Coil frame pin automatic assembly machine

Abstract

The present invention relates to the technical field of automation equipment, and specifically discloses a coil skeleton pin automatic assembly machine, comprising a machine base and a control panel arranged on the machine base, characterized in that: a feeding mechanism, a vibration plate, a material transfer manipulator, a wire loading mechanism, a wire feeding mechanism, a cutting mechanism, an embossing adjustment mechanism, a detection device and a discharging mechanism are arranged on the machine base, the feeding mechanism, the vibration plate, the material transfer manipulator, the wire loading mechanism, the wire feeding mechanism, the cutting mechanism, the embossing adjustment mechanism, the detection device and the discharging mechanism are all connected to the control panel, the feeding mechanism comprises a feeding channel and a feeding manipulator, the vibration plate, the material transfer manipulator, the wire loading mechanism and the embossing adjustment mechanism are respectively arranged along the direction of the feeding channel, the cutting mechanism and the wire feeding mechanism are arranged above the wire loading mechanism, the present invention has a high degree of automation, is easy to operate, has a high cutting precision, reduces the labor intensity of workers, reduces production costs, improves production efficiency, and extends the service life of the pins.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, in particular to an automatic assembly machine for coil skeleton pins. Background Art

[0002] The coil commonly used in the circuit is generally formed by winding the enameled wire on the coil frame. The coil frame usually has a cylindrical winding core, and the outer surface of the winding core is formed by multiple grooves to form a winding path. The enameled wire is wound from one end of the winding core to the other end along the winding path, thereby forming a coil. The coil needs to be provided with pins connected to the enameled wire, and the pins are connected to external devices.

[0003] In the prior art, when installing the pins, most of them are installed manually, which has high labor intensity and low production efficiency, and it is difficult to grasp the angle and accuracy of the pin installation; therefore, a large number of automatic pin assembly machines have appeared on the market, but most of the current automatic pin assembly machines can only cut off the excess part outside the pin interface when cutting the installed pins. However, the cut pins are almost flush with the pin interface. When the external device is inserted into the pin interface and connected with it, the docking accuracy is not high, and it is easy to be inserted crookedly, resulting in the bending of the pins, which seriously affects the service life of the pins. Therefore, it is necessary to manually reach into the pin interface for re-cutting so that the pins are completely inserted into the pin interface. However, this secondary processing method is cumbersome to operate, requires a lot of manpower and material resources, has a low degree of automation, and has poor cutting accuracy, which cannot meet the needs of the industry. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the present invention provides a coil skeleton pin automatic assembly machine with high automation, convenient operation, high cutting precision, reduced labor intensity of workers, lowered production costs, improved production efficiency, and extended the service life of the pins, which can meet industrial needs.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is:

[0006] The invention discloses an automatic assembly machine for coil skeleton pins, comprising a machine base and a control panel arranged on the machine base, wherein a feeding mechanism, a vibration plate, a material transfer manipulator, a wire loading mechanism, a wire feeding mechanism, a cutting mechanism, an embossing adjustment mechanism, a detection device and a discharging mechanism are arranged on the machine base, and the feeding mechanism, the vibration plate, the material transfer manipulator, the wire loading mechanism, the wire feeding mechanism, the cutting mechanism, the embossing adjustment mechanism, the detection device and the discharging mechanism are all connected to the control panel, the feeding mechanism comprises a feeding channel arranged from left to right and a feeding manipulator arranged at the front end of the feeding channel, the vibration plate, the material transfer manipulator, the wire loading mechanism and the embossing adjustment mechanism are respectively arranged along the direction of the feeding channel, the cutting mechanism and the wire feeding mechanism are both arranged above the wire loading mechanism through a first mounting frame, and the discharging mechanism comprises a A discharge channel arranged from left to right, a turning cylinder for driving the discharge channel to turn over, and a discharge manipulator arranged at the rear end of the discharge channel, a detection device arranged at the entrance of the discharge channel, a wire loading mechanism comprising a wire loading position, a lifting cylinder and a wire folding cylinder, the lifting cylinder is connected to a wire loading seat, and can lift the wire loading seat upward, the wire loading position is arranged at the upper end of the wire loading seat, and the upper surface of the wire loading position is flush with the feed channel, the wire folding cylinder is arranged at the front end of the wire loading seat, and the telescopic rod of the wire folding cylinder is connected to a bending plate, one end of the bending plate is a first inclined plate inclined from bottom to top and backward, the other end of the bending plate is a second inclined plate inclined from bottom to top and forward, the top of the second inclined plate is provided with a limiting groove corresponding to the enameled wire, the telescopic rod of the folding cylinder is connected to the first inclined plate, and The first inclined plate can be driven forward and backward to drive the second inclined plate to flip forward and backward. The vibrating plate is connected to the wire loading position through the conveying channel. The material moving manipulator is arranged on the left side of the feeding channel, and is used to move the skeleton on the conveying channel to the wire loading position. The wire feeding mechanism includes a material tray, a flattening roller group and a pull-down device from top to bottom. There are two material trays, and the two material trays are respectively arranged on the left and right sides of the top of the first mounting frame. The flattening roller group and the pull-down device are installed below the material tray so that they can move up and down through guide columns. The flattening roller group and the pull-down device are connected to a first up and down driving cylinder for driving the flattening roller group and the pull-down device to move up and down. The pull-down device includes a front clamping block and a rear clamping block arranged in parallel, and an opening and closing cylinder for driving the front clamping block and the rear clamping block to open and close. The cutting mechanism It includes a fixed plate, a slide plate covering the upper end of the fixed plate and a front and rear driving cylinder for driving the slide plate to move forward and backward. The fixed plate is provided with a through slot for inserting a pin interface of the frame. The slide plate is provided with a cutting frame that can be inserted into the through slot. The width of the through slot is greater than the width of the cutting frame, and the cutting frame can pass through the through slot and be inserted into the pin interface of the frame. The embossing adjustment mechanism is arranged above the feed channel through a second mounting frame. The embossing adjustment mechanism includes a pressure head arranged above the feed channel, a second upper and lower driving cylinder for driving the pressure head to move up and down, an adjustment head for adjusting the position of the enameled wire and an adjustment cylinder for driving the adjustment head to move forward and backward. The lower surface of the adjustment head is flush with the upper surface of the feed channel, and the adjustment head is triangular in shape at one end facing the feed channel.

[0007] In the above description, as a preference, the material moving robot is a dual-axis robot that can move up, down, left and right. The material moving robot is provided with a column for inserting into the middle of the frame, and can drive the column to drive the frame to move left and right.

[0008] In the above description, as a preference, the machine base is provided with a first left-right displacement cylinder, the first left-right displacement cylinder is provided with a first left-right displacement slide driven by the cylinder, the first left-right displacement slide is provided with a first mounting seat, the first mounting seat is provided with a first up-and-down displacement cylinder, and the feeding robot can be driven by the first up-and-down displacement cylinder to move up and down in the direction of the feeding channel.

[0009] In the above description, as a preference, a second mounting seat is provided at the entrance of the discharge channel, the second mounting seat plate has two mounting plates arranged side by side and a connecting head movably installed between the two mounting plates, one end of the connecting head is rotatably installed between the two mounting plates through a movable pin, the other end of the connecting head is connected to the discharge channel, the telescopic rod of the flipping cylinder is connected to the movable pin, and the movable pin can drive the connecting head to drive the discharge channel to flip.

[0010] In the above description, as a preference, the machine base is provided with a second left-right displacement cylinder, the second left-right displacement cylinder is provided with a second left-right displacement slide driven by the cylinder, the second left-right displacement slide is provided with a third mounting seat, the third mounting seat is provided with a second up-and-down displacement cylinder, and the discharging robot can be driven by the second up-and-down displacement cylinder to move up and down toward the direction of the feed channel.

[0011] In the above description, as a preference, the flattening roller group is installed on the first mounting frame through a mounting frame, the upper ends of the front clamp block and the rear clamp block are movably mounted on the mounting frame through a movable shaft, and the telescopic rod of the opening and closing cylinder drives the front clamp block and the rear clamp block to open and close by pushing the movable shaft through the inclined block.

[0012] In the above description, as a preference, a wiring channel is provided in the cutting frame, and the enameled wire can pass through the through groove and the wiring channel and be inserted into the pin interface of the skeleton.

[0013] In the above description, preferably, the side walls at the rear sides of the feed channel and the discharge channel are both provided with positioning blocks for fixing the position of the frame, and the positioning blocks are connected with return springs which make the positioning blocks always have a tendency to extend outwards.

[0014] The beneficial effects of the present invention are as follows: by arranging a feeding mechanism, a vibration plate, a material transfer manipulator, a wire loading mechanism, a wire feeding mechanism, a cutting mechanism, an embossing adjustment mechanism, a detection device and a discharging mechanism, the fully automatic pin assembly of the skeleton can be realized, the degree of automation is high, the labor intensity of workers is reduced, the production cost is reduced, and the production efficiency is improved; by arranging a through slot on the fixed plate, a cutting frame that can be inserted into the through slot on the slide plate, and the cutting frame can pass through the through slot and be inserted into the pin interface of the skeleton, the cut pins can be completely received in the pin interface, the operation is convenient, the cutting precision is high, the service life of the pins is improved, and the industrial needs can be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 : It is a schematic diagram of the assembly structure of an embodiment of the present invention;

[0016] Figure 2 : It is a schematic structural diagram of a wire feeding mechanism, a wire loading mechanism and a cutting mechanism according to an embodiment of the present invention;

[0017] Figure 3 : It is a schematic diagram of the structure of the wire feeding mechanism, the wire loading mechanism and the cutting mechanism in the rear view direction according to the embodiment of the present invention;

[0018] Figure 4 : is a schematic diagram of the decomposition structure of the cutting mechanism of an embodiment of the present invention;

[0019] Figure 5 : It is a schematic diagram of the exploded structure of the wire loading mechanism according to an embodiment of the present invention;

[0020] Figure 6 : is a schematic diagram of the structure of the embossing adjustment mechanism according to an embodiment of the present invention;

[0021] Figure 7 : It is a schematic structural diagram of a feeding robot according to an embodiment of the present invention;

[0022] Description of the accompanying drawings: 10-machine base, 11-vibration plate, 12-detection device, 13-material transfer manipulator, 15-conveying channel, 17-first mounting frame, 18-guide column, 20-control panel, 30-feeding mechanism, 31-feeding channel, 32-feeding manipulator, 33-first left and right displacement cylinder, 34-first left and right displacement slide, 35-first mounting seat, 36-first up and down displacement cylinder, 40-wire loading mechanism, 41-wire loading position, 42-lifting cylinder, 43-folding cylinder, 44-wire loading seat, 45-first inclined plate, 451-second inclined plate, 50-wire feeding mechanism, 51-material tray, 52-flattening roller group, 5 3-front clamping block, 54-rear clamping block, 55-opening and closing cylinder, 56-first up and down driving cylinder, 57-mounting frame, 58-movable shaft, 59-oblique block, 60-cutting mechanism, 61-fixed plate, 62-slide plate, 63-front and rear driving cylinder, 64-through groove, 65-cutting frame, 70-embossing adjustment mechanism, 71-second mounting frame, 72-pressing head, 73-second up and down driving cylinder, 74-adjusting head, 75-adjusting cylinder, 81-discharging channel, 83-flipping cylinder, 84-second mounting seat, 841-mounting plate, 85-connecting head, 86-movable pin, 90-skeleton, 91-pin interface, 92-enameled wire. DETAILED DESCRIPTION

[0023] In order to more clearly explain the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0024] This embodiment: Figure 1-7 As shown, the coil skeleton pin automatic assembly machine includes a machine base 10 and a control panel 20 arranged on the machine base 10, and the machine base 10 is provided with a feeding mechanism 30, a vibration plate 11, a material transfer robot 13, a wire loading mechanism 40, a wire feeding mechanism 50, a cutting mechanism 60, an embossing adjustment mechanism 70, a detection device 12 and a discharging mechanism, and the feeding mechanism 30, the vibration plate 11, the material transfer robot 13, the wire loading mechanism 40, the wire feeding mechanism 50, the cutting mechanism 60, the embossing adjustment mechanism 70, the detection device 12 and the discharging mechanism are all connected to the control panel 20;

[0025] The feeding mechanism 30 includes a feeding channel 31 arranged from left to right and a feeding manipulator 32 arranged at the front end of the feeding channel 31. The vibration plate 11, the material moving manipulator 13, the wire loading mechanism 40 and the embossing adjustment mechanism 70 are respectively arranged along the direction of the feeding channel 31. The cutting mechanism 60 and the wire feeding mechanism 50 are both arranged above the wire loading mechanism 40 through the first mounting frame 17. The machine base 10 is provided with a first left-right displacement cylinder 33, and the first left-right displacement cylinder 33 is provided with a first left-right displacement slide 34 driven by the first left-right displacement cylinder 33. The first left-right displacement slide 34 is provided with a first mounting seat 35, and the first mounting seat 35 is provided with a first up-and-down displacement cylinder 36. The feeding manipulator 32 can be driven by the first up-and-down displacement cylinder 36 to move up and down in the direction of the feeding channel 31;

[0026] The discharging mechanism includes a discharging channel 81 arranged from left to right, a turning cylinder 83 for driving the discharging channel 81 to turn over, and a discharging manipulator arranged at the rear end of the discharging channel 81. The detection device 12 is arranged at the entrance of the discharging channel 81. A second mounting seat 84 is arranged at the entrance of the discharging channel 81. The second mounting seat 84 comprises two mounting plates 841 arranged side by side and a connecting head 85 movably installed between the two mounting plates 841. One end of the connecting head 85 is rotatably installed between the two mounting plates through a movable pin 86. The other end of the connector 85 is connected to the discharge channel 81, the telescopic rod of the flip cylinder 83 is connected to the movable pin 86, and the movable pin 86 can drive the connector 85 to drive the discharge channel 81 to flip, the machine base 10 is provided with a second left-right displacement cylinder, the second left-right displacement cylinder is provided with a second left-right displacement slide driven by the cylinder, the second left-right displacement slide is provided with a third mounting seat, the third mounting seat is provided with a second up-and-down displacement cylinder, and the discharging manipulator can be driven by the second up-and-down displacement cylinder to move up and down toward the discharge channel 81;

[0027] The side walls at the rear of the feed channel 31 and the discharge channel 81 are both provided with positioning blocks for fixing the position of the frame 90, and the positioning blocks are connected with return springs that always have a tendency to extend outwards;

[0028] The wire loading mechanism 40 includes a wire loading position 41, a lifting cylinder 42 and a folding line cylinder 43. The lifting cylinder 42 is connected to a wire loading seat 44 and can lift the wire loading seat 44 upward. The wire loading position 41 is arranged at the upper end of the wire loading seat 44, and the upper surface of the wire loading position 41 is flush with the feed channel 31. The folding line cylinder 43 is arranged at the front end of the wire loading seat 44, and the telescopic rod of the folding line cylinder 43 is connected to a bending plate, one end of the bending plate is a first inclined plate 45 inclined from bottom to top and backward, and the other end of the bending plate is a second inclined plate 451 inclined from bottom to top and forward. The top of the second inclined plate 451 is provided with a limiting groove corresponding to the enameled wire 92. The telescopic rod of the folding line cylinder 43 is connected to the first inclined plate 45, and can drive the first inclined plate 45 forward and backward to drive the second inclined plate 451 to flip forward and backward.

[0029] The vibration plate 11 is connected to the wiring position 41 through the conveying channel 15;

[0030] The material moving manipulator 13 is a dual-axis manipulator that can move up and down and left and right. The material moving manipulator 13 is arranged on the left side of the feeding channel 31 and is used to move the skeleton 90 on the conveying channel 15 to the loading position 41. The material moving manipulator 13 is provided with a plug for inserting into the middle of the skeleton 90, and can drive the plug to drive the skeleton 90 to move left and right.

[0031] The wire feeding mechanism 50 includes a material tray 51, a flattening roller group 52 and a pull-down device from top to bottom. There are two material trays 51, which are respectively arranged on the left and right sides of the top of the first mounting frame 17. The flattening roller group 52 and the pull-down device are installed below the material tray 51 so as to be movable up and down through the guide column 18, and the flattening roller group 52 and the pull-down device are connected with a first up and down driving cylinder 56 for driving the flattening roller group 52 and the pull-down device to move up and down. The pull-down device includes a front clamping block 53 and a rear clamping block 54 arranged in parallel and an opening and closing cylinder 55 for driving the front clamping block 53 and the rear clamping block 54 to open and close. The flattening roller group 52 is installed on the first mounting frame 17 through a mounting frame 57. The upper ends of the front clamping block 53 and the rear clamping block 54 are movably installed on the mounting frame 57 through a movable shaft 58. The telescopic rod of the opening and closing cylinder 55 drives the front clamping block 53 and the rear clamping block 54 to open and close by toggling the movable shaft 58 through the inclined block 59;

[0032] The cutting mechanism 60 includes a fixed plate 61, a slide plate 62 covering the upper end of the fixed plate 61, and a front and rear driving cylinder 63 for driving the slide plate 62 to move forward and backward. The fixed plate 61 is provided with a through slot 64 for inserting the pin interface 91 of the frame 90. The slide plate 62 is provided with a cutting frame 65 that can be inserted into the through slot 64. The width of the through slot 64 is greater than the width of the cutting frame 65, and the cutting frame 65 can pass through the through slot 64 and be inserted into the pin interface 91 of the frame 90. A wiring channel is provided in the cutting frame 65, and the enameled wire 92 can pass through the through slot 64 and the wiring channel and be inserted into the pin interface 91 of the frame 90.

[0033] The embossing adjustment mechanism 70 is arranged above the feed channel 31 through a second mounting frame 71. The embossing adjustment mechanism 70 includes a pressure head 72 arranged above the feed channel 31, a second up and down driving cylinder 73 for driving the pressure head 72 to move up and down, an adjustment head 74 for adjusting the position of the enameled wire 92, and an adjustment cylinder 75 for driving the adjustment head 74 to move forward and backward. The lower surface of the adjustment head 74 is flush with the upper surface of the feed channel 31, and the adjustment head 74 is triangular in shape at one end facing the feed channel 31.

[0034] The working principle of the present invention is that when in use, the skeleton 90 is moved outward by the vibration plate 11, the material moving manipulator 13 moves the skeleton 90 to the wire loading position 41, the lifting cylinder 42 lifts the wire loading seat 44 upward, and the pin interface 91 of the skeleton 90 is inserted upward from the bottom of the through groove 64, so that the cutting frame 65 is inserted into the pin interface 91, and the enameled wire 92 moves downward from the material plate 51, first passes through the wire pressing roller group, and the wire pressing roller group flattens the bent enameled wire 92, and then the opening and closing cylinder 55 drives the front clamping block 53 and the rear clamping block 54 to clamp the enameled wire 92, and then the first up and down driving cylinder 56 drives the front clamping block 53 and the rear clamping block 54 to drive the enameled wire 92 to move downward, and the enameled wire 92 passes through the wiring groove of the cutting frame 65 and the through groove 64 of the fixing plate 61 and is inserted into the pin interface 91, and the front and rear driving cylinders 63 drive the slide plate 62 to drive the cutting frame 6 5 moves backward to cut off the enameled wire 92, the folding cylinder 43 drives the first inclined plate 45 to drive the second inclined plate 451 to flip forward and backward to bend the lower end of the pin, the lifting cylinder 42 drives the wire loading seat 44 to move downward, the feeding robot 32 drives the skeleton 90 to move along the feeding channel 31 and move to the embossing adjustment mechanism 70, the second up and down driving cylinder 73 drives the pressure head 72 to move downward to emboss the pins of the skeleton 90, after the embossing is completed, the adjustment cylinder 75 drives the adjustment head 74 to move forward to open the pins of the skeleton 90 to the left and right sides to adjust the angle, and the skeleton 90 with the adjusted angle moves to the direction of the discharge channel 81 and passes through the detection device 12. When the detection device 12 detects defective products, an alarm is issued, and the staff will recycle them. Other good products are discharged along the discharge channel 81 by the discharge robot.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made to the above embodiment based on the technical practice of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A coil frame pin automatic assembly machine, comprising a machine base and a control panel arranged on the machine base, characterized in that: The machine base is provided with a feeding mechanism, a vibration plate, a material transfer manipulator, a wire loading mechanism, a wire feeding mechanism, a cutting mechanism, an embossing adjustment mechanism, a detection device and a discharging mechanism. The feeding mechanism, the vibration plate, the material transfer manipulator, the wire loading mechanism, the wire feeding mechanism, the cutting mechanism, the embossing adjustment mechanism, the detection device and the discharging mechanism are all connected with the control panel. The feeding mechanism comprises a feeding channel arranged from left to right and a feeding manipulator arranged at the front end of the feeding channel. The vibration plate, the material transfer manipulator, the wire loading mechanism and the embossing adjustment mechanism are respectively arranged along the direction of the feeding channel. The cutting mechanism and the wire feeding mechanism are both arranged above the wire loading mechanism through a first mounting frame. The discharging mechanism comprises a discharging channel arranged from left to right, a feeding manipulator for driving the discharging channel to turn over The turning cylinder is arranged at a rotating position and a discharging manipulator is arranged at the rear end of the discharging channel. The detection device is arranged at the entrance of the discharging channel. The wire loading mechanism comprises a wire loading position, a lifting cylinder and a wire folding cylinder. The lifting cylinder is connected with a wire loading seat and can lift the wire loading seat upward. The wire loading position is arranged at the upper end of the wire loading seat, and the upper surface of the wire loading position is flush with the feeding channel. The wire folding cylinder is arranged at the front end of the wire loading seat, and the telescopic rod of the wire folding cylinder is connected with a bending plate, one end of the bending plate is a first inclined plate inclined backward from bottom to top, and the other end of the bending plate is a second inclined plate inclined forward from bottom to top, and a limiting groove corresponding to the enameled wire is arranged on the top of the second inclined plate. The telescopic rod of the wire folding cylinder is connected with the first inclined plate, and can drive the first inclined plate to drive the second inclined plate forward and backward. The inclined plate flips forward and backward, the vibrating plate is connected to the wire loading position through the conveying channel, the material moving manipulator is arranged on the left side of the feeding channel, and is used to move the skeleton on the conveying channel to the wire loading position. The wire feeding mechanism includes a material tray, a flattening roller group and a pull-down device from top to bottom. There are two material trays, and the two material trays are respectively arranged on the left and right sides of the top of the first mounting frame. The flattening roller group and the pull-down device are installed below the material tray so that they can move up and down through guide columns, and the flattening roller group and the pull-down device are connected to a first up and down driving cylinder for driving the flattening roller group and the pull-down device to move up and down. The pull-down device includes a front clamping block and a rear clamping block arranged in parallel, and an opening and closing cylinder for driving the front clamping block and the rear clamping block to open and close. The cutting mechanism includes a fixed plate, a cover A slide plate is mounted on the upper end of a fixed plate and a front and rear driving cylinder for driving the slide plate to move forward and backward. The fixed plate is provided with a through slot for inserting a pin interface of the skeleton. The slide plate is provided with a cutting frame that can be inserted into the through slot. The width of the through slot is greater than the width of the cutting frame, and the cutting frame can pass through the through slot and be inserted into the pin interface of the skeleton. The embossing adjustment mechanism is arranged above the feed channel through a second mounting frame. The embossing adjustment mechanism includes a pressure head arranged above the feed channel, a second upper and lower driving cylinder for driving the pressure head to move up and down, an adjustment head for adjusting the position of the enameled wire, and an adjustment cylinder for driving the adjustment head to move forward and backward. The lower surface of the adjustment head is flush with the upper surface of the feed channel, and the adjustment head is triangular in shape at one end facing the feed channel.

2. The coil frame pin automatic assembly machine according to claim 1, characterized in that: The material moving robot is a double-axis robot that can move up, down, left, and right. The material moving robot is provided with a plug-in column for inserting into the middle of the frame, and can drive the plug-in column to drive the frame to move left and right.

3. The coil frame pin automatic assembly machine according to claim 1, characterized in that: The machine base is provided with a first left-right displacement cylinder, the first left-right displacement cylinder is provided with a first left-right displacement slide driven by the cylinder, the first left-right displacement slide is provided with a first mounting seat, the first mounting seat is provided with a first up-and-down displacement cylinder, and the feeding robot can be driven by the first up-and-down displacement cylinder to move up and down in the direction of the feeding channel.

4. The coil frame pin automatic assembly machine according to claim 1, characterized in that: A second mounting seat is provided at the entrance of the discharge channel, the second mounting seat plate comprises two mounting plates arranged side by side and a connecting head movably installed between the two mounting plates, one end of the connecting head is rotatably installed between the two mounting plates through a movable pin, the other end of the connecting head is connected to the discharge channel, the telescopic rod of the flipping cylinder is connected to the movable pin, and the movable pin can drive the connecting head to drive the discharge channel to flip.

5. The coil frame pin automatic assembly machine according to claim 1, characterized in that: The machine base is provided with a second left-right displacement cylinder, the second left-right displacement cylinder is provided with a second left-right displacement slide driven by the cylinder, the second left-right displacement slide is provided with a third mounting seat, the third mounting seat is provided with a second up-and-down displacement cylinder, and the discharging robot can be driven by the second up-and-down displacement cylinder to move up and down in the direction of the feed channel.

6. The coil frame pin automatic assembly machine according to claim 1, characterized in that: The flattening roller group is installed on the first mounting frame through the mounting frame, and the upper ends of the front clamping block and the rear clamping block are movably mounted on the mounting frame through a movable shaft, and the telescopic rod of the opening and closing cylinder drives the front clamping block and the rear clamping block to open and close by moving the movable shaft through the inclined block.

7. The coil frame pin automatic assembly machine according to claim 1, characterized in that: A wiring channel is arranged in the cutting frame, and the enameled wire can pass through the through groove and the wiring channel and be inserted into the pin interface of the frame.

8. The coil frame pin automatic assembly machine according to claim 1, characterized in that: Positioning blocks for fixing the position of the frame are arranged in the side walls at the rear sides of the feed channel and the discharge channel, and the positioning blocks are connected with return springs which make the positioning blocks always have a tendency to extend outwards.

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