motor IV37.
  • the pick-and-place device includes industrial camera II 42, sponge baffle 43, left and right telescopic rod II 44, left and right cylinder II 45, voice coil column 46, upper and lower telescopic rod III 47, upper and lower cylinder III 48, left and right telescopic rod III 49, upper and lower telescopic rod IV 50, upper and lower cylinders IV51, left and right telescopic rods IV52, left and right cylinders III53;
  • the conveying device includes a driven roller 38, a circulating belt 39, a servo motor V40, and a driving roller 41.
  • a rotating rod I2 is arranged above the servo motor, and the servo motor I1 is connected to the rotating rod I2; the left and right cylinders I4 are arranged above the rotating rod I2, and the left and right telescopic rods I5 and the left and right cylinders I4 are arranged on the right side of the left and right cylinders I4.
  • Connected with the left and right telescopic rods I5; on the right side of the left and right telescopic rods I5 are equipped with thread catching cylinders I6, and the left and right telescopic rods I5 are connected with the thread catching cylinders I6; below the thread catching cylinders I6 are provided with a manipulator I7 and thread catching cylinders.
  • I6 is connected with the manipulator I7; a tension roller 8 is arranged under the manipulator I7, and an upper and lower telescopic rod I9 is arranged under the tension roller 8.
  • the tension roller 8 is connected with the upper and lower telescopic rod I9; it is arranged under the upper and lower telescopic rod I9
  • a shearing cylinder I17 is provided at the upper right of the thread catching cylinder I6, a shearing cylinder II21 is provided on the right side of the shearing cylinder I17, and a fixed connecting plate 20 is provided between the shearing cylinder I17 and the shearing cylinder II21.
  • the cutting cylinder I17 and the shearing cylinder II21 are connected by a fixed connecting plate 20.
  • the shearing cylinder I17 and the shearing cylinder II21 are arranged in parallel; the upper and lower telescopic rods II19 are arranged directly above the fixed connecting plate 20, and the connecting plate 20 is fixed to the upper and lower plates.
  • the telescopic rods II19 are connected; the upper and lower telescopic rods II19 are provided with upper and lower cylinders II18, and the upper and lower telescopic rods II19 are connected with the upper and lower cylinders II18; the pneumatic shears I22 and the pneumatic shears II23 are respectively arranged under the fixed connecting plate 20.
  • the shear I 22 is connected with the shearing cylinder I17 arranged above, the pneumatic shear II 23 is connected with the shearing cylinder II 21 arranged above, and the pneumatic shear II 23 is arranged on the right side of the pneumatic shear I 22.
  • a winding column I16 is arranged under the pneumatic shears I22 and II23, and a winding disk I15 is arranged under the winding column I16.
  • the winding column I16 is connected to the winding disk I15; it is arranged on the right side of the winding column I16.
  • thread catching cylinder II24 thread catching cylinder II24 is fixedly arranged on the winding disc I15; above the thread catching cylinder II24 is arranged a manipulator II31, the thread catching cylinder II24 is connected with the manipulator II31; a bearing I14 is arranged under the winding disc I15 A working table 13 is arranged under the bearing I14, the bearing I14 is connected with the working table 13, and the winding disc I15 and the bearing I14 are arranged on the left half of the working table 13.
  • a rotating rod II12 is provided directly below the winding disk I15, and a hole is provided on the worktable 13.
  • the rotating rod II12 passes through the hole provided on the worktable 13 and extends to the top of the worktable 13, and the rotating rod II12 is opposite to the bearing I14.
  • the rotating rod II12 is connected with the winding disc I15;
  • the servo motor II11 is arranged under the rotating rod II12, and the rotating rod II12 is connected with the servo motor II11;
  • the right side of the servo motor II11 is provided with an L-shaped fixing frame I25, L
  • the fixed frame I25 is arranged under the worktable 13
  • the servo motor II11 is fixedly connected with the left end of the L-shaped fixed frame I25, and the top end of the L-shaped fixed frame I25 is fixedly connected with the worktable 13.
  • a rotating rod III 26 is arranged on the right side of the L-shaped fixed frame I 25, and a worktable 13 is arranged directly above the rotating rod III 26.
  • the rotating rod III 26 is fixedly connected to the worktable 13;
  • a servo motor is arranged directly under the rotating rod III 26 III27, the rotating rod III26 is connected with the servo motor III27;
  • a servo motor IV 37 is arranged on the right side of the L-shaped fixing frame II 28, and the servo motor IV 37 is arranged under the worktable 13, and the servo motor IV 37 and the right end of the L-shaped fixing frame II 28 are fixedly connected.
  • a rotating rod IV36 is arranged above the servo motor IV37, and the servo motor IV37 is connected to the rotating rod IV36; a hole is provided on the worktable 13, and the rotating rod IV36 extends above the worktable 13 through the hole provided on the worktable 13
  • a bearing II29 is arranged above the worktable 13, and the bearing II29 is connected to the worktable 13; a winding disc II35 is arranged above the bearing II29, and the bearing II29 and winding disc II35 are arranged on the right half of the worktable 13; rotating rod IV36 is connected with the bearing II29, and the rotating rod IV36 is connected with the winding disc II35.
  • the winding column II 33 and the thread catching cylinder III 34 are respectively arranged above the winding plate II 35.
  • the winding column II 33 is arranged on the right side of the thread holding cylinder III 34.
  • the winding column II 33 is connected to the winding plate II 35.
  • the winding column II 33 is connected to the winding plate II 35.
  • the diameter of the thread column I16 is equal, the thread catching cylinder III34 is connected with the winding plate II35; the thread catching cylinder III34 is provided with a manipulator III32, and the thread catching cylinder III34 is connected with the manipulator III32; an industrial camera is set on the upper left of the manipulator III32 I30, the industrial camera I30 corresponds to the position of the workbench 13.
  • sponge baffle 43 on the right side of the winding column II33, which is movably connected to the winding column II33 and the winding column I16; on the right side of the sponge baffle 43, there are left and right telescopic rods II44, sponge
  • the baffle plate 43 is connected with the left and right telescopic rods II 44; the left and right cylinders II 45 are arranged on the right side of the left and right telescopic rods II 44, and the left and right telescopic rods II 44 are connected with the left and right cylinders II 45.
  • the upper and lower telescopic rods IV50 are arranged above the left and right cylinders II45, and the left and right cylinders II45 are connected with the upper and lower telescopic rods IV50; above the winding pillars II33 are arranged a voice coil column 46, which is respectively connected to the winding column II33 The diameter of the winding column I16 is the same, the lower end of the voice coil column 46 is movably connected to the upper ends of the winding column II33 and the upper end of the winding column I16; the upper and lower telescopic rods III47 are arranged above the voice coil column 46.
  • the voice coil column 46 is connected with the upper and lower telescopic rods III 47; the upper and lower telescopic rods III 47 are provided with upper and lower cylinders III 48, and the upper and lower telescopic rods III 47 are connected with the upper and lower cylinders III 48.
  • the upper and lower cylinders III 48 are provided with left and right telescopic rods III 49, the upper and lower cylinders III 48 are connected with the left and right telescopic rods III 49; on the right of the left and right telescopic rods III 49 are provided with upper and lower cylinders IV 51, and the left and right telescopic rods III 49 are connected with the upper and lower cylinders IV 51;
  • the upper and lower telescopic rods IV50 are arranged under the upper and lower cylinders IV51, and the upper and lower cylinders IV51 are connected with the upper and lower telescopic rods IV50;
  • the left and right cylinders II45 are arranged under the upper and lower telescopic rods IV50, and the upper and lower telescopic rods IV50 are connected with the left and right cylinders II45;
  • the right side of the cylinder IV51 is provided with left and right telescopic rods IV52, the upper and lower cylinders IV51 are connected with the left and right
  • a circulating belt 39 is arranged under the industrial camera II42, a driven roller 38 is arranged on the left side of the circulating belt 39, and the circulating belt 39 is movably connected with the driven roller 38; a servo motor V40 is arranged on the right side of the circulating belt 39 And the driving roller 41, the endless belt 39 is connected with the driving roller 41, and the driving roller 41 is connected with the servo motor V40.
  • the staff When preparing to work, the staff first puts the wire roller 3 on the rotating rod I2, and draws the wire from the wire roller 3, passes through the tension roller 8, and then guides it to the manipulator I7, and then the staff again Start the control system 54.
  • the industrial camera I 30 arranged above the workbench 13 can take pictures of the working conditions on the workbench 13 and feed them back to the control system 54.
  • the control system 54 can control and adjust the operation of each device according to the feedback image information.
  • the control system 54 controls the manipulator I7 to grab the guided thread, and then controls the left and right cylinders I4 to drive the thread catching cylinder I6 through the left and right telescopic rods I5, and the manipulator I7 moves to the right together with the thread.
  • the control system 54 controls the servo motor I1 to drive the line roller 3 to rotate through the rotating rod I2 to pay off.
  • the control system 54 When the manipulator I7 and the thread are driven to move above the manipulator II31, the control system 54 then controls the thread-clamping cylinder I6 to drive the manipulator I7 and the thread to move down together, and the thread is driven to the position where the manipulator II31 is located.
  • the control system 54 then controls the manipulator II31 to grab the thread, and then the control system 54 controls the manipulator I7 to release the thread, and controls the thread grabbing cylinder I6 to drive the manipulator I7 back to the original position, and then the control system 54 controls the left and right cylinders I4 to drive the grab.
  • the line cylinder I6 returns to its original position.
  • control system 54 controls the thread grabbing cylinder II24 to drive the manipulator II31 and the thread to adjust the up and down positions. Then the control system 54 controls the servo motor II 11 to start running, and the servo motor II 11 drives the winding disc I 15 to rotate through the rotating rod II 12. Since the wire held by the robot II31 passes through the bobbin I16, when the winding disk I15 drives the bobbin I16 and the robot II31 rotates with the wire, the wire can be wound on the bobbin I16.
  • control system 54 controls the upper and lower cylinders I10 to drive the tension roller 8 to drive the tension roller 8 according to the set tension, and the wire on the tension roller 8 moves up and down, which can wind the wire on the bobbin I16 into a cylindrical voice coil.
  • the control system 54 controls the winding action to stop.
  • the control system 54 then controls the left and right cylinders I4 to drive the manipulator I7 to move, and the control system 54 controls the manipulator I7 to grasp the thread passing through the tension roller 8.
  • the control system 54 controls the upper and lower cylinders II18 to drive the shearing cylinder I17 and the shearing cylinder II21 to move down simultaneously through the upper and lower telescopic rods II19 and the fixed connecting plate 20.
  • the control system 54 adjusts the pneumatic scissors I 22 and pneumatic scissors II 23 to the corresponding positions according to the position of the voice coil and the wire on the winding column I 16 captured by the industrial camera I 30, and then the control system 54 controls the pneumatic scissors I 22 and pneumatic scissors II 23 pairs. Cut the lines on the left and right sides of the voice coil. After the cutting is completed, the control system 54 controls the upper and lower cylinders II18 to drive the pneumatic shears I22 and II23 back to their original positions.
  • the control system 54 controls the servo motor III 27 to operate, and the servo motor III 27 drives the worktable 13 to rotate 180 degrees. Rotate the winding disc II35 to the original winding disc I15 position, and then repeat the above operation to complete the next winding operation.
  • the control system 54 controls the left and right cylinders III53 to drive the upper and lower cylinders IV51 and the upper and lower cylinders III48 to adjust the left and right directions, and adjust the upper and lower cylinders III48 and the voice coil column 46 to Just above the bobbin I16 with voice coil. Then the control system 54 controls the upper and lower cylinders III 48 to drive the voice coil column 46 to move downward, and completely connect the lower end of the voice coil column 46 with the upper end of the winding column I 16 with the voice coil.
  • the control system 54 then controls the upper and lower cylinders IV 51 to drive the left and right cylinders II 45, and the sponge baffle 43 to adjust the upper and lower positions, and adjust the sponge baffle 43 to the position corresponding to the voice coil on the winding column I16. Then the control system 54 controls the left and right cylinders II45 to drive the sponge baffle 43 to move to the left to support the voice coil on the winding column I16, and the control system 54 controls the upper and lower cylinders IV51 to drive the sponge baffle 43 together with the supported voice coil. Move upward and drive the voice coil to the voice coil column 46.
  • the control system 54 then controls the left and right cylinders III 53 to drive the voice coil column 46 and the voice coil on the voice coil column 46 to move to the right together.
  • the industrial camera II 42 can feed back the captured image information to the control system 54.
  • the control system 54 controls the servo motor V40 to drive the driving roller 41, and the endless belt 39 stops running.
  • the voice coil jig 55 provided on the endless belt 39 is located just below the voice coil column 46.
  • the control system 54 controls the upper and lower cylinders III 48 and the upper and lower cylinders IV 51 to respectively drive the voice coil column 46 and the sponge baffle plate 43 to move downward.
  • the control system 54 controls the left and right cylinders II 45 to drive the sponge baffle 43 to move to the right.
  • the sponge baffle 43 releases the supported voice coil, and the voice coil falls into the sound Ring fixture 55.
  • the control system 54 then controls the left and right cylinders III 53 to drive the voice coil column 46 back to the original position.

Abstract

本发明涉及一种音圈绕线及取放装置，尤其涉及一种高保真耳机喇叭全自动控制式音圈绕线及取放装置。解决技术问题是提供一种高保真耳机喇叭全自动控制式音圈绕线及取放装置。提供了这样一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，包括有剪切装置、绕线装置、取放装置等；绕线装置包括有伺服电机Ⅱ、工作台、缠绕盘Ⅰ、绕线柱Ⅰ、抓线气缸Ⅱ、L形固定架Ⅰ、伺服电机Ⅲ、L形固定架Ⅱ、机械手Ⅱ、机械手Ⅲ、绕线柱Ⅱ、抓线气缸Ⅲ、缠绕盘Ⅱ、伺服电机Ⅳ等；取放装置包括有左右气缸Ⅱ、取音圈柱、上下气缸Ⅲ、上下气缸Ⅳ、左右气缸Ⅲ。提供的一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，实现了全自动化操作，结构简单。

Description

一种高保真耳机喇叭全自动控制式音圈绕线及取放装置 技术领域
本发明涉及一种音圈绕线及取放装置，尤其涉及一种高保真耳机喇叭全自动控制式音圈绕线及取放装置。
背景技术
喇叭其实是一种将电能转换成声音的一种转换设备，当不同的电子能量传至线圈时，线圈产生一种能量与磁铁的磁场互动，这种互动造成纸盘振动，因为电子能量随时变化，喇叭的线圈会往前或往后运动，因此喇叭的纸盘就会跟着运动，这此动作使空气的疏密程度产生变化而产生声音。
音圈是扬声器的重要组件之一。当交变音频电流通过音圈时，使音圈产生随音频变化的交变电流，切割磁力线产生机械振动，带动纸盆振动发出声音。音圈绕线机，顾名思义，是绕制线圈的，主要用于电声行业，主要用于喇叭，震动马达等行业。
现有的高保真耳机喇叭音圈绕线及取放装置，一般都不具有控制系统，无法实现全自动化操作，需要人工进行辅助绕线，并进行人工取放操作，劳动强度大，绕线效率低，人工取放速度慢，制约了生产的发展，加大了企业成本，不利于企业的生产和发展。
发明内容
(1)要解决的技术问题
本发明为了克服现有的高保真耳机喇叭音圈绕线及取放装置，一般都不具有控制系统，无法实现全自动化操作，需要人工进行辅助绕线，并进行人工取放操作，劳动强度大，绕线效率低，人工取放速度慢的缺点，本发明要解决的技术问题是提供一种高保真耳机喇叭全自动控制式音圈绕线及取放装置。
(2)技术方案
为了解决上述技术问题，本发明提供了这样一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，包括有放线装置、剪切装置、绕线装置、取放装置、输送装置、控制系统；
放线装置包括有伺服电机Ⅰ、旋转杆Ⅰ、左右气缸Ⅰ、左右伸缩杆Ⅰ、抓线气缸Ⅰ、机械手Ⅰ、张力辊、上下伸缩杆Ⅰ、上下气缸Ⅰ；
剪切装置包括有剪切气缸Ⅰ、上下气缸Ⅱ、上下伸缩杆Ⅱ、固定连接板、剪切气缸Ⅱ、气动剪Ⅰ、气动剪Ⅱ；
绕线装置包括有伺服电机Ⅱ、旋转杆Ⅱ、工作台、轴承Ⅰ、缠绕盘Ⅰ、绕线柱Ⅰ、抓线气缸Ⅱ、L形固定架Ⅰ、旋转杆Ⅲ、伺服电机Ⅲ、L形固定架Ⅱ、轴承Ⅱ、工业相机Ⅰ、机械手Ⅱ、机械手Ⅲ、绕线柱Ⅱ、抓线气缸Ⅲ、缠绕盘Ⅱ、旋转杆Ⅳ、伺服电机Ⅳ；
取放装置包括有工业相机Ⅱ、海绵挡板、左右伸缩杆Ⅱ、左右气缸Ⅱ、取音圈柱、上下伸缩杆Ⅲ、上下气缸Ⅲ、左右伸缩杆Ⅲ、上下伸缩杆Ⅳ、上下气缸Ⅳ、左右伸缩杆Ⅳ、左右气缸Ⅲ；
输送装置包括有从动辊、循环皮带、伺服电机Ⅴ、驱动辊；
在伺服电机的上方设置有旋转杆Ⅰ，伺服电机Ⅰ与旋转杆Ⅰ相连接；在旋转杆Ⅰ的上方设置有左右气缸Ⅰ，在左右气缸Ⅰ的右侧设置有左右伸缩杆Ⅰ，左右气缸Ⅰ与左右伸缩杆Ⅰ相连接；在左右伸缩杆Ⅰ的右侧设置有抓线气缸Ⅰ，左右伸缩杆Ⅰ与抓线气缸Ⅰ相连接；在抓线气缸Ⅰ的下方设置有机械手Ⅰ，抓线气缸Ⅰ与机械手Ⅰ相连接；在机械手Ⅰ的下方设置有张力辊，在张力辊的下方设置有上下伸缩杆Ⅰ，张力辊与上下伸缩杆Ⅰ相连接；在上下伸缩杆Ⅰ的下方设置有上下气缸Ⅰ，上下伸缩杆Ⅰ与上下气缸Ⅰ相连接，上下气缸Ⅰ设置在 伺服电机Ⅰ的右侧；
在抓线气缸Ⅰ的右上方设置有剪切气缸Ⅰ，在剪切气缸Ⅰ的右侧设置有剪切气缸Ⅱ，在剪切气缸Ⅰ与剪切气缸Ⅱ之间设置有固定连接板，剪切气缸Ⅰ与剪切气缸Ⅱ通过固定连接板相连接，剪切气缸Ⅰ与剪切气缸Ⅱ为平行设置；在固定连接板的正上方设置有上下伸缩杆Ⅱ，固定连接板与上下伸缩杆Ⅱ相连接；在上下伸缩杆Ⅱ的正上方设置有上下气缸Ⅱ，上下伸缩杆Ⅱ与上下气缸Ⅱ相连接；在固定连接板的下方分别设置有气动剪Ⅰ和气动剪Ⅱ，气动剪Ⅰ与设置在上方的剪切气缸Ⅰ相连接，气动剪Ⅱ与设置在上方的剪切气缸Ⅱ相连接，气动剪Ⅱ设置在气动剪Ⅰ的右侧；
在气动剪Ⅰ和气动剪Ⅱ的下方设置有绕线柱Ⅰ，在绕线柱Ⅰ的下方设置有缠绕盘Ⅰ，绕线柱Ⅰ与缠绕盘Ⅰ相连接；在绕线柱Ⅰ的右侧设置有抓线气缸Ⅱ，抓线气缸Ⅱ固定设置在缠绕盘Ⅰ上；在抓线气缸Ⅱ的上方设置有机械手Ⅱ，抓线气缸Ⅱ与机械手Ⅱ相连接；在缠绕盘Ⅰ的下方设置有轴承Ⅰ，在轴承Ⅰ的下方设置有工作台，轴承Ⅰ与工作台相连接，缠绕盘Ⅰ和轴承Ⅰ设置在工作台的左半部分；
在缠绕盘Ⅰ的正下方设置有旋转杆Ⅱ，在工作台上设置有孔，旋转杆Ⅱ穿过工作台上设置的孔伸出到工作台的上方，旋转杆Ⅱ与轴承Ⅰ相连接，旋转杆Ⅱ与缠绕盘Ⅰ相连接；在旋转杆Ⅱ的下方设置有伺服电机Ⅱ，旋转杆Ⅱ与伺服电机Ⅱ相连接；在伺服电机Ⅱ的右侧设置有L形固定架Ⅰ，L形固定架Ⅰ设置在工作台的下方，伺服电机Ⅱ与L形固定架Ⅰ的左端为固定连接，L形固定架Ⅰ的顶端与工作台为固定连接；
在L形固定架Ⅰ的右侧设置有旋转杆Ⅲ，在旋转杆Ⅲ的正上方设置有工作台，旋转杆Ⅲ与工作台为固定连接；在旋转杆Ⅲ的正下方设置有伺服电机Ⅲ， 旋转杆Ⅲ与伺服电机Ⅲ相连接；在旋转杆Ⅲ的右侧设置有L形固定架Ⅱ，L形固定架Ⅱ设置在工作台的下方，L形固定架Ⅱ的顶端与工作台为固定连接；在L形固定架Ⅱ的右侧设置有伺服电机Ⅳ，伺服电机Ⅳ设置在工作台的下方，伺服电机Ⅳ与L形固定架Ⅱ的右端为固定连接；
在伺服电机Ⅳ的上方设置有旋转杆Ⅳ，伺服电机Ⅳ与旋转杆Ⅳ相连接；在工作台上设置有孔，旋转杆Ⅳ通过工作台上设置的孔伸出到工作台的上方；在工作台的上方设置有轴承Ⅱ，轴承Ⅱ与工作台相连接；在轴承Ⅱ的上方设置有缠绕盘Ⅱ，轴承Ⅱ和缠绕盘Ⅱ设置在工作台的右半部分；旋转杆Ⅳ与轴承Ⅱ相连接，旋转杆Ⅳ与缠绕盘Ⅱ相连接；
在缠绕盘Ⅱ的上方分别设置有绕线柱Ⅱ和抓线气缸Ⅲ，绕线柱Ⅱ设置在抓线气缸Ⅲ的右侧，绕线柱Ⅱ与缠绕盘Ⅱ相连接，绕线柱Ⅱ与绕线柱Ⅰ的直径相等，抓线气缸Ⅲ与缠绕盘Ⅱ相连接；在抓线气缸Ⅲ的上方设置有机械手Ⅲ，抓线气缸Ⅲ与机械手Ⅲ相连接；在机械手Ⅲ的左上方设置有工业相机Ⅰ，工业相机Ⅰ与工作台的位置相对应；
在绕线柱Ⅱ的右侧设置有海绵挡板，海绵挡板与绕线柱Ⅱ和绕线柱Ⅰ均为活动连接；在海绵挡板的右侧设置有左右伸缩杆Ⅱ，海绵挡板与左右伸缩杆Ⅱ相连接；在左右伸缩杆Ⅱ的右侧设置有左右气缸Ⅱ，左右伸缩杆Ⅱ与左右气缸Ⅱ相连接；
在左右气缸Ⅱ的上方设置有上下伸缩杆Ⅳ，左右气缸Ⅱ与上下伸缩杆Ⅳ相连接；在绕线柱Ⅱ的上方设置有取音圈柱，取音圈柱分别与绕线柱Ⅱ和绕线柱Ⅰ的直径相等，取音圈柱的下端分别与绕线柱Ⅱ和绕线柱Ⅰ的上端均为活动连接；在取音圈柱的上方设置有上下伸缩杆Ⅲ，取音圈柱与上下伸缩杆Ⅲ相连接；在上下伸缩杆Ⅲ的上方设置有上下气缸Ⅲ，上下伸缩杆Ⅲ与上下气缸Ⅲ相连接；
在上下气缸Ⅲ的右侧设置有左右伸缩杆Ⅲ，上下气缸Ⅲ与左右伸缩杆Ⅲ相连接；在左右伸缩杆Ⅲ的右侧设置有上下气缸Ⅳ，左右伸缩杆Ⅲ与上下气缸Ⅳ相连接；在上下气缸Ⅳ的下方设置有上下伸缩杆Ⅳ，上下气缸Ⅳ与上下伸缩杆Ⅳ相连接；在上下伸缩杆Ⅳ的下方设置有左右气缸Ⅱ，上下伸缩杆Ⅳ与左右气缸Ⅱ相连接；在上下气缸Ⅳ的右侧设置有左右伸缩杆Ⅳ，上下气缸Ⅳ与左右伸缩杆Ⅳ相连接；在左右伸缩杆Ⅳ的右侧设置有左右气缸Ⅲ，左右伸缩杆Ⅳ与左右气缸Ⅲ相连接；在左右气缸Ⅲ的下方设置有工业相机Ⅱ；
在工业相机Ⅱ的下方设置有循环皮带，在循环皮带的左侧设置有从动辊，循环皮带与从动辊为活动连接；在循环皮带的右侧设置有伺服电机Ⅴ和驱动辊，循环皮带与驱动辊相连接，驱动辊与伺服电机Ⅴ相连接；
伺服电机Ⅰ、左右气缸Ⅰ、抓线气缸Ⅰ、机械手Ⅰ、上下气缸Ⅰ、伺服电机Ⅱ、剪切气缸Ⅰ、上下气缸Ⅱ、剪切气缸Ⅱ、抓线气缸Ⅱ、伺服电机Ⅲ、工业相机Ⅰ、机械手Ⅱ、机械手Ⅲ、抓线气缸Ⅲ、伺服电机Ⅳ、伺服电机Ⅴ、工业相机Ⅱ、左右气缸Ⅱ、上下气缸Ⅲ、上下气缸Ⅳ、左右气缸Ⅲ都分别与控制系统相连接。
工作原理：当准备工作时，工作人员首先将线辊放置在旋转杆Ⅰ上，并将线从线辊上引出，并通过张力辊后，再引导到机械手Ⅰ上，然后工作人员再启动控制系统。设置在工作台上方的工业相机Ⅰ能够将工作台上的工作状况，拍摄成图像反馈给控制系统。控制系统能够根据反馈的图像信息控制调整各个设备的运行。
控制系统控制机械手Ⅰ将引导来的线抓住，再控制左右气缸Ⅰ通过左右伸缩杆Ⅰ带动抓线气缸Ⅰ，以及机械手Ⅰ和线一起向右进行动作。同时控制系统控制伺服电机Ⅰ通过旋转杆Ⅰ带动线辊进行转动进行放线。
当机械手Ⅰ和线被带动着运动到机械手Ⅱ的上方时，控制系统再控制抓线气缸Ⅰ带动机械手Ⅰ和线一起向下运动，将线带动到机械手Ⅱ所在的位置。控制系统再控制机械手Ⅱ将线抓住，然后控制系统控制机械手Ⅰ把线松开，并控制抓线气缸Ⅰ带动机械手Ⅰ回到原来的位置后，控制系统再控制左右气缸Ⅰ带动抓线气缸Ⅰ回到原来的位置。
与此同时，控制系统控制抓线气缸Ⅱ带动机械手Ⅱ和线进行上下位置的调整。然后控制系统再控制伺服电机Ⅱ开始运转，伺服电机Ⅱ通过旋转杆Ⅱ带动缠绕盘Ⅰ进行旋转。由于机械手Ⅱ抓住的线通过了绕线柱Ⅰ，因此当缠绕盘Ⅰ带动绕线柱Ⅰ，以及机械手Ⅱ和线一起转动时，线能够缠绕在绕线柱Ⅰ上。同时控制系统控制上下气缸Ⅰ带动张力辊按照设置的张力大小带动张力辊，以及张力辊上的线进行上下运动，能够将线在绕线柱Ⅰ上缠绕成筒状音圈。
当线在绕线柱Ⅰ上缠绕成筒状音圈后，控制系统控制绕线动作停止。控制系统再控制左右气缸Ⅰ带动机械手Ⅰ进行动作，控制系统控制机械手Ⅰ将通过张力辊的线抓住。然后，控制系统再控制上下气缸Ⅱ通过上下伸缩杆Ⅱ和固定连接板带动剪切气缸Ⅰ和剪切气缸Ⅱ同时向下进行运动。
当剪切气缸Ⅰ和剪切气缸Ⅱ分别带动气动剪Ⅰ和气动剪Ⅱ运动到绕线柱Ⅰ的左右两侧后。控制系统再根据工业相机Ⅰ拍到的绕线柱Ⅰ上音圈及线的位置，将气动剪Ⅰ和气动剪Ⅱ调整到相应的位置，然后控制系统控制气动剪Ⅰ和气动剪Ⅱ对音圈左右两侧的线进行剪切。剪切完毕后，控制系统再控制上下气缸Ⅱ带动气动剪Ⅰ和气动剪Ⅱ回到原来位置。
控制系统控制伺服电机Ⅲ进行运转，伺服电机Ⅲ带动工作台进行180度转动。缠绕盘Ⅱ转动到原来缠绕盘Ⅰ所在的位置，然后再重复上述的操作，即可完成下一次绕线操作。
当缠绕盘Ⅰ转动到原来缠绕盘Ⅱ所在的位置后，控制系统控制左右气缸Ⅲ带动上下气缸Ⅳ和上下气缸Ⅲ进行左右方向上的调整，并把上下气缸Ⅲ和取音圈柱调整到带有音圈的绕线柱Ⅰ的正上方。然后控制系统控制上下气缸Ⅲ带动取音圈柱向下进行运动，并将取音圈柱的下端与带有音圈的绕线柱Ⅰ的上端完全连接。
控制系统再控制上下气缸Ⅳ带动左右气缸Ⅱ，以及海绵挡板进行上下位置的调整，并将海绵挡板调整到与绕线柱Ⅰ上的音圈对应的位置。然后控制系统再控制左右气缸Ⅱ带动海绵挡板向左运动将绕线柱Ⅰ上的音圈托住，控制系统再控制上下气缸Ⅳ带动海绵挡板，以及托住的音圈一起向上进行运动，并将音圈带动到取音圈柱上。
控制系统再控制左右气缸Ⅲ带动取音圈柱，以及取音圈柱上的音圈一起向右进行运动。工业相机Ⅱ能够将拍到的图像信息反馈给控制系统。当取音圈柱和音圈一起向右运动到循环皮带的上方时，控制系统控制伺服电机Ⅴ带动驱动辊，以及循环皮带停止运转。此时，设置在循环皮带上的音圈治具正好位于取音圈柱的正下方。
控制系统控制上下气缸Ⅲ和上下气缸Ⅳ分别带动取音圈柱和海绵挡板一起向下运动。当取音圈柱与音圈治具连接时，控制系统控制左右气缸Ⅱ带动海绵挡板向右运动，海绵挡板将托住的音圈松开，音圈落入到音圈治具上。控制系统再控制左右气缸Ⅲ带动取音圈柱回到原来位置即可。
(3)有益效果
本发明所提供的一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，具有放线装置、剪切装置、绕线装置、取放装置、输送装置、控制系统，实现了全自动化操作，节省了人工成本，解放了劳动力，极大的降低了企业成本， 极大的提高了绕线效率，加快了取放速度，有利于企业的生产和发展，结构简单，使用方便，易于维护维修。
附图说明
图1为本发明的主视图结构示意图。
附图中的标记为：1-伺服电机Ⅰ，2-旋转杆Ⅰ，3-线辊，4-左右气缸Ⅰ，5-左右伸缩杆Ⅰ，6-抓线气缸Ⅰ，7-机械手Ⅰ，8-张力辊，9-上下伸缩杆Ⅰ，10-上下气缸Ⅰ，11-伺服电机Ⅱ，12-旋转杆Ⅱ，13-工作台，14-轴承Ⅰ，15-缠绕盘Ⅰ，16-绕线柱Ⅰ，17-剪切气缸Ⅰ，18-上下气缸Ⅱ，19-上下伸缩杆Ⅱ，20-固定连接板，21-剪切气缸Ⅱ，22-气动剪Ⅰ，23-气动剪Ⅱ，24-抓线气缸Ⅱ，25-L形固定架Ⅰ，26-旋转杆Ⅲ，27-伺服电机Ⅲ，28-L形固定架Ⅱ，29-轴承Ⅱ，30-工业相机Ⅰ，31-机械手Ⅱ，32-机械手Ⅲ，33-绕线柱Ⅱ，34-抓线气缸Ⅲ，35-缠绕盘Ⅱ，36-旋转杆Ⅳ，37-伺服电机Ⅳ，38-从动辊，39-循环皮带，40-伺服电机Ⅴ，41-驱动辊，42-工业相机Ⅱ，43-海绵挡板，44-左右伸缩杆Ⅱ，45-左右气缸Ⅱ，46-取音圈柱，47-上下伸缩杆Ⅲ，48-上下气缸Ⅲ，49-左右伸缩杆Ⅲ，50-上下伸缩杆Ⅳ，51-上下气缸Ⅳ，52-左右伸缩杆Ⅳ，53-左右气缸Ⅲ，54-控制系统，55-音圈治具。
具体实施方式
下面结合附图和实施例对本发明作进一步的说明。
实施例1
一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，如图1所示，包括有放线装置、剪切装置、绕线装置、取放装置、输送装置、控制系统54；放线装置包括有伺服电机Ⅰ1、旋转杆Ⅰ2、左右气缸Ⅰ4、左右伸缩杆Ⅰ5、抓线气缸Ⅰ6、机械手Ⅰ7、张力辊8、上下伸缩杆Ⅰ9、上下气缸Ⅰ10。剪切装置包 括有剪切气缸Ⅰ17、上下气缸Ⅱ18、上下伸缩杆Ⅱ19、固定连接板20、剪切气缸Ⅱ21、气动剪Ⅰ22、气动剪Ⅱ23。
绕线装置包括有伺服电机Ⅱ11、旋转杆Ⅱ12、工作台13、轴承Ⅰ14、缠绕盘Ⅰ15、绕线柱Ⅰ16、抓线气缸Ⅱ24、L形固定架Ⅰ25、旋转杆Ⅲ26、伺服电机Ⅲ27、L形固定架Ⅱ28、轴承Ⅱ29、工业相机Ⅰ30、机械手Ⅱ31、机械手Ⅲ32、绕线柱Ⅱ33、抓线气缸Ⅲ34、缠绕盘Ⅱ35、旋转杆Ⅳ36、伺服电机Ⅳ37。
取放装置包括有工业相机Ⅱ42、海绵挡板43、左右伸缩杆Ⅱ44、左右气缸Ⅱ45、取音圈柱46、上下伸缩杆Ⅲ47、上下气缸Ⅲ48、左右伸缩杆Ⅲ49、上下伸缩杆Ⅳ50、上下气缸Ⅳ51、左右伸缩杆Ⅳ52、左右气缸Ⅲ53；输送装置包括有从动辊38、循环皮带39、伺服电机Ⅴ40、驱动辊41。
在伺服电机的上方设置有旋转杆Ⅰ2，伺服电机Ⅰ1与旋转杆Ⅰ2相连接；在旋转杆Ⅰ2的上方设置有左右气缸Ⅰ4，在左右气缸Ⅰ4的右侧设置有左右伸缩杆Ⅰ5，左右气缸Ⅰ4与左右伸缩杆Ⅰ5相连接；在左右伸缩杆Ⅰ5的右侧设置有抓线气缸Ⅰ6，左右伸缩杆Ⅰ5与抓线气缸Ⅰ6相连接；在抓线气缸Ⅰ6的下方设置有机械手Ⅰ7，抓线气缸Ⅰ6与机械手Ⅰ7相连接；在机械手Ⅰ7的下方设置有张力辊8，在张力辊8的下方设置有上下伸缩杆Ⅰ9，张力辊8与上下伸缩杆Ⅰ9相连接；在上下伸缩杆Ⅰ9的下方设置有上下气缸Ⅰ10，上下伸缩杆Ⅰ9与上下气缸Ⅰ10相连接，上下气缸Ⅰ10设置在伺服电机Ⅰ1的右侧。
在抓线气缸Ⅰ6的右上方设置有剪切气缸Ⅰ17，在剪切气缸Ⅰ17的右侧设置有剪切气缸Ⅱ21，在剪切气缸Ⅰ17与剪切气缸Ⅱ21之间设置有固定连接板20，剪切气缸Ⅰ17与剪切气缸Ⅱ21通过固定连接板20相连接，剪切气缸Ⅰ17与剪切气缸Ⅱ21为平行设置；在固定连接板20的正上方设置有上下伸缩杆Ⅱ19，固定连接板20与上下伸缩杆Ⅱ19相连接；在上下伸缩杆Ⅱ19的正上方设置有上 下气缸Ⅱ18，上下伸缩杆Ⅱ19与上下气缸Ⅱ18相连接；在固定连接板20的下方分别设置有气动剪Ⅰ22和气动剪Ⅱ23，气动剪Ⅰ22与设置在上方的剪切气缸Ⅰ17相连接，气动剪Ⅱ23与设置在上方的剪切气缸Ⅱ21相连接，气动剪Ⅱ23设置在气动剪Ⅰ22的右侧。
在气动剪Ⅰ22和气动剪Ⅱ23的下方设置有绕线柱Ⅰ16，在绕线柱Ⅰ16的下方设置有缠绕盘Ⅰ15，绕线柱Ⅰ16与缠绕盘Ⅰ15相连接；在绕线柱Ⅰ16的右侧设置有抓线气缸Ⅱ24，抓线气缸Ⅱ24固定设置在缠绕盘Ⅰ15上；在抓线气缸Ⅱ24的上方设置有机械手Ⅱ31，抓线气缸Ⅱ24与机械手Ⅱ31相连接；在缠绕盘Ⅰ15的下方设置有轴承Ⅰ14，在轴承Ⅰ14的下方设置有工作台13，轴承Ⅰ14与工作台13相连接，缠绕盘Ⅰ15和轴承Ⅰ14设置在工作台13的左半部分。
在缠绕盘Ⅰ15的正下方设置有旋转杆Ⅱ12，在工作台13上设置有孔，旋转杆Ⅱ12穿过工作台13上设置的孔伸出到工作台13的上方，旋转杆Ⅱ12与轴承Ⅰ14相连接，旋转杆Ⅱ12与缠绕盘Ⅰ15相连接；在旋转杆Ⅱ12的下方设置有伺服电机Ⅱ11，旋转杆Ⅱ12与伺服电机Ⅱ11相连接；在伺服电机Ⅱ11的右侧设置有L形固定架Ⅰ25，L形固定架Ⅰ25设置在工作台13的下方，伺服电机Ⅱ11与L形固定架Ⅰ25的左端为固定连接，L形固定架Ⅰ25的顶端与工作台13为固定连接。
在L形固定架Ⅰ25的右侧设置有旋转杆Ⅲ26，在旋转杆Ⅲ26的正上方设置有工作台13，旋转杆Ⅲ26与工作台13为固定连接；在旋转杆Ⅲ26的正下方设置有伺服电机Ⅲ27，旋转杆Ⅲ26与伺服电机Ⅲ27相连接；在旋转杆Ⅲ26的右侧设置有L形固定架Ⅱ28，L形固定架Ⅱ28设置在工作台13的下方，L形固定架Ⅱ28的顶端与工作台13为固定连接；在L形固定架Ⅱ28的右侧设置有伺服电机Ⅳ37，伺服电机Ⅳ37设置在工作台13的下方，伺服电机Ⅳ37与L形固定架 Ⅱ28的右端为固定连接。
在伺服电机Ⅳ37的上方设置有旋转杆Ⅳ36，伺服电机Ⅳ37与旋转杆Ⅳ36相连接；在工作台13上设置有孔，旋转杆Ⅳ36通过工作台13上设置的孔伸出到工作台13的上方；在工作台13的上方设置有轴承Ⅱ29，轴承Ⅱ29与工作台13相连接；在轴承Ⅱ29的上方设置有缠绕盘Ⅱ35，轴承Ⅱ29和缠绕盘Ⅱ35设置在工作台13的右半部分；旋转杆Ⅳ36与轴承Ⅱ29相连接，旋转杆Ⅳ36与缠绕盘Ⅱ35相连接。
在缠绕盘Ⅱ35的上方分别设置有绕线柱Ⅱ33和抓线气缸Ⅲ34，绕线柱Ⅱ33设置在抓线气缸Ⅲ34的右侧，绕线柱Ⅱ33与缠绕盘Ⅱ35相连接，绕线柱Ⅱ33与绕线柱Ⅰ16的直径相等，抓线气缸Ⅲ34与缠绕盘Ⅱ35相连接；在抓线气缸Ⅲ34的上方设置有机械手Ⅲ32，抓线气缸Ⅲ34与机械手Ⅲ32相连接；在机械手Ⅲ32的左上方设置有工业相机Ⅰ30，工业相机Ⅰ30与工作台13的位置相对应。
在绕线柱Ⅱ33的右侧设置有海绵挡板43，海绵挡板43与绕线柱Ⅱ33和绕线柱Ⅰ16均为活动连接；在海绵挡板43的右侧设置有左右伸缩杆Ⅱ44，海绵挡板43与左右伸缩杆Ⅱ44相连接；在左右伸缩杆Ⅱ44的右侧设置有左右气缸Ⅱ45，左右伸缩杆Ⅱ44与左右气缸Ⅱ45相连接。
在左右气缸Ⅱ45的上方设置有上下伸缩杆Ⅳ50，左右气缸Ⅱ45与上下伸缩杆Ⅳ50相连接；在绕线柱Ⅱ33的上方设置有取音圈柱46，取音圈柱46分别与绕线柱Ⅱ33和绕线柱Ⅰ16的直径相等，取音圈柱46的下端分别与绕线柱Ⅱ33和绕线柱Ⅰ16的上端均为活动连接；在取音圈柱46的上方设置有上下伸缩杆Ⅲ47，取音圈柱46与上下伸缩杆Ⅲ47相连接；在上下伸缩杆Ⅲ47的上方设置有上下气缸Ⅲ48，上下伸缩杆Ⅲ47与上下气缸Ⅲ48相连接。
在上下气缸Ⅲ48的右侧设置有左右伸缩杆Ⅲ49，上下气缸Ⅲ48与左右伸缩 杆Ⅲ49相连接；在左右伸缩杆Ⅲ49的右侧设置有上下气缸Ⅳ51，左右伸缩杆Ⅲ49与上下气缸Ⅳ51相连接；在上下气缸Ⅳ51的下方设置有上下伸缩杆Ⅳ50，上下气缸Ⅳ51与上下伸缩杆Ⅳ50相连接；在上下伸缩杆Ⅳ50的下方设置有左右气缸Ⅱ45，上下伸缩杆Ⅳ50与左右气缸Ⅱ45相连接；在上下气缸Ⅳ51的右侧设置有左右伸缩杆Ⅳ52，上下气缸Ⅳ51与左右伸缩杆Ⅳ52相连接；在左右伸缩杆Ⅳ52的右侧设置有左右气缸Ⅲ53，左右伸缩杆Ⅳ52与左右气缸Ⅲ53相连接；在左右气缸Ⅲ53的下方设置有工业相机Ⅱ42。
在工业相机Ⅱ42的下方设置有循环皮带39，在循环皮带39的左侧设置有从动辊38，循环皮带39与从动辊38为活动连接；在循环皮带39的右侧设置有伺服电机Ⅴ40和驱动辊41，循环皮带39与驱动辊41相连接，驱动辊41与伺服电机Ⅴ40相连接。
伺服电机Ⅰ1、左右气缸Ⅰ4、抓线气缸Ⅰ6、机械手Ⅰ7、上下气缸Ⅰ10、伺服电机Ⅱ11、剪切气缸Ⅰ17、上下气缸Ⅱ18、剪切气缸Ⅱ21、抓线气缸Ⅱ24、伺服电机Ⅲ27、工业相机Ⅰ30、机械手Ⅱ31、机械手Ⅲ32、抓线气缸Ⅲ34、伺服电机Ⅳ37、伺服电机Ⅴ40、工业相机Ⅱ42、左右气缸Ⅱ45、上下气缸Ⅲ48、上下气缸Ⅳ51、左右气缸Ⅲ53都分别与控制系统54相连接。
工作原理：当准备工作时，工作人员首先将线辊3放置在旋转杆Ⅰ2上，并将线从线辊3上引出，并通过张力辊8后，再引导到机械手Ⅰ7上，然后工作人员再启动控制系统54。设置在工作台13上方的工业相机Ⅰ30能够将工作台13上的工作状况，拍摄成图像反馈给控制系统54。控制系统54能够根据反馈的图像信息控制调整各个设备的运行。
控制系统54控制机械手Ⅰ7将引导来的线抓住，再控制左右气缸Ⅰ4通过左右伸缩杆Ⅰ5带动抓线气缸Ⅰ6，以及机械手Ⅰ7和线一起向右进行动作。同 时控制系统54控制伺服电机Ⅰ1通过旋转杆Ⅰ2带动线辊3进行转动进行放线。
当机械手Ⅰ7和线被带动着运动到机械手Ⅱ31的上方时，控制系统54再控制抓线气缸Ⅰ6带动机械手Ⅰ7和线一起向下运动，将线带动到机械手Ⅱ31所在的位置。控制系统54再控制机械手Ⅱ31将线抓住，然后控制系统54控制机械手Ⅰ7把线松开，并控制抓线气缸Ⅰ6带动机械手Ⅰ7回到原来的位置后，控制系统54再控制左右气缸Ⅰ4带动抓线气缸Ⅰ6回到原来的位置。
与此同时，控制系统54控制抓线气缸Ⅱ24带动机械手Ⅱ31和线进行上下位置的调整。然后控制系统54再控制伺服电机Ⅱ11开始运转，伺服电机Ⅱ11通过旋转杆Ⅱ12带动缠绕盘Ⅰ15进行旋转。由于机械手Ⅱ31抓住的线通过了绕线柱Ⅰ16，因此当缠绕盘Ⅰ15带动绕线柱Ⅰ16，以及机械手Ⅱ31和线一起转动时，线能够缠绕在绕线柱Ⅰ16上。同时控制系统54控制上下气缸Ⅰ10带动张力辊8按照设置的张力大小带动张力辊8，以及张力辊8上的线进行上下运动，能够将线在绕线柱Ⅰ16上缠绕成筒状音圈。
当线在绕线柱Ⅰ16上缠绕成筒状音圈后，控制系统54控制绕线动作停止。控制系统54再控制左右气缸Ⅰ4带动机械手Ⅰ7进行动作，控制系统54控制机械手Ⅰ7将通过张力辊8的线抓住。然后，控制系统54再控制上下气缸Ⅱ18通过上下伸缩杆Ⅱ19和固定连接板20带动剪切气缸Ⅰ17和剪切气缸Ⅱ21同时向下进行运动。
当剪切气缸Ⅰ17和剪切气缸Ⅱ21分别带动气动剪Ⅰ22和气动剪Ⅱ23运动到绕线柱Ⅰ16的左右两侧后。控制系统54再根据工业相机Ⅰ30拍到的绕线柱Ⅰ16上音圈及线的位置，将气动剪Ⅰ22和气动剪Ⅱ23调整到相应的位置，然后控制系统54控制气动剪Ⅰ22和气动剪Ⅱ23对音圈左右两侧的线进行剪切。剪切完毕后，控制系统54再控制上下气缸Ⅱ18带动气动剪Ⅰ22和气动剪Ⅱ23回 到原来位置。
控制系统54控制伺服电机Ⅲ27进行运转，伺服电机Ⅲ27带动工作台13进行180度转动。缠绕盘Ⅱ35转动到原来缠绕盘Ⅰ15所在的位置，然后再重复上述的操作，即可完成下一次绕线操作。
当缠绕盘Ⅰ15转动到原来缠绕盘Ⅱ35所在的位置后，控制系统54控制左右气缸Ⅲ53带动上下气缸Ⅳ51和上下气缸Ⅲ48进行左右方向上的调整，并把上下气缸Ⅲ48和取音圈柱46调整到带有音圈的绕线柱Ⅰ16的正上方。然后控制系统54控制上下气缸Ⅲ48带动取音圈柱46向下进行运动，并将取音圈柱46的下端与带有音圈的绕线柱Ⅰ16的上端完全连接。
控制系统54再控制上下气缸Ⅳ51带动左右气缸Ⅱ45，以及海绵挡板43进行上下位置的调整，并将海绵挡板43调整到与绕线柱Ⅰ16上的音圈对应的位置。然后控制系统54再控制左右气缸Ⅱ45带动海绵挡板43向左运动将绕线柱Ⅰ16上的音圈托住，控制系统54再控制上下气缸Ⅳ51带动海绵挡板43，以及托住的音圈一起向上进行运动，并将音圈带动到取音圈柱46上。
控制系统54再控制左右气缸Ⅲ53带动取音圈柱46，以及取音圈柱46上的音圈一起向右进行运动。工业相机Ⅱ42能够将拍到的图像信息反馈给控制系统54。当取音圈柱46和音圈一起向右运动到循环皮带39的上方时，控制系统54控制伺服电机Ⅴ40带动驱动辊41，以及循环皮带39停止运转。此时，设置在循环皮带39上的音圈治具55正好位于取音圈柱46的正下方。
控制系统54控制上下气缸Ⅲ48和上下气缸Ⅳ51分别带动取音圈柱46和海绵挡板43一起向下运动。当取音圈柱46与音圈治具55连接时，控制系统54控制左右气缸Ⅱ45带动海绵挡板43向右运动，海绵挡板43将托住的音圈松开，音圈落入到音圈治具55上。控制系统54再控制左右气缸Ⅲ53带动取音圈柱46 回到原来位置即可。
以上所述实施例仅表达了本发明的优选实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形、改进及替代，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (1)

  1. 一种高保真耳机喇叭全自动控制式音圈绕线及取放装置，其特征在于，包括有放线装置、剪切装置、绕线装置、取放装置、输送装置、控制系统(54)；
    放线装置包括有伺服电机Ⅰ(1)、旋转杆Ⅰ(2)、左右气缸Ⅰ(4)、左右伸缩杆Ⅰ(5)、抓线气缸Ⅰ(6)、机械手Ⅰ(7)、张力辊(8)、上下伸缩杆Ⅰ(9)、上下气缸Ⅰ(10)；
    剪切装置包括有剪切气缸Ⅰ(17)、上下气缸Ⅱ(18)、上下伸缩杆Ⅱ(19)、固定连接板(20)、剪切气缸Ⅱ(21)、气动剪Ⅰ(22)、气动剪Ⅱ(23)；
    绕线装置包括有伺服电机Ⅱ(11)、旋转杆Ⅱ(12)、工作台(13)、轴承Ⅰ(14)、缠绕盘Ⅰ(15)、绕线柱Ⅰ(16)、抓线气缸Ⅱ(24)、L形固定架Ⅰ(25)、旋转杆Ⅲ(26)、伺服电机Ⅲ(27)、L形固定架Ⅱ(28)、轴承Ⅱ(29)、工业相机Ⅰ(30)、机械手Ⅱ(31)、机械手Ⅲ(32)、绕线柱Ⅱ(33)、抓线气缸Ⅲ(34)、缠绕盘Ⅱ(35)、旋转杆Ⅳ(36)、伺服电机Ⅳ(37)；
    取放装置包括有工业相机Ⅱ(42)、海绵挡板(43)、左右伸缩杆Ⅱ(44)、左右气缸Ⅱ(45)、取音圈柱(46)、上下伸缩杆Ⅲ(47)、上下气缸Ⅲ(48)、左右伸缩杆Ⅲ(49)、上下伸缩杆Ⅳ(50)、上下气缸Ⅳ(51)、左右伸缩杆Ⅳ(52)、左右气缸Ⅲ(53)；
    输送装置包括有从动辊(38)、循环皮带(39)、伺服电机Ⅴ(40)、驱动辊(41)；
    在伺服电机的上方设置有旋转杆Ⅰ(2)，伺服电机Ⅰ(1)与旋转杆Ⅰ(2)相连接；在旋转杆Ⅰ(2)的上方设置有左右气缸Ⅰ(4)，在左右气缸Ⅰ(4)的右侧设置有左右伸缩杆Ⅰ(5)，左右气缸Ⅰ(4)与左右伸缩杆Ⅰ(5)相连接；在左右伸缩杆Ⅰ(5)的右侧设置有抓线气缸Ⅰ(6)，左右伸缩杆Ⅰ(5)与抓线气缸Ⅰ(6)相连接；在抓线气缸Ⅰ(6)的下方设置有机械手Ⅰ(7)， 抓线气缸Ⅰ(6)与机械手Ⅰ(7)相连接；在机械手Ⅰ(7)的下方设置有张力辊(8)，在张力辊(8)的下方设置有上下伸缩杆Ⅰ(9)，张力辊(8)与上下伸缩杆Ⅰ(9)相连接；在上下伸缩杆Ⅰ(9)的下方设置有上下气缸Ⅰ(10)，上下伸缩杆Ⅰ(9)与上下气缸Ⅰ(10)相连接，上下气缸Ⅰ(10)设置在伺服电机Ⅰ(1)的右侧；
    在抓线气缸Ⅰ(6)的右上方设置有剪切气缸Ⅰ(17)，在剪切气缸Ⅰ(17)的右侧设置有剪切气缸Ⅱ(21)，在剪切气缸Ⅰ(17)与剪切气缸Ⅱ(21)之间设置有固定连接板(20)，剪切气缸Ⅰ(17)与剪切气缸Ⅱ(21)通过固定连接板(20)相连接，剪切气缸Ⅰ(17)与剪切气缸Ⅱ(21)为平行设置；在固定连接板(20)的正上方设置有上下伸缩杆Ⅱ(19)，固定连接板(20)与上下伸缩杆Ⅱ(19)相连接；在上下伸缩杆Ⅱ(19)的正上方设置有上下气缸Ⅱ(18)，上下伸缩杆Ⅱ(19)与上下气缸Ⅱ(18)相连接；在固定连接板(20)的下方分别设置有气动剪Ⅰ(22)和气动剪Ⅱ(23)，气动剪Ⅰ(22)与设置在上方的剪切气缸Ⅰ(17)相连接，气动剪Ⅱ(23)与设置在上方的剪切气缸Ⅱ(21)相连接，气动剪Ⅱ(23)设置在气动剪Ⅰ(22)的右侧；
    在气动剪Ⅰ(22)和气动剪Ⅱ(23)的下方设置有绕线柱Ⅰ(16)，在绕线柱Ⅰ(16)的下方设置有缠绕盘Ⅰ(15)，绕线柱Ⅰ(16)与缠绕盘Ⅰ(15)相连接；在绕线柱Ⅰ(16)的右侧设置有抓线气缸Ⅱ(24)，抓线气缸Ⅱ(24)固定设置在缠绕盘Ⅰ(15)上；在抓线气缸Ⅱ(24)的上方设置有机械手Ⅱ(31)，抓线气缸Ⅱ(24)与机械手Ⅱ(31)相连接；在缠绕盘Ⅰ(15)的下方设置有轴承Ⅰ(14)，在轴承Ⅰ(14)的下方设置有工作台(13)，轴承Ⅰ(14)与工作台(13)相连接，缠绕盘Ⅰ(15)和轴承Ⅰ(14)设置在工作台(13)的左半部分；
    在缠绕盘Ⅰ(15)的正下方设置有旋转杆Ⅱ(12)，在工作台(13)上设置有孔，旋转杆Ⅱ(12)穿过工作台(13)上设置的孔伸出到工作台(13)的上方，旋转杆Ⅱ(12)与轴承Ⅰ(14)相连接，旋转杆Ⅱ(12)与缠绕盘Ⅰ(15)相连接；在旋转杆Ⅱ(12)的下方设置有伺服电机Ⅱ(11)，旋转杆Ⅱ(12)与伺服电机Ⅱ(11)相连接；在伺服电机Ⅱ(11)的右侧设置有L形固定架Ⅰ(25)，L形固定架Ⅰ(25)设置在工作台(13)的下方，伺服电机Ⅱ(11)与L形固定架Ⅰ(25)的左端为固定连接，L形固定架Ⅰ(25)的顶端与工作台(13)为固定连接；
    在L形固定架Ⅰ(25)的右侧设置有旋转杆Ⅲ(26)，在旋转杆Ⅲ(26)的正上方设置有工作台(13)，旋转杆Ⅲ(26)与工作台(13)为固定连接；在旋转杆Ⅲ(26)的正下方设置有伺服电机Ⅲ(27)，旋转杆Ⅲ(26)与伺服电机Ⅲ(27)相连接；在旋转杆Ⅲ(26)的右侧设置有L形固定架Ⅱ(28)，L形固定架Ⅱ(28)设置在工作台(13)的下方，L形固定架Ⅱ(28)的顶端与工作台(13)为固定连接；在L形固定架Ⅱ(28)的右侧设置有伺服电机Ⅳ(37)，伺服电机Ⅳ(37)设置在工作台(13)的下方，伺服电机Ⅳ(37)与L形固定架Ⅱ(28)的右端为固定连接；
    在伺服电机Ⅳ(37)的上方设置有旋转杆Ⅳ(36)，伺服电机Ⅳ(37)与旋转杆Ⅳ(36)相连接；在工作台(13)上设置有孔，旋转杆Ⅳ(36)通过工作台(13)上设置的孔伸出到工作台(13)的上方；在工作台(13)的上方设置有轴承Ⅱ(29)，轴承Ⅱ(29)与工作台(13)相连接；在轴承Ⅱ(29)的上方设置有缠绕盘Ⅱ(35)，轴承Ⅱ(29)和缠绕盘Ⅱ(35)设置在工作台(13)的右半部分；旋转杆Ⅳ(36)与轴承Ⅱ(29)相连接，旋转杆Ⅳ(36)与缠绕盘Ⅱ(35)相连接；
    在缠绕盘Ⅱ(35)的上方分别设置有绕线柱Ⅱ(33)和抓线气缸Ⅲ(34)，绕线柱Ⅱ(33)设置在抓线气缸Ⅲ(34)的右侧，绕线柱Ⅱ(33)与缠绕盘Ⅱ(35)相连接，绕线柱Ⅱ(33)与绕线柱Ⅰ(16)的直径相等，抓线气缸Ⅲ(34)与缠绕盘Ⅱ(35)相连接；在抓线气缸Ⅲ(34)的上方设置有机械手Ⅲ(32)，抓线气缸Ⅲ(34)与机械手Ⅲ(32)相连接；在机械手Ⅲ(32)的左上方设置有工业相机Ⅰ(30)，工业相机Ⅰ(30)与工作台(13)的位置相对应；
    在绕线柱Ⅱ(33)的右侧设置有海绵挡板(43)，海绵挡板(43)与绕线柱Ⅱ(33)和绕线柱Ⅰ(16)均为活动连接；在海绵挡板(43)的右侧设置有左右伸缩杆Ⅱ(44)，海绵挡板(43)与左右伸缩杆Ⅱ(44)相连接；在左右伸缩杆Ⅱ(44)的右侧设置有左右气缸Ⅱ(45)，左右伸缩杆Ⅱ(44)与左右气缸Ⅱ(45)相连接；
    在左右气缸Ⅱ(45)的上方设置有上下伸缩杆Ⅳ(50)，左右气缸Ⅱ(45)与上下伸缩杆Ⅳ(50)相连接；在绕线柱Ⅱ(33)的上方设置有取音圈柱(46)，取音圈柱(46)分别与绕线柱Ⅱ(33)和绕线柱Ⅰ(16)的直径相等，取音圈柱(46)的下端分别与绕线柱Ⅱ(33)和绕线柱Ⅰ(16)的上端均为活动连接；在取音圈柱(46)的上方设置有上下伸缩杆Ⅲ(47)，取音圈柱(46)与上下伸缩杆Ⅲ(47)相连接；在上下伸缩杆Ⅲ(47)的上方设置有上下气缸Ⅲ(48)，上下伸缩杆Ⅲ(47)与上下气缸Ⅲ(48)相连接；
    在上下气缸Ⅲ(48)的右侧设置有左右伸缩杆Ⅲ(49)，上下气缸Ⅲ(48)与左右伸缩杆Ⅲ(49)相连接；在左右伸缩杆Ⅲ(49)的右侧设置有上下气缸Ⅳ(51)，左右伸缩杆Ⅲ(49)与上下气缸Ⅳ(51)相连接；在上下气缸Ⅳ(51)的下方设置有上下伸缩杆Ⅳ(50)，上下气缸Ⅳ(51)与上下伸缩杆Ⅳ(50)相连接；在上下伸缩杆Ⅳ(50)的下方设置有左右气缸Ⅱ(45)，上下伸缩杆Ⅳ(50) 与左右气缸Ⅱ(45)相连接；在上下气缸Ⅳ(51)的右侧设置有左右伸缩杆Ⅳ(52)，上下气缸Ⅳ(51)与左右伸缩杆Ⅳ(52)相连接；在左右伸缩杆Ⅳ(52)的右侧设置有左右气缸Ⅲ(53)，左右伸缩杆Ⅳ(52)与左右气缸Ⅲ(53)相连接；在左右气缸Ⅲ(53)的下方设置有工业相机Ⅱ(42)；
    在工业相机Ⅱ(42)的下方设置有循环皮带(39)，在循环皮带(39)的左侧设置有从动辊(38)，循环皮带(39)与从动辊(38)为活动连接；在循环皮带(39)的右侧设置有伺服电机Ⅴ(40)和驱动辊(41)，循环皮带(39)与驱动辊(41)相连接，驱动辊(41)与伺服电机Ⅴ(40)相连接；
    伺服电机Ⅰ(1)、左右气缸Ⅰ(4)、抓线气缸Ⅰ(6)、机械手Ⅰ(7)、上下气缸Ⅰ(10)、伺服电机Ⅱ(11)、剪切气缸Ⅰ(17)、上下气缸Ⅱ(18)、剪切气缸Ⅱ(21)、抓线气缸Ⅱ(24)、伺服电机Ⅲ(27)、工业相机Ⅰ(30)、机械手Ⅱ(31)、机械手Ⅲ(32)、抓线气缸Ⅲ(34)、伺服电机Ⅳ(37)、伺服电机Ⅴ(40)、工业相机Ⅱ(42)、左右气缸Ⅱ(45)、上下气缸Ⅲ(48)、上下气缸Ⅳ(51)、左右气缸Ⅲ(53)都分别与控制系统(54)相连接。
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CN204836588U (zh) * 2015-07-29 2015-12-02 赣州市汇美电子科技有限公司 一种高保真耳机喇叭全自动控制式音圈绕线及取放装置
US20160172106A1 (en) * 2014-12-15 2016-06-16 Youcnc Machining Limited Winding machine and winding method
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US20160172106A1 (en) * 2014-12-15 2016-06-16 Youcnc Machining Limited Winding machine and winding method
CN204836588U (zh) * 2015-07-29 2015-12-02 赣州市汇美电子科技有限公司 一种高保真耳机喇叭全自动控制式音圈绕线及取放装置
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