WO2023173573A1 - 一种线圈入壳装置及方法 - Google Patents

一种线圈入壳装置及方法 Download PDF

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Publication number
WO2023173573A1
WO2023173573A1 PCT/CN2022/093488 CN2022093488W WO2023173573A1 WO 2023173573 A1 WO2023173573 A1 WO 2023173573A1 CN 2022093488 W CN2022093488 W CN 2022093488W WO 2023173573 A1 WO2023173573 A1 WO 2023173573A1
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WO
WIPO (PCT)
Prior art keywords
wire
cylinder
coil
clamping
manipulator
Prior art date
Application number
PCT/CN2022/093488
Other languages
English (en)
French (fr)
Inventor
陈巨亮
李博
Original Assignee
中山展晖电子设备有限公司
电子科技大学中山学院
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Application filed by 中山展晖电子设备有限公司, 电子科技大学中山学院 filed Critical 中山展晖电子设备有限公司
Publication of WO2023173573A1 publication Critical patent/WO2023173573A1/zh

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/005—Impregnating or encapsulating
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
    • H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
    • H01F41/10—Connecting leads to windings

Definitions

  • the invention belongs to the technical field of coil casing equipment, and specifically relates to a coil casing device and method.
  • the present invention proposes a coil insertion device and method.
  • the invention realizes the mechanized assembly of the magnetic ring coil and the rubber shell, effectively improves the production efficiency of the product and reduces the labor investment cost.
  • a coil casing device includes a manipulator for transporting and shaping the wire package, a clamp for holding the rubber casing, and a twisting mechanism for winding the copper wire on the wire package onto the pins of the plastic casing;
  • the above-mentioned clamp is fixedly installed on the slider of the linear module.
  • the manipulator is fixedly installed on the driving component I, and moves horizontally and vertically through the driving component I; the stranding mechanism It is fixedly installed on the drive assembly III and moves vertically through the drive assembly III.
  • the manipulator includes a mounting plate, a cylinder clamping jaw, and a clamping piece; the mounting plate is fixed with a clamping cylinder I, and the slide block of the clamping cylinder I is respectively provided with a cylinder clamping jaw.
  • the mounting plate is provided with a pressing down cylinder
  • the piston rod of the pressing down cylinder is provided with a pressing down rod whose lower end extends downward between the two gathering pieces; the side of the linear module is provided with a pressing down rod.
  • Top block for use with the push-down lever.
  • the top block is fixedly installed on the piston rod of the displacement cylinder.
  • the top block is driven to move toward the cylinder clamping claw.
  • the clamp includes a body and a locking block; the body is provided with a groove, a locking block is slidably installed in the groove, a locking rod is slidably installed below the locking block, and the locking rod is locked by
  • the cylinder drives the up and down movement, and the top of the locking rod is provided with a bevel.
  • the locking block is provided with a driving part used in conjunction with the bevel. When the locking rod moves upward, the driving part is driven to move away from the groove.
  • the locking block There is a spring II that drives the lock to move quickly into the groove.
  • the body is provided with fixed guillotine plates located on both sides of the groove, and a movable guillotine plate is slidably installed on the outside of the fixed guillotine plate.
  • the movable guillotine plate is driven to move by a thread-trimming cylinder, and the fixed guillotine plate and the movable guillotine plate are matched. There is a wiring gap.
  • the right side of the body is provided with a U-shaped crimping rod for pressing the upper tail wire of the coil.
  • the crimping rod moves left and right and up and down through the driving assembly II provided below it.
  • the twisted wire mechanism includes a driving motor, a binding pin, and a multi-stage transmission mechanism; the frame is provided with a driving motor, and the binding pins are evenly distributed under the driving motor.
  • the driving motor communicates with the twisting mechanism through a multi-stage transmission mechanism. Pin drive connection.
  • the left side of the body is provided with a pressing block for pressing the rubber shell in the groove.
  • the pressing block moves left and right and up and down through the driving assembly II arranged below it.
  • a method of inserting a coil into a shell which is characterized in that the coil is put into a rubber shell using the coil inserting device described above, which specifically includes the following steps:
  • S2 Transport the wire packages to the top block, and use the lower lever on the manipulator to press down on the two wire packages so that the upper and lower surfaces of the two coils of the wire packages are aligned;
  • the invention uses a manipulator to transport and organize the divided wire packages, collect and align the two wire packages on the wire package, and then put them into the corresponding positions of the rubber shell. Finally, the copper on the wire package is removed through the twisting device. The wires are wound onto the corresponding pins of the plastic case, realizing the mechanized assembly of the magnetic ring coil and the plastic case, effectively improving the efficiency of network transformer product production, reducing labor input, and reducing production costs.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a schematic diagram of the installation of the manipulator of the present invention.
  • Figure 3 is a schematic diagram of the front three-dimensional structure of the manipulator of the present invention.
  • Figure 4 is a schematic diagram of the three-dimensional structure of the bottom surface of the manipulator of the present invention.
  • Figure 5 is a schematic diagram of the installation of the clamping piece of the present invention.
  • Figure 6 is a schematic diagram of the installation of the top block of the present invention.
  • Figure 7 is a schematic diagram of the installation of the clamp of the present invention.
  • Figure 8 is a schematic diagram of the installation of the pressing block and line pressing rod according to the present invention.
  • Figure 9 is a schematic three-dimensional structural diagram of the clamp of the present invention.
  • Figure 10 is a schematic cross-sectional view of the clamp of the present invention.
  • Figure 11 is a schematic diagram of the installation of the stranding mechanism of the present invention.
  • Figure 12 is a schematic three-dimensional structural diagram of the wire twisting mechanism of the present invention.
  • Figure 13 is a schematic diagram of the three-dimensional internal structure of the multi-stage transmission mechanism of the present invention.
  • 6-Stringing mechanism 6-1 drive motor, 6-2 foot-binding needle, 6-3 multi-stage transmission mechanism, 7-crimping rod, 8-drive assembly II, 9-pressing block.
  • a coil insertion device includes a manipulator 4 for transporting and shaping the wire package, a clamp 2 for holding the plastic case, and a clamp for winding the copper wire on the wire package to the pins of the plastic case.
  • the stranding mechanism 6 on the linear module 1; the clamp 2 is fixedly installed on the slider of the linear module 1.
  • the manipulator 4 is fixedly installed on the driving assembly I3.
  • the driving component I3 moves horizontally and vertically.
  • the driving component I3 is composed of three linear modules a. Two are set horizontally to drive the manipulator 4 to move horizontally. One is set vertically and is installed in a horizontal linear module.
  • the slider of a is used to drive the manipulator 4 to move vertically.
  • the manipulator 4 is installed on the slider of the vertically installed linear module a; the stranding mechanism 6 is fixedly installed on the drive assembly III5, and the vertical movement is performed through the drive assembly III5.
  • Mobile, drive component III5 adopts linear module a.
  • the rubber shell is clamped and fixed by the external rubber shell loading robot 4 or manually placed into the clamp 2.
  • the linear module 1 carries the clamp 2 to the designated position and waits for the wire to be loaded into the shell; the robot 4 moves to the external branch line.
  • the manipulator 4 includes a mounting plate 4-1, a cylinder clamping claw 4-2, and a clamping piece 4-3;
  • the mounting plate 4-1 is the basic installation component of the manipulator 4 and is fixedly installed perpendicular to the driving assembly I3.
  • the mounting plate 4-1 is fixed with a clamping cylinder I4-4, and the slide block of the clamping cylinder I4-4 is respectively provided with a cylinder clamp 4-2, and the cylinder clamp
  • the two clamping pieces 4-3 are driven open by spring I2-6.
  • the two clamping pieces 4-3 are The piece 4-3 is opened under the elastic force of the spring I2-6, and a clamping station is formed between the clamping plate of the cylinder jaw 4-2, the clamping piece 4-3, and the two clamping pieces 4-3, respectively. It is used to clamp three different copper wires on the coil.
  • the cylinder clamp 4-2 is closed, the two clamping plates of the cylinder clamp 4-2 are closed, driving the two clamping pieces 4-3 to close.
  • each clamping station corresponds to the copper wire on each coil, that is, the gap between the right clamping plate of the cylinder clamp 4-2 and the right clamping piece 4-3 corresponds to the right copper wire
  • two pieces The gap between the clamping pieces 4-3 corresponds to the middle copper wire
  • the gap between the left clamping plate of the cylinder clamp 4-2 and the left clamping piece 4-3 corresponds to the left copper wire
  • the cylinder clamp 4- 2 is closed, driving the two clamping pieces 4-3 to close, clamping all the copper wires on the coil, to avoid the copper wires on the coil being scattered during the coil transportation, and through the two clamping pieces 4-3, effectively Separate the three copper wires to ensure that the copper wires will no longer overlap and mess with each other after transportation
  • the two cylinder clamping jaws 4-2 respectively clamp the copper wires on the front and rear ends of the wire package
  • the clamping cylinder I 4-4 moves , driving the two cylinder clamping claws 4-2 to separate to both sides, thereby straightening the copper wires at the
  • the two gathering pieces 4-5 are respectively installed on the slide block of the clamping cylinder II 4-6.
  • the gathering pieces 4-5 are provided with clamps. Wire trough 4-7, when the clamping cylinder II 4-6 moves, the two gathering pieces 4-5 are driven closer to each other or separated from each other.
  • the cylinder clamp 4-2 clamps the copper wire on the wire package
  • the wire package is in the middle
  • the copper wires are stuck into the clamping slot 4-7, and the left and right copper wires are divided on both sides of the gathering piece 4-5, thereby separating the three copper wires on the coil and increasing the contact between the gathering piece 4-5 and the coil.
  • the clamping cylinder II 4-6 drives the two gathering pieces 4-5 to tighten, and gathers the two coils of the wire package together to reduce the volume of the wire package, making it easier to put the wire package into the rubber shell.
  • the mounting plate 4-1 is provided with a pressing down cylinder 4-8, and the piston rod of the pressing down cylinder 4-8 is provided with a pressing down cylinder whose lower end extends downward to between the two gathering pieces 4-5.
  • Rod 4-9; the side of the linear module 1 is provided with a top block 4-10 used in conjunction with the downward pressure rod 4-9.
  • the manipulator 4 moves the wire package to the top driven by the drive assembly I3.
  • the downward pressure cylinder 4-8 acts, driving the downward pressure rod 4-9 to move downward, and presses the wire package downward, thereby pressing the two coils on the wire package together, ensuring that the wire package is The smoothness after being placed in the plastic shell improves the beauty of the product.
  • the top block 4-10 is fixedly installed on the piston rod of the relief cylinder 4-11.
  • the relief cylinder 4-11 When the relief cylinder 4-11 is extended, the top block 4-10 is driven to move toward the cylinder clamp 4-2.
  • the cylinder 4-11 When the top block 4-10 is not in use, the cylinder 4-11 is shortened to drive the top block 4-10 away from the cylinder clamping jaw 4-2 to prevent the top block 4-10 from affecting the action of the cylinder clamping jaw 4-2.
  • the clamp 2 includes a body 2-1 and a locking block 2-2; the body 2-1 is provided with a groove 2-3, and the width of the groove 2-3 matches the width of the rubber shell.
  • the groove 2-3 is used to limit the movement of the rubber shell in the front and rear direction; a locking block 2-2 is slidably installed in the groove 2-3, and a locking rod 2-4 is slidably installed below the locking block 2-2.
  • the locking rod 2-4 is driven up and down by the locking cylinder 2-5.
  • the top of the locking rod 2-4 is provided with a bevel.
  • the locking block 2-2 is provided with a driving part used in conjunction with the bevel. The locking rod When 2-4 moves upward, the driving part is driven to move away from the groove 2-3.
  • the locking block 2-2 is provided with a spring II4-12 that drives the locking block to move quickly toward the inside of the groove 2-3.
  • the block 2-2 is arranged at the left end of the groove 2-3, and the driving part is the left end of the locking block 2-2, which is formed by providing a depression on the locking block 2-2 to make way for the locking rod 2-4. , when the locking rod 2-4 moves upward, the driving part drives the entire locking block 2-2 to move away from the groove 2-3, that is, to the left, thereby loosening the rubber shell in the groove 2-3.
  • the locking rod 2-4 is in the locking cylinder 2-3 5 moves downward, the locking rod 2-4 moves to the right driven by the spring II4-12, clamps the rubber shell in the groove 2-3, and uses the elasticity of the spring II4-12 to drive the locking block 2 -2 Clamping the rubber shell can effectively prevent the rubber shell from being clamped and effectively ensure the safety of the rubber shell during the clamping process.
  • the body 2-1 is provided with fixed guillotine plates 2-7 located on both sides of the groove 2-3, and a movable guillotine plate 2-8 is slidably installed on the outside of the fixed guillotine plate 2-7.
  • the fixed guillotine plate 2 -7 is integrally formed or welded with the body 2-1, and the two movable guillotine plates 2-8 are connected as a whole through a connecting plate to form a U shape, so that the two movable guillotine plates 2-8 can move simultaneously for shearing , and at the same time, it is more convenient to slide and install the movable guillotine plate 2-8 on both sides of the fixed guillotine plate 2-7.
  • the movable guillotine plate 2-8 is driven to move by the thread trimming cylinder 2-10.
  • the fixed guillotine plate 2-7 and the movable guillotine plate 2-8 are matched with a wire gap 2-9.
  • the coil is The copper wire extends outward from the wiring gap 2-9, and the wire trimming cylinder 2-10 moves to drive the movable guillotine plate 2-8 to move to the left, and the fixed guillotine plate 2-7 and the movable guillotine plate 2-8 are in the wiring gap 2-9 forms a shear, thereby cutting the copper wire in the wiring gap 2-9. It has a simple structure and is easy to use, and can quickly cut the tail wire after the coil is inserted into the shell.
  • the right side of the body 2-1 is provided with a U-shaped crimping rod 7 for pressing the upper tail wire of the coil.
  • the crimping lever 7 can press the wiring gap 2-9 from the movable guillotine plate 2-8.
  • the copper wire extending outward; the crimping rod 7 moves left and right and up and down through the driving assembly II8 arranged below it.
  • the driving assembly II8 is composed of two driving cylinders, one of which is installed horizontally and its piston rod is vertical. Another driving cylinder is installed, and the crimping rod 7 is fixedly installed on the vertically installed driving cylinder.
  • the driving component II8 drives the crimping rod 7 to the left to the top of the copper wire to be cut, and then drives the crimping rod. 7. Move downward and press the copper wire to be cut, thereby effectively preventing the copper wire from shrinking into the groove 2-3 when cutting the copper wire, ensuring the accuracy of the copper wire cutting position.
  • the twisted wire mechanism 6 includes a driving motor 6-1, a foot-binding needle 6-2, and a multi-stage transmission mechanism 6-3; the frame is provided with a driving motor 6-1, and the driving motor 6-1
  • the foot-binding pins 6-2 are evenly distributed below.
  • the drive motor 6-1 is connected to the foot-binding pins 6-2 through a multi-stage transmission mechanism 6-3.
  • the distribution of the foot-binding pins 6-2 is consistent with the foot-binding pins 6 on the rubber shell.
  • the distribution of -2 matches, and there are two types. One is a two-row and two-column arrangement with a large gap.
  • the multi-stage transmission mechanism 6-3 is composed of two driving shafts and two driven shafts, and is derived from one driving shaft.
  • the driven shafts are respectively arranged on the sides of the driving shaft and connected with the driving shaft gear transmission.
  • the foot-binding needles 6-2 are installed on the driving shaft and the driven shaft respectively. Lower end; Another kind of foot-binding needles 6-2 are arranged in two rows and eight columns, and are densely distributed.
  • the multi-stage transmission mechanism 6-3 is composed of two driving shafts, two driven shafts and 8 three-stage transmission shafts. , two driving shafts are set side by side and connected through gear transmission.
  • the driven shaft is set in front of the driving shaft and connected with the corresponding driving shaft gear transmission.
  • Two three-stage transmission shafts are set on both sides of the driving shaft and the driven shaft.
  • the three-stage transmission shaft is connected with the driving shaft and the driven shaft gear transmission respectively, and the foot-binding pin 6-2 is fixedly installed on the bottom end of the three-stage transmission shaft; when the driving motor 6-1 rotates, it is synchronized through the multi-stage transmission mechanism 6-3 Turn and bind all the plastic shell pins at the same time.
  • the left side of the body 2-1 is provided with a pressing block 9 for pressing the rubber shell in the groove 2-3.
  • the pressing block 9 is smaller than the inner diameter of the rubber shell and can press the coil in the rubber shell.
  • the pressing block 9 moves left and right and up and down through the driving assembly II8 arranged below it.
  • the driving assembly II8 drives the pressing block 9 to move to the right to the top of the rubber shell, and then the driving assembly II8 drives the pressing block 9 to move downward. Press the coil in the rubber shell to prevent the coil from being displaced during the process of foot-binding and shearing excess copper wire, ensuring that the position of the rubber shell after foot-binding is consistent with the initial placement position, effectively improving the quality of the product.
  • the linear module 1 Furthermore, there is a CCD camera above the linear module 1 for taking pictures of the rubber shell after the foot-binding is completed. After the foot-binding of the rubber shell is completed, the linear module 1 moves the rubber shell to the bottom of the CCD camera, and the CCD camera takes pictures of the rubber shell. Take photos and analyze them to determine whether the rubber shell is damaged or insufficient, so that defective products can be removed in a timely manner.
  • a method of inserting a coil into a shell using the above-mentioned device for inserting a coil into a shell to put the coil into a rubber shell, specifically including the following steps:
  • Step 1 Use the cylinder clamps 4-2 on the manipulator 4 to clamp the copper wires at the front and rear ends of the wire package respectively, and use the gathering pieces 4-5 to gather the two coils on the wire package together to reduce the volume of the wire package; that is,
  • the driving component I3 drives the manipulator 4 to move to the wire package where the wiring is separated, and the cylinder clamp 4-2 moves to clamp the three copper wires at the front and rear ends of the wire package respectively, and the middle copper wire falls into the clamp of the gathering piece 4-5 In the slot 4-7, the other two are distributed on both sides of the gathering piece 4-5.
  • the clamping cylinder I4-4 drives the gathering pieces 4-5 to move closer to each other, thereby gathering the two coils of the wire package together.
  • Step 2 Transport the wire packages to the top block 4-10, and use the lower pressure rod 4-9 on the manipulator 4 to press down the two wire packages so that the upper and lower surfaces of the two coils of the wire packages are aligned; that is, drive Component I3 drives the manipulator 4 to transport the clamped wire package to the top block 4-10, and presses down the cylinder 4-8 to drive the pressing rod 4-9 to move downward, press the two coils of the wire package, and make the wire package The upper and lower sides of the two coils are flush and flat.
  • Step 3 Put the wire package into the rubber shell located in the groove 2-3 of the clamp 2, use the wire pressing rod 7 to press the copper wire of the coil, use the pressing block 9 to press the coil in the rubber shell, and use the clamp 2 to
  • the fixed guillotine plates 2-7 and the movable guillotine plates 2-8 are used to remove excess copper wire; that is, the drive component I3 drives the manipulator 4 to put the clamped wire package into the rubber shell, and the crimping rod 7 is driven by the drive component II8 First move to the left, then move downward, and press the part of the copper wire that needs to be cut off.
  • the pressing block 9 is driven by the drive assembly II8 to first move to the right, then move downward, press the coil in the rubber shell, and cut the wire.
  • the cylinder 2-10 moves to cut the copper wire, and the manipulator 4 takes away the cut copper wire.
  • Step 4 Use the stranding mechanism 6 to wind the copper wire on the coil to the corresponding pin of the plastic shell; that is, the linear module 1 moves the rubber shell to the bottom of the stranding mechanism 6, and the drive component III5 drives the stranding mechanism 6 to move down as a whole. Move, the foot-binding pins 6-2 are put on the corresponding pins of the rubber shell, the drive motor 6-1 rotates, and all the foot-binding pins 6-2 are driven to rotate through the multi-stage transmission mechanism 6-3 to wind the copper wire on the coil to the corresponding pins of the plastic case.

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  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
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Abstract

本发明涉及一种线圈入壳装置及方法，属于线圈入壳设备技术领域。包括用于对线包进行搬运和整形的机械手、用于夹持胶壳的夹具、用于将线包上铜线缠绕到胶壳引脚上的绞线机构；所述的夹具固定安装在线性模组的滑块上，线性模组上方设有绞线机构和机械手，机械手通过驱动组件Ⅰ进行水平移动和垂直移动；绞线机构通过驱动组件Ⅲ进行垂直移动。本发明通过机械手对分好线的线包进行搬运和整理，并将线包上的两个线包收拢并对齐，然后放入胶壳相应位置上，最后通过绞线装置将线包上的铜线缠绕到胶壳相应的引脚上，实现了磁环线圈与胶壳的机械化组装，有效提高了网变产品生产的效率，减少了人工投入，降低了生产成本。

Description

一种线圈入壳装置及方法 技术领域
本发明属于线圈入壳设备技术领域，具体的说，涉及一种线圈入壳装置及方法。
背景技术
磁环线包在绕线完成后，需要将其装入胶壳中形成网变半成品，在传统的线包和胶壳组装中，通常采用人工式的组装，由于胶壳和线包的体积较小，组装效率非常低，需要大量的人工才能满足生产需求，人工成本投入较高。且由于不同的工作人员熟练度不同，组装出来的产品质量差异较大。
发明内容
为了解决上述问题，本发明提出了一种线圈入壳装置及方法。本发明实现了磁环线圈与胶壳的机械化组装，有效提高了产品的生产效率，降低了人工投入成本。
为达到上述目的，本发明按如下技术方案实施的：
一种线圈入壳装置，包括用于对线包进行搬运和整形的机械手、用于夹持胶壳的夹具、用于将线包上铜线缠绕到胶壳引脚上的绞线机构；所述的夹具固定安装在线性模组的滑块上，线性模组上方设有绞线机构和机械手，机械手固定安装在驱动组件Ⅰ上，通过驱动组件Ⅰ进行水平及垂直方向的移动；绞线机构固定安装在驱动组件Ⅲ上，通过驱动组件Ⅲ进行垂直方向的移动。
进一步，所述的机械手包括安装板、气缸夹爪、夹紧片；所述的安装板上固定设有夹紧气缸Ⅰ，夹紧气缸Ⅰ的滑块上分别设置有一个气缸夹爪，气缸夹爪的两块夹板之间铰接有两块夹紧片，两块夹紧片通过弹簧Ⅰ驱使张开，两个气缸夹爪之间设有两块收拢片，两块收拢片分别安装在夹紧气缸Ⅱ的滑块上，收拢片上设有夹线槽。
优选的，所述的安装板上设有下压气缸，下压气缸的活塞杆上设有下端向下延伸至两块收拢片之间的下压杆；所述的线性模组侧方设有与下压杆配合使用的顶块。
优选的，所述的顶块固定安装在让位气缸的活塞杆上，让位气缸伸长时，带动顶块向气缸夹爪移动。
进一步，所述的夹具包括本体、锁紧块；所述的本体上设有凹槽，凹槽内滑动安装有锁紧块，锁紧块下方滑动安装有锁紧杆，锁紧杆通过锁紧气缸驱使上下移动，锁紧杆顶端设有斜口，锁紧块上设有与斜口配合使用的驱动部，锁紧杆向上移动时，驱使驱动部向远离凹槽的方向移动，锁紧块上设有驱使锁紧快向凹槽内部移动的弹簧Ⅱ。
进一步，所述的本体上设有位于凹槽两侧的固定铡板，固定铡板外侧滑动安装有活动铡板，活动铡板通过剪线气缸驱使移动，固定铡板和活动铡板上匹配设置有搭线缝隙。
进一步，所述的本体右侧设有用于压住线圈上尾线的U形压线杆，压线杆通过设置在其下方的驱动组件Ⅱ进行左右移动和上下移动。
进一步，所述的绞线机构包括驱动电机、缠脚针、多级传动机构；所述的机架上设有驱动电机，驱动电机下方均布有缠脚针，驱动电机通过多级传动机构与缠脚针传动连接。
进一步，所述的本体左侧设有用于压住凹槽内胶壳的按压块，按压块通过设置在其下方的驱动组件Ⅱ进行左右移动和上下移动。
一种线圈入壳的方法，其特征在于，采用以上所述的线圈入壳装置将线圈放入胶壳中，具体包括以下步骤：
S1：利用机械手上的气缸夹爪分别夹住线包前后两端的铜线，并通过收拢片将线包上的两个线圈收拢在一起，缩小线包体积；
S2：将线包输送至顶块上，利用机械手上的下压杆向下按压两个线包，使线包的两个线圈上下两个面对齐；
S3：将线包放入位于夹具凹槽内的胶壳中，采用压线杆压住线圈的铜线，采用按压块压住胶壳内的线圈，利用夹具上的固定铡板和活动铡板切除多余铜线；
S4：利用绞线机构将线圈上的铜线缠绕到相应的胶壳引脚上。
本发明的有益效果：
本发明通过机械手对分好线的线包进行搬运和整理，并将线包上的两个线包收拢并对齐，然后放入胶壳相应位置上，最后通过绞线装置将线包上的铜线缠绕到胶壳相应的引脚上，实现了磁环线圈与胶壳的机械化组装，有效提高了网变产品生产的效率，减少了人工投入，降低了生产成本。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍，显而易见，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明立体结构示意图；
图2是本发明机械手安装示意图；
图3是本发明机械手正面立体结构示意图；
图4是本发明机械手底面立体结构示意图；
图5是本发明夹紧片安装示意图；
图6是本发明顶块安装示意图；
图7是本发明夹具安装示意图；
图8是本发明按压块和压线杆安装示意图；
图9是本发明夹具立体结构示意图；
图10是本发明夹具剖视示意图；
图11是本发明绞线机构安装示意图；
图12是本发明绞线机构立体结构示意图；
图13是本发明多级传动机构立体内部立体结构示意图；
图中，1-线性模组、2-夹具、2-1本体、2-2锁紧块、2-3凹槽、2-4锁紧杆、2-5锁紧气缸、2-6弹簧Ⅱ、2-7固定铡板、2-8活动铡板、2-9搭线缝隙、2-10剪线气缸、3-驱动组件Ⅰ、
4-机械手、4-1安装板、4-2气缸夹爪、4-3夹紧片、4-4夹紧气缸Ⅰ、4-5收拢片、4-6夹紧气缸Ⅱ、4-7夹线槽、4-8下压气缸、4-9下压杆、4-10顶块、4-11让位气缸、4-12弹簧Ⅰ、5-驱动组件Ⅲ、
6-绞线机构、6-1驱动电机、6-2缠脚针、6-3多级传动机构、7-压线杆、8-驱动组件Ⅱ、9-按压块。
具体实施方式
为了使本发明的目的、技术方案和有益效果更加清楚，下面将结合附图，对本发明的优选实施例进行详细的说明，以方便技术人员理解。
由图所示，一种线圈入壳装置，包括用于对线包进行搬运和整形的机械手4、用于夹持胶壳的夹具2、用于将线包上铜线缠绕到胶壳引脚上的绞线机构6；所述的夹具2固定安装在线性模组1的滑块上，线性模组1上方设有绞线机构6和机械手4，机械手4固定安装在驱动组件Ⅰ3上，通过驱动组件Ⅰ3进行水平及垂直方向的移动，驱动组件Ⅰ3由三台线性模组a组成，两台水平设置，用于驱使机械手4水移动动，一台垂直设置，安装在水平设置的线性模组a的滑块上，用于驱使机械手4垂直移动，机械手4安装在垂直安装的线性模组a的滑块上；绞线机构6固定安装在驱动组件Ⅲ5上，通过驱动组件Ⅲ5进行垂直方向的移动，驱动组件Ⅲ5采用线性模组a。工作时，胶壳通过外部的胶壳装载机械手4或人工放入夹具2中进行夹持固定，由线性模组1将夹具2搬运至指定位置等待线入壳；机械手4移动至外部的分线机构中将分线后的线包夹住，并对线包的两个线圈进行整平和收缩，缩小线包体积；然后将线包装入胶壳中，通过多次装填，向胶壳装满所需线包；线性模组1将夹具2移动至绞线机构6下方，绞线机构6在驱动组件Ⅲ5的驱动下向下平移，然后绞线机构6将线包上的铜线缠绕到对应的胶壳引脚上，完成线包入壳作业。整个线包入壳作业通过机械化自动完成，降低了人工的投入成本，有效提高了线圈入壳的作业效率，产品质量均一性较高。
进一步，所述的机械手4包括安装板4-1、气缸夹爪4-2、夹紧片4-3；安装板4-1为机 械手4的基础安装组件，固定安装在与驱动组件Ⅰ3的垂直设置的线性模组a上，所述的安装板4-1上固定设有夹紧气缸Ⅰ4-4，夹紧气缸Ⅰ4-4的滑块上分别设置有一个气缸夹爪4-2，气缸夹爪4-2的两块夹板之间铰接有两块夹紧片4-3，两块夹紧片4-3通过弹簧Ⅰ2-6驱使张开，气缸夹爪4-2张开时，两块夹紧片4-3在弹簧Ⅰ2-6的弹力作用下打开，气缸夹爪4-2的夹板与夹紧片4-3、两块夹紧片4-3之间各形成一个夹取工位，分别用于夹住线圈上三根不同的铜线，气缸夹爪4-2闭合时，气缸夹爪4-2的两块夹板闭合，驱使两块夹紧片4-3闭合。使用时，使各个夹取工位分别对应各根线圈上的铜线，即气缸夹爪4-2右夹板与右侧的夹紧片4-3之间的间隙对应右侧铜线，两块夹紧片4-3之间的间隙对应中间的铜线，气缸夹爪4-2左夹板与左侧的夹紧片4-3之间的间隙对应左侧铜线，然后气缸夹爪4-2闭合，带动两块夹紧片4-3闭合，将线圈上的铜线全部夹住，避免在搬运线圈过程中导致线圈上的铜线散乱，且通过两块夹紧片4-3，有效将三根铜线分开，保证了搬运后铜线之间不会再相互重叠混乱；两个气缸夹爪4-2分别对应夹住线包前后两端上的铜线，夹紧气缸Ⅰ4-4动作，带动两个气缸夹爪4-2向两侧分离，从而将线包前后两端的铜线向两侧拉直。两个气缸夹爪4-2之间设有两块收拢片4-5，两块收拢片4-5分别安装在夹紧气缸Ⅱ4-6的滑块上，收拢片4-5上设有夹线槽4-7，夹紧气缸Ⅱ4-6动作时，驱使两片收拢片4-5相互靠拢或相互分离，在气缸夹爪4-2夹住线包上的铜线时，线包上中间的铜线卡入夹线槽4-7中，左右两根铜线分在收拢片4-5的两侧，从而将线圈上的三根铜线分开，增大收拢片4-5与线圈的接触面积，夹紧气缸Ⅱ4-6带动两块收拢片4-5收紧，将线包的两个线圈收拢在一起，缩小线包体积，便于将线包放入胶壳中。
作为优选，所述的安装板4-1上设有下压气缸4-8，下压气缸4-8的活塞杆上设有下端向下延伸至两块收拢片4-5之间的下压杆4-9；所述的线性模组1侧方设有与下压杆4-9配合使用的顶块4-10，工作时，机械手4在驱动组件Ⅰ3的驱使下将线包移动至顶块4-10上，下压气缸4-8动作，驱使下压杆4-9向下移动，对线包向下按压，从而将线包上的两个线圈上下面压齐，保证了线包放入胶壳内后的平整性，提高产品的美观。作为优选，所述的顶块4-10固定安装在让位气缸4-11的活塞杆上，让位气缸4-11伸长时，带动顶块4-10向气缸夹爪4-2移动，在使用不到顶块4-10时，让位气缸4-11缩短，带动顶块4-10远离气缸夹爪4-2，避免顶块4-10影响气缸夹爪4-2的动作。
进一步，所述的夹具2包括本体2-1、锁紧块2-2；所述的本体2-1上设有凹槽2-3，凹槽2-3的宽度与胶壳的宽度相匹配，利用凹槽2-3限制胶壳在前后方向上的移动；凹槽2-3内滑动安装有锁紧块2-2，锁紧块2-2下方滑动安装有锁紧杆2-4，锁紧杆2-4通过锁紧气缸2-5驱使上下移动，锁紧杆2-4顶端设有斜口，锁紧块2-2上设有与斜口配合使用的驱动部， 锁紧杆2-4向上移动时，驱使驱动部向远离凹槽2-3的方向移动，锁紧块2-2上设有驱使锁紧快向凹槽2-3内部移动的弹簧Ⅱ4-12，锁紧块2-2设置在凹槽2-3的左端，驱动部为锁紧块2-2的左端部，通过在锁紧块2-2上设置为锁紧杆2-4让位的凹陷后形成，锁紧杆2-4向上移动时，驱使驱动部带动整个锁紧块2-2向远离凹槽2-3的方向移动，即向左移动，从而松开凹槽2-3内的胶壳，并放大凹槽2-3的整体体积，使胶壳能够更加容易的放入凹槽2-3内或者从凹槽2-3内拿出；锁紧杆2-4在锁紧气缸2-5的带动下向下移动时，锁紧杆2-4在弹簧Ⅱ4-12的驱使下右移，夹紧凹槽2-3内的胶壳，利用弹簧Ⅱ4-12的弹性驱使锁紧块2-2夹紧胶壳，能够有效避免胶壳被夹坏，有效保证胶壳在夹持过程中的安全。
作为优选，所述的本体2-1上设有位于凹槽2-3两侧的固定铡板2-7，固定铡板2-7外侧滑动安装有活动铡板2-8，固定铡板2-7与本体2-1一体成型或焊接为一体，两块活动铡板2-8通过一块连接板连接为一体，形成一个U形，使两块活动铡板2-8的同时移动进行剪切，同时更加方便将活动铡板2-8滑动安装在固定铡板2-7的两侧。活动铡板2-8通过剪线气缸2-10驱使移动，固定铡板2-7和活动铡板2-8上匹配设置有搭线缝隙2-9，将线圈放入胶壳后，线圈上的铜线从搭线缝隙2-9向外延伸，剪线气缸2-10动作，驱使活动铡板2-8向左移动，固定铡板2-7和活动铡板2-8在搭线缝隙2-9形成剪切，从而将搭在搭线缝隙2-9中的铜线剪断，结构简单，使用方便，能够快速对线圈入壳后的尾线进行剪切。
作为优选，所述的本体2-1右侧设有用于压住线圈上尾线的U形压线杆7，压线杆7能够压住从活动铡板2-8的搭线缝隙2-9中向外延伸出来的铜线；压线杆7通过设置在其下方的驱动组件Ⅱ8进行左右移动和上下移动，驱动组件Ⅱ8由两个驱动气缸组成，其中一个驱动气缸水平安装，其活塞杆上垂直安装有另一个驱动气缸，压线杆7固定安装在垂直安装的驱动气缸上，在剪线时，驱动组件Ⅱ8驱动压线杆7向左至要剪掉的铜线上方，然后驱动压线杆7向下移动，压住要剪掉的铜线，从而有效避免剪切铜线时铜线收缩入凹槽2-3内，保证了铜线剪切位置的准确性。
进一步，所述的绞线机构6包括驱动电机6-1、缠脚针6-2、多级传动机构6-3；所述的机架上设有驱动电机6-1，驱动电机6-1下方均布有缠脚针6-2，驱动电机6-1通过多级传动机构6-3与缠脚针6-2传动连接，缠脚针6-2的分布与胶壳上缠脚针6-2的分布相匹配，存在两种，一种为大间隙的两行两列式排列，多级传动机构6-3由两根主动轴和两根从动轴组成，从一根主动轴导出动力，两根主动轴并列设置，并通过齿轮传动连接，从动轴分别设置在主动轴的侧方，与主动轴齿轮传动连接，缠脚针6-2分别安装在主动轴和从动轴的下端；另外一种缠脚针6-2呈两行8列式排布，分布较密，多级传动机构6-3由两根主动轴、两个从动轴和8根三级传动轴组成，两根主动轴并列设置并通过齿轮传动连接，从动轴设置在主 动轴前方，并与对应的主动轴齿轮传动连接，主动轴和从动轴的两侧分别设置两个三级传动轴，三级传动轴分别与主动轴、从动轴齿轮传动连接，缠脚针6-2固定安装在三级传动轴的底端；驱动电机6-1转动时，通过多级传动机构6-3同步转动，同时对所有的胶壳引脚进行缠脚。
作为优选，所述的本体2-1左侧设有用于压住凹槽2-3内胶壳的按压块9，按压块9小于胶壳内径的大小，可对胶壳内的线圈进行按压，按压块9通过设置在其下方的驱动组件Ⅱ8进行左右移动和上下移动，工作时，驱动组件Ⅱ8带动按压块9向右移动至胶壳的上方，然后驱动组件Ⅱ8带动按压块9向下移动，压住胶壳内的线圈，避免线圈在缠脚和剪切多余铜线的过程中出现位移，保证胶壳缠脚后位置与初始放置位置相一致，有效提高了产品的质量。
进一步，线性模组1上方设有用于对缠脚完成的胶壳进行拍照的CCD相机，胶壳缠脚完成后，线性模组1将胶壳移动至CCD相机的下方，CCD相机对胶壳进行拍照并分析，从而判断出胶壳缠脚是否出现损坏或不足，便于后续及时将存在残缺的产品进行剔除。
一种线圈入壳的方法，采用上述线圈入壳的装置将线圈放入胶壳中，具体包括以下步骤：
步骤1：利用机械手4上的气缸夹爪4-2分别夹住线包前后两端的铜线，并通过收拢片4-5将线包上的两个线圈收拢在一起，缩小线包体积；即驱动组件Ⅰ3带动机械手4移动至分线好的线包处，气缸夹爪4-2动作，分别夹持住线包前后两端的三根铜线，其中中间铜线陷入收拢片4-5的夹线槽4-7中，另外两根分布在收拢片4-5的两侧，夹紧气缸Ⅰ4-4带动收拢片4-5相互靠拢，从而将线包的两个线圈收拢在一起。
步骤2：将线包输送至顶块4-10上，利用机械手4上的下压杆4-9向下按压两个线包，使线包的两个线圈上下两个面对齐；即驱动组件Ⅰ3带动机械手4将夹出住的线包运送到顶块4-10上，下压气缸4-8动作，带动下压杆4-9向下移动，按压线包的两个线圈，使线包的两个线圈上下两个面对齐平整。
步骤3：将线包放入位于夹具2凹槽2-3内的胶壳中，采用压线杆7压住线圈的铜线，采用按压块9压住胶壳内的线圈，利用夹具2上的固定铡板2-7和活动铡板2-8切除多余铜线；即驱动组件Ⅰ3带动机械手4将夹出住的线包放入胶壳中，压线杆7在驱动组件Ⅱ8的驱动下先向左移动，再向下移动，压住需要剪切掉的部分铜线，按压块9在驱动组件Ⅱ8驱动下先向右移动，再向下移动，压住胶壳内的线圈，剪线气缸2-10动作，将铜线剪断，机械手4将剪切下来的铜线带走。
步骤4：利用绞线机构6将线圈上的铜线缠绕到相应的胶壳引脚上；即线性模组1将胶壳移动至绞线机构6下方，驱动组件Ⅲ5带动绞线机构6整体下移，缠脚针6-2套在胶壳对应的引脚上，驱动电机6-1转动，通过多级传动机构6-3带动所有缠脚针6-2转动，将线圈 上的铜线缠绕到胶壳的相应引脚上。
最后说明的是，以上优选实施例仅用以说明本发明的技术方案而非限制，尽管通过上述优选实施例已经对本发明进行了详细的描述，但本领域技术人员应当理解，可以在形式上和细节上对其做出各种各样的改变，而不偏离本发明权利要求书所限定的范围；附图尺寸与具体实物无关，实物尺寸可任意变换。

Claims (10)

  1. 一种线圈入壳装置，其特征在于：包括用于对线包进行搬运和整形的机械手(4)、用于夹持胶壳的夹具(2)、用于将线包上铜线缠绕到胶壳引脚上的绞线机构(6)；所述的夹具(2)固定安装在线性模组(1)的滑块上，线性模组(1)上方设有绞线机构(6)和机械手(4)，机械手(4)固定安装在驱动组件Ⅰ(3)上，通过驱动组件Ⅰ(3)进行水平及垂直方向的移动；绞线机构(6)固定安装在驱动组件Ⅲ(5)上，通过驱动组件Ⅲ(5)进行垂直方向的移动。
  2. 根据权利要求1所述的一种线圈入壳装置，其特征在于：所述的机械手(4)包括安装板(4-1)、气缸夹爪(4-2)、夹紧片(4-3)；所述的安装板(4-1)上固定设有夹紧气缸Ⅰ(4-4)，夹紧气缸Ⅰ(4-4)的滑块上分别设置有一个气缸夹爪(4-2)，气缸夹爪(4-2)的两块夹板之间铰接有两块夹紧片(4-3)，两块夹紧片(4-3)通过弹簧Ⅰ(2-6)驱使张开，两个气缸夹爪(4-2)之间设有两块收拢片(4-5)，两块收拢片(4-5)分别安装在夹紧气缸Ⅱ(4-6)的滑块上，收拢片(4-5)上设有夹线槽(4-7)。
  3. 根据权利要求2所述的一种线圈入壳装置，其特征在于：所述的安装板(4-1)上设有下压气缸(4-8)，下压气缸(4-8)的活塞杆上设有下端向下延伸至两块收拢片(4-5)之间的下压杆(4-9)；所述的线性模组(1)侧方设有与下压杆(4-9)配合使用的顶块(4-10)。
  4. 根据权利要求3所述的一种线圈入壳装置，其特征在于：所述的顶块(4-10)固定安装在让位气缸(4-11)的活塞杆上，让位气缸(4-11)伸长时，带动顶块(4-10)向气缸夹爪(4-2)移动。
  5. 根据权利要求1、2、3或4所述的一种线圈入壳装置，其特征在于：所述的夹具(2)包括本体(2-1)、锁紧块(2-2)；所述的本体(2-1)上设有凹槽(2-3)，凹槽(2-3)内滑动安装有锁紧块(2-2)，锁紧块(2-2)下方滑动安装有锁紧杆(2-4)，锁紧杆(2-4)通过锁紧气缸(2-5)驱使上下移动，锁紧杆(2-4)顶端设有斜口，锁紧块(2-2)上设有与斜口配合使用的驱动部，锁紧杆(2-4)向上移动时，驱使驱动部向远离凹槽(2-3)的方向移动，锁紧块(2-2)上设有驱使锁紧快向凹槽(2-3)内部移动的弹簧Ⅱ(4-12)。
  6. 根据权利要求5所述的一种线圈入壳装置，其特征在于：所述的本体(2-1)上设有位于凹槽(2-3)两侧的固定铡板(2-7)，固定铡板(2-7)外侧滑动安装有活动铡板(2-8)，活动铡板(2-8)通过剪线气缸(2-10)驱使移动，固定铡板(2-7)和活动铡板(2-8)上匹配设置有搭线缝隙(2-9)。
  7. 根据权利要求6所述的一种线圈入壳装置，其特征在于：所述的本体(2-1)右侧设有用于压住线圈上尾线的U形压线杆(7)，压线杆(7)通过设置在其下方的驱动组件Ⅱ(8)进行左右移动和上下移动。
  8. 根据权利要求6或7所述的一种线圈入壳装置，其特征在于：所述的绞线机构(6)包括驱动电机(6-1)、缠脚针(6-2)、多级传动机构(6-3)；所述的机架上设有驱动电机(6-1)，驱动电机(6-1)下方均布有缠脚针(6-2)，驱动电机(6-1)通过多级传动机构(6-3)与缠脚针(6-2)传动连接。
  9. 根据权利要求8所述的一种线圈入壳装置，其特征在于：所述的本体(2-1)左侧设有用于压住凹槽(2-3)内胶壳的按压块(9)，按压块(9)通过设置在其下方的驱动组件Ⅱ(8)进行左右移动和上下移动。
  10. 一种线圈入壳的方法，其特征在于，采用如权利要求9所述的线圈入壳装置将线圈放入胶壳中，具体包括以下步骤：
    S1：利用机械手(4)上的气缸夹爪(4-2)分别夹住线包前后两端的铜线，并通过收拢片(4-5)将线包上的两个线圈收拢在一起，缩小线包体积；
    S2：将线包输送至顶块(4-10)上，利用机械手(4)上的下压杆(4-9)向下按压两个线包，使线包的两个线圈上下两个面对齐；
    S3：将线包放入位于夹具(2)凹槽(2-3)内的胶壳中，采用压线杆(7)压住线圈的铜线，采用按压块(9)压住胶壳内的线圈，利用夹具(2)上的固定铡板(2-7)和活动铡板(2-8)切除多余铜线；
    S4：利用绞线机构(6)将线圈上的铜线缠绕到相应的胶壳引脚上。
PCT/CN2022/093488 2022-03-17 2022-05-18 一种线圈入壳装置及方法 WO2023173573A1 (zh)

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