Coil forming device

Abstract

The present invention relates to a coil forming device, comprising: a deflection part, a rotation part, an end effector and a control part; the deflection part is connected to the rotation part, and is used to drive the rotation part to rotate a preset angle; the rotation part is provided with a hollow channel, and is used to allow a substrate to be wound with a coil to pass through; there is a gap between the inner wall of the hollow channel and the outer wall of the substrate; the end effector is connected to the side wall of the rotation part, and moves circumferentially along the hollow channel, and is used to wind the coil on the substrate; the control part connects the deflection part, the rotation part and the end effector, and is used to control the motion trajectory of the end effector. The device controls the motion trajectory of the end effector through the control part, and can wind the coil into any desired shape, thereby improving the production efficiency and qualified rate of coils with complex structures.

Description

Technical Field

[0001] The invention relates to a coil forming device and belongs to the field of coil processing. Background Art

[0002] Electromagnetic coils are widely used in the fields of nuclear magnetic resonance, targeted drug delivery, magnetic hyperthermia, particle accelerators, etc. However, with the development of science and technology, the three-dimensional magnetic field structure that needs to be designed is becoming more and more complex, and the corresponding electromagnetic coils must also be wound into complex three-dimensional structures, such as Cos (nθ) type coils, oblique solenoid coils, snake coils, etc. In particular, in particle accelerators, a variety of complex three-dimensional fields are required to control and constrain charged particles. For example, a dipole, quadrupole and sextupole magnetic field needs to be set in a particle accelerator, which requires the setting of coils in shapes such as saddles. In the prior art, although there are winding machines for automatic winding, such winding machines can usually only wind the coils into ordinary coils with circular cross-sections. For coils with complex structures, they are usually wound manually, which has low production efficiency, is time-consuming and labor-intensive, and the quality of electromagnetic coil winding depends on the experience and sense of responsibility of the workers, so it cannot well meet the needs of precision devices such as nuclear magnetic resonance, targeted drug delivery, magnetic hyperthermia, particle accelerators, etc. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a coil forming device, which is particularly suitable for winding complex structures. It can control the motion trajectory of the end effector by the control unit, and can wind the coil into any desired shape, thereby improving the production efficiency and qualification rate of complex structure coils.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: The present invention provides a coil forming device, comprising: a deflection part, a rotating part, an end execution part and a control part; the deflection part is connected to the rotating part, and is used to drive the rotating part to rotate a preset angle; the rotating part is provided with a hollow channel, and is used for allowing a substrate to be wound with a coil to pass through; there is a gap between the inner wall of the hollow channel and the outer wall of the substrate; the end execution part is connected to the side wall of the rotating part, and moves circumferentially along the hollow channel, and is used to wind the coil on the substrate; the control part is connected to the deflection part, the rotating part and the end execution part, and is used to control the movement trajectory of the end execution part.

[0005] Furthermore, the cross-sectional shape of the hollow channel is the same as that of the substrate, and the hollow channel is coaxial with the substrate.

[0006] Furthermore, the cross-sectional shape of the hollow channel is circular.

[0007] Furthermore, the deflection part is a hollow rotating table, the hollow rotating table is provided with a loading platform, the loading platform is provided with a fixing part, and the fixing part is fixedly connected to the rotating part.

[0008] Furthermore, it also includes a plane moving part, which is arranged below the deflection part and fixedly connected to the deflection part, and the plane moving part drives the deflection part to move in a plane.

[0009] Furthermore, the planar moving part includes a horizontal moving part that moves in a horizontal direction; and a vertical moving part that moves in a direction perpendicular to the horizontal direction.

[0010] Furthermore, the horizontal moving part includes a first slide rail and a first slider arranged on the first slide rail; the vertical moving part includes a second slide rail and a second slider arranged on the second slide rail; the second slide rail is arranged on the first slider, the setting direction of the second slide rail is perpendicular to the setting direction of the first slide rail, and the deflection part is provided on the second slider.

[0011] Furthermore, it also includes a substrate support portion for supporting the substrate.

[0012] Since the present invention adopts the above technical scheme, it has the following advantages: 1. The control unit controls the linkage of the deflection unit, the rotation unit and the end actuator, so that the motion trajectory of the end actuator can wind the coil into any desired shape, thereby improving the production efficiency and qualified rate of the coil with complex structure. 2. Compared with the traditional winding method in which the base rotates, the end device maintains a fixed posture and follows the movement, which increases the movement dimension of the end actuator and simplifies the motion mechanism. At the same time, there is no need to set a lifting device in the vertical direction, which reduces the cost and the size of the device. 3. Multiple end actuators can be installed on the rotating part, and different end actuators can be installed with different functional modules, such as milling cutters, superconducting wire shafts, 3D printing heads, glass fiber tape winding heads, positioning tips, etc., so that the coil forming device in the present invention has more comprehensive and diversified functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic structural diagram of a coil forming device in one embodiment of the present invention;

[0014] Figure 2 Schematic diagram of the winding path of a diode bent tube oblique solenoid coil in one embodiment of the present invention, (a) is a left view, (b) is a front view; (c) is a right view;

[0015] Figure 3 Schematic diagram of the winding path of a quadrupole (a) and a hexapole (b) straight tube oblique solenoid coil in one embodiment of the present invention;

[0016] Figure 4 Schematic diagram of the winding path of a four-pole discrete Cos(nθ) type electromagnetic coil in one embodiment of the present invention, (a) is a front view, and (b) is a stereogram.

[0017] Reference numerals:

[0018] 1-deflection part; 2-rotation part; 21-carrying platform; 22-fixing part; 3-end execution part; 4-base; 5-planar moving part; 51-first slide rail; 52-first slider; 53-second slide rail; 54-second slider; 6-base support part. DETAILED DESCRIPTION

[0019] The present invention is described in detail below in conjunction with the accompanying drawings. However, it should be understood that the drawings are provided only for a better understanding of the present invention and they should not be construed as limiting the present invention. In the description of the present invention, it should be understood that the terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0020] This embodiment discloses a coil forming device, such as Figure 1 As shown, it includes a deflection unit 1, a rotation unit 2, an end effector 3 and a control unit (not shown in the figure); the deflection unit 1 is connected to the rotation unit 2, and is used to drive the rotation unit 2 to rotate a preset angle; a hollow channel is provided on the rotation unit 2, and is used to allow the substrate 4 to be wound with the coil to pass through; there is a gap between the inner wall of the hollow channel and the outer wall of the substrate 4; the end effector 3 is connected to the side wall of the rotation unit 2, and moves along the circumference of the hollow channel with the rotation unit, and is used to form the coil on the substrate 4; the control unit connects the deflection unit 1, the rotation unit 2 and the end effector 3, and is used to control the movement trajectory of the end effector 3. In this embodiment, the device controls the linkage of the deflection unit 1, the rotation unit 2 and the end effector 3 through the control unit, and then controls the movement trajectory of the end effector on the substrate 4, so that the coil can be wound into any desired shape, the production efficiency and qualified rate of the complex structure coil are improved, and the labor cost is reduced. In addition, a variety of end effectors 3 can be installed on the rotating part 2 according to specific operational needs. The end effectors 3 can be installed to implement different functional modules, such as a milling cutter, a superconducting wire spool, a 3D printing head, a glass fiber tape winding head and a positioning center, etc., making the coil forming device in this embodiment more comprehensive and diversified.

[0021] In this embodiment, although the base 4 can be of any shape, in view of the fact that the equipment on which the coil needs to be wound is usually tubular, the base 4 is preferably a straight tube or a curved tube with a circular or elliptical cross-section. The device in this embodiment is particularly suitable for curved tubes with a bending angle of 60°-90°, that is, large-angle curved tubes. Although the structure of the device in the prior art is relatively complex and requires separate up and down moving slide rails and sliders, it can basically meet the needs of winding coils on straight tubes or curved tubes with relatively small bending angles. For large-angle curved tubes, due to the particularity of the coil winding shape, the device in the prior art cannot automatically and accurately complete it. However, the device in this embodiment controls the deflection unit 1, the rotation unit 2 and the end execution unit to link and accurately set the motion trajectory of the end execution unit 3 through the control unit. Figure 2-4They are respectively the schematic diagrams of the winding path of the two-pole curved tube oblique solenoid type coil; the schematic diagrams of the winding path of the four-pole and six-pole straight tube oblique solenoid type coil; and the schematic diagrams of the winding path of the four-pole discrete Cos (nθ) type coil. Figure 2-4 As shown, the winding path of the inclined solenoid coil of a straight tube or a curved tube or the winding path of a discrete Cos (nθ) type coil is very complicated. It is impossible to wind the coil into such a complicated shape by only using a winding device that moves linearly in three directions of XYZ. However, by using the device in this embodiment, as long as the corresponding graphics are input into the controller, the controller can control each component in real time according to the graphics, so that the terminal executes 3 steps to complete the coil winding of the required spatial path shape.

[0022] Since the end effector 3 moves circumferentially along the hollow channel of the rotating part 2. The central axis of the base 4 is the line connecting the centers of the circles of each cross section of the base. When the base 4 is a straight tube, the central axis is a straight line, and the deflection angle of the rotating part 2 does not need to change during the entire operation; but when the base 4 is a curved tube, the tangents of each point of the central axis will change in real time, so the controller needs to adjust the deflection angle of the deflection part 1 to adjust the posture of the rotating part 2, and the cross section of the hollow channel should be perpendicular to the tangent of the central axis at the intersection of the central axis of the base 4. Among them, the deflection part 1 is a circular rotating body, on which a loading platform 21 is provided, and the deflection part 1 can be controlled by the control unit to achieve ±180° angle adjustment of the loading platform 21. A fixing part 22 is provided on the loading platform 21, and the fixing part 22 is used to be fixedly connected to the rotating part 2 and support the rotating part 2. In order to fix more stably, the fixing part 22 is preferably two. The two fixing parts support the rotating part 2 from the left and right sides.

[0023] In order to make the end effector 3 act better on the base 4, it is preferred to set the cross section of the hollow channel to the same shape as the cross section of the base. If the base 4 is a pipe with a circular cross section, the cross section of the central channel is also circular, and the center of the cross section of the base 4 coincides with the center of the cross section of the central channel, that is, the cross section is coaxially arranged with the central channel. The cross section here is defined as the surface perpendicular to the axis of the length direction of the pipe.

[0024] In order to increase the adjustment dimension of the coil forming device and to meet the requirements of the length direction of the tube, the coil forming device also includes a plane moving part 5, which is arranged below the deflection part 1 and fixedly connected to the deflection part 1. The plane moving part 5 is used to adjust the position of the deflection part 1 in the plane. The plane moving part 5 further includes a horizontal moving part that moves in the horizontal direction and a vertical moving part that moves in a direction perpendicular to the horizontal direction. The horizontal moving part includes a first slide rail 51 and a first slider 52 arranged on the first slide rail 51; the vertical moving part includes a second slide rail 53 and a second slider 54 arranged on the second slide rail 53; the second slide rail 53 is arranged on the first slider 52, and the setting direction of the second slide rail 53 is perpendicular to the setting direction of the first slide rail 51, and the deflection part 1 is arranged on the second slider 54.

[0025] In order to allow the substrate 4 to pass through the hollow channel without contacting the inner wall of the hollow channel, the coil forming device further includes a substrate support portion 6 for supporting the substrate 4. Preferably, there are two substrate support portions 6, which are respectively arranged on both sides of the rotating portion 1 to prevent the substrate 4 from falling.

[0026] The above embodiments are only used to illustrate the present invention, wherein the structure, connection mode and manufacturing process of each component may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A coil forming device, characterized in that: include: Deflection unit, rotation unit, end effector unit and control unit; The deflection part is connected to the rotating part and is used to drive the rotating part to rotate by a preset angle; The rotating part is provided with a hollow channel for the substrate to be wound with coils to pass through; there is a gap between the inner wall of the hollow channel and the outer wall of the substrate; The end effector is connected to the side wall of the rotating part, moves circumferentially along the hollow channel, and is used to wind the coil on the substrate; The control unit is connected to the deflection unit, the rotation unit and the end effector, and is used to control the motion trajectory of the end effector; The deflection part is a hollow rotating platform, a loading platform is arranged on the hollow rotating platform, a fixing piece is arranged on the loading platform, and the fixing piece is fixedly connected to the rotating part.

2. The coil forming device according to claim 1, characterized in that The cross-sectional shape of the hollow channel is the same as that of the base, and the hollow channel is coaxial with the base.

3. The coil forming device according to claim 2, characterized in that: The cross-sectional shape of the hollow channel is circular.

4. The coil forming device according to claim 1 or 2, characterized in that: It also includes a plane moving part, which is arranged below the deflection part and fixedly connected to the deflection part, and the plane moving part drives the deflection part to move in a plane.

5. The coil forming device according to claim 4, characterized in that: The planar moving part includes a horizontal moving part that moves in a horizontal direction; and a vertical moving part that moves in a direction perpendicular to the horizontal direction.

6. The coil forming device according to claim 5, characterized in that The horizontal moving part includes a first slide rail and a first slider arranged on the first slide rail; the vertical moving part includes a second slide rail and a second slider arranged on the second slide rail; the second slide rail is arranged on the first slider, the setting direction of the second slide rail is perpendicular to the setting direction of the first slide rail, and the deflection part is provided on the second slider.

7. The coil forming device according to claim 1 or 2, characterized in that: The invention also comprises a substrate supporting part for supporting the substrate.

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