A plug-in device for connecting an iron core and a frame

Abstract

The present invention belongs to the technical field of processing equipment for electronic products, and discloses a plug-in device for connecting an iron core and a skeleton, the device comprising an iron core feeding mechanism for supplying an iron core, a skeleton feeding mechanism for supplying a skeleton, a transfer device, an iron core positioning mechanism and a plug-in mechanism, the iron core positioning mechanism comprising an iron core support plate and an iron core positioning assembly, the iron core support plate having a first end and a second end that are connected, the transfer device can transfer the iron core supplied by the iron core feeding mechanism to the first end, the iron core positioning assembly can transfer the iron core at the first end to the second end, the plug-in mechanism can insert the skeleton supplied by the skeleton feeding mechanism, and assemble the skeleton onto the iron core at the second end, thereby completing the assembly of the iron core and the skeleton, and eliminating the manual assembly process in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of electronic product processing equipment, and in particular to a plug-in device for connecting an iron core and a frame. Background Art

[0002] The motor stator usually includes an iron core and two frames respectively assembled on the iron core, wherein the cross-section of the iron core is roughly T-shaped, and an assembly groove matching the shape of the iron core is opened on the frame. The iron core and the frame can be assembled by inserting the iron core into the assembly groove.

[0003] In the prior art, the assembly of the core and the frame is usually achieved manually, which has low efficiency. In addition, in actual production, the assembly volume of the core and the frame is very large, resulting in a large amount of labor input, which is not conducive to improving production efficiency and reducing production costs.

[0004] Therefore, it is urgent to propose a plug-in device for the iron core and the frame to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a plug-in device for an iron core and a frame, which can save the manual assembly process, thereby having the effect of improving production efficiency and reducing production costs.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A plug-in device for connecting an iron core and a frame, comprising a frame, on which are provided:

[0008] An iron core feeding mechanism, the iron core feeding mechanism is used for supplying iron cores;

[0009] Transfer device;

[0010] The core positioning mechanism includes a core support plate and a core positioning assembly. The core support plate has a first end and a second end that are connected. The transfer device can transfer the core supplied by the core feeding mechanism to the first end. The core positioning assembly can transfer the core at the first end to the second end.

[0011] A skeleton feeding mechanism, the skeleton feeding mechanism is used for feeding skeletons;

[0012] The plug-in mechanism can insert the skeleton supplied by the skeleton feeding mechanism and assemble the skeleton onto the iron core at the second end.

[0013] Optionally, the plug-in mechanism includes a connector, which is provided with a plug-in slot, which is a through slot. The width of the plug-in slot is equal to the width of the frame, so that the frame can be plugged into the plug-in slot. Two opposite side walls of the frame are provided with flanges, which can be erected on the edge of the plug-in slot.

[0014] Optionally, the skeleton is provided with an assembly groove, the notch of the assembly groove and the notch of the plug-in groove are oriented in the same direction, and the plug-in mechanism also includes a plug-in drive component, which can drive the plug-in component and the skeleton inserted in the plug-in groove to move toward the iron core at the second end so that the iron core can be inserted into the assembly groove.

[0015] Optionally, the assembly groove is a through groove, and when the skeleton is inserted into the plug-in groove, the assembly groove and the plug-in groove are connected along the axial direction of the assembly groove, and the plug-in mechanism also includes an expansion component, the expansion component includes a guide rod and a guide rod driving device, and the guide rod is a conical structure at one end facing the plug-in groove. The guide rod driving device can drive the guide rod to move along the axial direction of the assembly groove so that the conical structure is inserted into and exited from the assembly groove. In the groove depth direction of the assembly groove, the distance between the end of the conical structure and the groove bottom of the assembly groove is greater than the distance between the groove mouth of the assembly groove and the iron core at the second end.

[0016] Optionally, a limit groove is provided at the second end, and the width of the limit groove is equal to the width of the iron core. The iron core positioning assembly includes a limit member and a limit member driving device. The limit member driving device is driven and connected to the limit member so that the limit member can be retracted in the limit groove. When one end of the iron core is inserted into the assembly groove, the limit member can extend out of the limit groove and can abut against the other end of the iron core.

[0017] Optionally, the plug-in mechanism further includes a first skeleton support, the first skeleton support is provided with a first accommodating groove, two opposite side walls of the first accommodating groove are provided with first through holes, and the two first through holes are both connected to the limiting groove.

[0018] Optionally, the core positioning assembly also includes a first toggle member and a second toggle member. The first toggle member is arranged at the first end and is slidably connected to the surface of the core support plate. The second toggle member is movably connected to the core support plate. The core at the first end can be aligned with the limiting groove under the toggle of the first toggle member and then enter the limiting groove under the toggle of the second toggle member.

[0019] Optionally, the skeleton feeding mechanism includes a skeleton feeding device, a pre-positioning drive assembly and a third toggle member, the discharge port of the skeleton feeding device is provided with a second skeleton support, the second skeleton support is provided with a second accommodating groove, the second accommodating groove is used to hold the skeleton supplied by the skeleton feeding device, the side wall of the second accommodating groove is provided with a second through hole, the pre-positioning drive assembly can drive the third toggle member to toggle the skeleton placed in the second accommodating groove to align with the second through hole, and the plug-in drive assembly can drive the plug-in member to insert the skeleton through the second through hole.

[0020] Optionally, the iron core loading mechanism includes a material tray, a conveying assembly and a lifting assembly. The material tray is used to hold the iron cores, the conveying assembly is used to convey the material tray, and the lifting assembly can drive the material tray to rise and fall.

[0021] Optionally, the transfer device is a multi-axis robot, and a terminal rotating shaft of the multi-axis robot is provided with a magnet to absorb the iron cores supplied by the iron core feeding mechanism.

[0022] Beneficial effects:

[0023] The core and skeleton plug-in device provided by the present invention comprises a frame, on which are provided a core feeding mechanism, a transfer device, a core positioning mechanism, a skeleton feeding mechanism and a plug-in mechanism. The core feeding mechanism is used to supply the core, the skeleton feeding mechanism is used to supply the skeleton, the core positioning mechanism comprises a core support plate and a core positioning assembly, the core support plate has a first end and a second end connected to each other, the transfer device can transfer the core supplied by the core feeding mechanism to the first end, the core positioning assembly can transfer the core at the first end to the second end, the plug-in mechanism can insert the skeleton supplied by the skeleton feeding mechanism and assemble the skeleton to the core at the second end, thereby completing the assembly of the core and the skeleton, eliminating the manual assembly process in the prior art, thereby effectively improving the production efficiency, and reducing the amount of labor input, with the effect of shortening the production cycle and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The structure of the plug-in device of the core and the frame provided in this embodiment is schematically shown. Figure 1 ;

[0025] Figure 2 is a schematic diagram of the structure of the transfer device provided in this embodiment;

[0026] Figure 3 is a structural schematic diagram of the iron core feeding mechanism provided in this embodiment;

[0027] Figure 4 is a structural schematic diagram of the plug-in mechanism and the core positioning mechanism provided in this embodiment;

[0028] Figure 5 yes Figure 4 A partial enlarged view of the middle part;

[0029] Figure 6 It is a structural schematic diagram of the plug-in mechanism, the core positioning mechanism and the skeleton feeding mechanism provided in this embodiment;

[0030] Figure 7 yes Figure 6 A partial enlarged view of point B in the middle;

[0031] Figure 8 The structure of the plug-in device of the core and the frame provided in this embodiment is schematically shown. Figure 2 ;

[0032] Fig. 9 yes Figure 8 A partial enlarged view of point C in the middle;

[0033] Fig.10 The structure of the plug-in device of the core and the frame provided in this embodiment is schematically shown. Figure 3 ;

[0034] Fig.11 yes Fig.10 A partial enlarged view of point D in the middle.

[0035] In the figure:

[0036] 10. iron core; 20. skeleton; 21. assembly slot; 100. frame; 200. iron core feeding mechanism; 210. material tray; 211. placement slot; 220. transmission assembly; 221. support frame; 222. transmission roller; 231. lifting drive device; 240. support plate; 251. stopper; 252. first stopper drive device; 253. second stopper drive device; 260. limiting column; 300. multi-axis robot; 310. magnet; 400. iron core positioning mechanism; 410. iron core support plate; 411. first end; 412. second end; 4121. limiting slot; 420. iron core positioning assembly; 421. limiting member; 423. first toggle member; 424. second toggle member; 425. first drive device; 426. second drive device; 427. connecting member; 500 , skeleton feeding mechanism; 510, skeleton feeding device; 520, pre-positioning drive assembly; 521, fourth drive device; 522, fifth drive device; 523, slide plate; 524, slide block; 530, third toggle member; 540, second skeleton support; 541, second accommodating groove; 5411, second through hole; 600, plug-in mechanism; 610, plug-in component; 611, plug-in groove; 620, plug-in drive assembly; 621, first plug-in drive device; 622, second plug-in drive device; 623, third plug-in drive device; 630, first skeleton support; 631, first accommodating groove; 6311, first through hole; 6312, avoidance hole; 640, plug-in component fixing plate; 650, expansion assembly; 651, guide rod; 632, guide rod drive device; 700, unloading mechanism. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0041] This embodiment provides a plug-in device for an iron core and a frame, which can save the manual assembly process, thereby having the effect of improving production efficiency and reducing production costs.

[0042] Specifically, Figure 1 As shown, the core and skeleton plug-in device includes a frame 100, on which are provided a core feeding mechanism 200, a transfer device, a core positioning mechanism 400, a skeleton feeding mechanism 500 and a plug-in mechanism 600, wherein the core feeding mechanism 200 is used to supply the core 10, the skeleton feeding mechanism 500 is used to supply the skeleton 20, the core positioning mechanism 400 includes a core support plate 410 and a core positioning assembly 420, the core support plate 410 has a first end and a second end connected to each other, the transfer device can transfer the core 10 supplied by the core feeding mechanism 200 to the first end, the core positioning assembly 420 can transfer the core 10 at the first end to the second end, and the plug-in mechanism 600 can insert the skeleton 20 supplied by the skeleton feeding mechanism 500, and assemble the skeleton 20 to the core 10 at the second end.

[0043] The core and frame plug-in device provided in this embodiment realizes the automatic assembly of the core 10 and the frame 20 through the cooperation of the core feeding mechanism 200, the transfer device, the core positioning mechanism 400, the frame feeding mechanism 500 and the plug-in mechanism 600. Compared with the prior art, the manual assembly process is eliminated, thereby effectively improving the production efficiency and reducing the labor input. It has the effect of shortening the production cycle and reducing the production cost, and is more adaptable to the production needs of a larger assembly volume of the core and the frame in actual production.

[0044] Alternatively, if Figure 1As shown, the core and skeleton plug-in device provided in this embodiment also includes a feeding mechanism 700, a skeleton feeding mechanism 500, a core positioning mechanism 400 and a plug-in mechanism 600 are arranged in a group, and the skeleton feeding mechanism 500, the core positioning mechanism 400 and the plug-in mechanism 600 respectively have two groups, and the skeleton feeding mechanism 500 in the two groups is referred to as the first skeleton feeding mechanism and the second skeleton feeding mechanism, the core positioning mechanism 400 in the two groups is referred to as the first core positioning mechanism and the second core positioning mechanism, and the plug-in mechanism 600 in the two groups is referred to as the first plug-in mechanism and the second plug-in mechanism. In actual production, since two skeletons 20 are often assembled on the same core 10, two groups of skeleton feeding mechanisms 500, core positioning mechanisms 400 and plug-in mechanisms 600 are respectively arranged in this embodiment for assembling one core 10 with two skeletons 20. The first skeleton loading mechanism and the second skeleton loading mechanism are used to supply the first skeleton and the second skeleton respectively. The transfer device transfers the core 10 supplied by the core loading mechanism 200 to the first core positioning mechanism. The first plug-in mechanism inserts the first skeleton supplied by the first skeleton loading mechanism, and assembles the first skeleton with the core 10 on the first core positioning mechanism to form a semi-finished product. Then the transfer device transfers the semi-finished product from the first core positioning mechanism to the second core positioning mechanism. The second plug-in mechanism inserts the second skeleton supplied by the second skeleton loader, and assembles the second skeleton with the semi-finished product to form a finished product. Then the transfer device transfers the finished product to the unloading mechanism 700, and the unloading mechanism 700 transfers the finished product to the outside of the frame 100, thereby meeting the production requirements of assembling two skeletons 20 on the same core 10, and the transfer device realizes the transfer of semi-finished products between the first core positioning mechanism and the second core positioning mechanism, as well as the transfer of finished products between the second core positioning mechanism and the unloading mechanism 700. It should be noted that in the technical solution provided in this embodiment, the structure and working principle of the first skeleton feeding mechanism and the second skeleton feeding mechanism are the same. Therefore, in the following text, only one of the first skeleton feeding mechanism and the second skeleton feeding mechanism is specifically described; the structure and working principle of the first plug-in mechanism and the second plug-in mechanism are the same. Therefore, in the following text, only one of the first plug-in mechanism and the second plug-in mechanism is specifically described; the structure and working principle of the first core positioning mechanism and the second core positioning mechanism are the same. Therefore, in the following text, only one of the first core positioning mechanism and the second core positioning mechanism is specifically described.

[0045] Alternatively, if Figure 2As shown, the transfer device is a multi-axis robot 300, and the end rotating shaft of the multi-axis robot 300 is provided with a magnet 310 to absorb the iron core 10 supplied by the iron core feeding mechanism 200, the semi-finished product on the first iron core positioning mechanism, and the finished product on the second iron core positioning mechanism. The multi-axis robot 300 has the characteristics of small installation size, small activity space, high control accuracy, etc., and is used for the transfer of iron cores 10, semi-finished products and finished products. It can effectively reduce the installation space of the transfer device and has high operating accuracy. In this embodiment, the end rotating shaft of the multi-axis robot 300 is provided with two magnets 310, and the size of each magnet 310 is configured to be able to absorb three iron cores 10, so that the multi-axis robot 300 can absorb multiple iron cores 10 (or semi-finished products or finished products) at a time to improve the assembly efficiency. In this embodiment, the multi-axis robot 300 adopts the Huichuan brand multi-axis robot 300, and its specific structure and working control principle are relatively mature existing technologies in this field, which will not be repeated here. It should be noted that in other embodiments, other structures such as clamps can be set on the end rotating shaft of the multi-axis robot 300 to achieve the picking, placement and transfer of the iron core 10 (or semi-finished product or finished product), or the transfer device can also be other devices with picking, placement and transfer functions, for example, a combination of multiple reciprocating cylinders, rotary cylinders and clamps, which are not listed one by one here.

[0046] Alternatively, if Figure 3 As shown, the iron core feeding mechanism 200 provided in this embodiment includes a material tray 210, a conveying assembly 220 and a lifting assembly. The material tray 210 is used to hold the iron core 10, the conveying assembly 220 is used to convey the material tray 210, and the lifting assembly can drive the material tray 210 to rise and fall. Specifically, in this embodiment, a plurality of placement slots 211 for holding the iron core 10 are provided on the material tray 210. The conveying assembly 220 includes a support frame 221 and a plurality of conveying rollers 222 rotatably arranged on the support frame 221. The rotating shafts of the plurality of conveying rollers 222 are all on the same horizontal plane and parallel to each other. The material tray 210 on the conveying roller 222 can be manually pushed and pulled to realize the conveyance of the material tray 210 by utilizing the rotation of the conveying roller 222, thereby eliminating the need for a power device for driving the material tray 210 to be conveyed. Of course, in other embodiments, the conveying assembly 220 can also be other devices such as a conveyor belt, as long as it can realize the conveyance of the material tray 210, and they are not listed one by one here.

[0047] Furthermore, if Figure 3 As shown, the core loading mechanism 200 further includes a support plate 240, which is placed on the conveying roller 222, and the material tray 210 is placed on the support plate 240, which can improve the stability of the conveying material tray 210. Figure 3As shown, the support plate 240 is roughly rectangular in structure, and limiting posts 260 are provided at the four top corners of the support plate 240. The material tray 210 is placed in the material tray 210 groove surrounded by the four limiting posts 260, which plays a role in limiting the material tray 210 and preventing the stacked material trays 210 from tilting and falling due to inertia during the conveying process of the material tray 210. In this embodiment, one support plate 240 can roughly carry fifteen material trays 210. In other embodiments, the carrying capacity of the support plate 240 can be determined according to actual production needs and other parameters such as the weight of the material tray 210, the weight of the iron core 10, and the number of iron cores 10 loaded on the material tray 210. Optionally, as Figure 3 As shown, the lifting assembly includes a lifting drive device 231 and a fork (not shown in the figure), the lifting drive device 231 is installed on the frame 100, and the driving end of the lifting drive device 231 is connected to the fork. Under the drive of the lifting drive device 231, the fork can lift and put down the pallet 240 and the material tray 210 on the pallet 240. It should be noted that in this embodiment, the lifting drive device 231 is a ball screw, which has the characteristics of high transmission accuracy, high transmission efficiency, low transmission resistance, etc. Of course, in other implementation schemes, the lifting drive device 231 can also be other linear drive devices such as reciprocating cylinders, which are not listed here one by one. Optionally, the core loading mechanism 200 further includes a tray limiting assembly (not shown in the figure), the tray limiting assembly includes a tray limiting plate and a tray limiting plate driving device, the tray limiting plate driving device is driven and connected to the tray limiting plate, so that the tray limiting plate is retracted on the frame 100, when the fork lifts the tray 210 to the material picking position of the transfer device, the tray limiting plate extends out of the frame 100 to hold the tray 210 to prevent the tray 210 from falling from the fork, when the transfer device finishes picking up the material, the tray limiting plate retracts to avoid the fork from descending. Preferably, as Figure 3 As shown, the support plate 240 is provided with a clearance hole, the position of which matches the position of the fork, so that the fork can easily insert the material tray 210 that fits the support plate 240. Figure 3As shown, the core feeding mechanism 200 also includes a block 251, a first block driving device 252 and a second block driving device 253. The driving end of the first block driving device 252 is connected to the block 251, the fixed end of the first block driving device 252 is connected to the fixed end of the second block driving device 253, the driving end of the second block driving device 253 is connected to the support frame 221, the driving direction of the first block driving device 252 is parallel to the direction in which the conveying roller 222 conveys the material tray 210, the driving direction of the second block driving device 253 is parallel to the rotating shaft direction of the conveying roller 222, and the block 251 has the same height as the support plate 240, thereby enabling the block 251 to limit the support plate 240, preventing the support plate 240 waiting for conveyance from sliding on the conveying roller 222, thereby improving the controllability of the core feeding mechanism 200. In the technical solution provided in this embodiment, the structure and working principle of the unloading mechanism 700 are the same as those of the iron core loading mechanism 200, which will not be repeated here.

[0048] Alternatively, if Figure 4 and Figure 5 As shown, the plug-in mechanism 600 includes a connector 610, and the connector 610 is provided with a plug-in slot 611. The plug-in slot 611 is a through slot. The width of the plug-in slot 611 is equal to the width of the skeleton 20, so that the skeleton 20 can be inserted into the plug-in slot 611. The two opposite side walls of the skeleton 20 are provided with flanges, and the flanges can be erected on the edges of the plug-in slot 611, so that the connector 610 can insert the skeleton 20 from the skeleton feeding mechanism 500, and assemble the inserted skeleton 20 with the iron core 10 located at the second end 412. The overall structure of the connector 610 of this structure is relatively simple, and the skeleton 20 can be picked up by plugging, without setting a clamping device and a driving source for the clamping device. Not only does it make the overall structure of the plug-in mechanism 600 relatively simple, but it also has the effect of reducing energy consumption.

[0049] Furthermore, if Figure 4 and Figure 5 As shown, the skeleton 20 is provided with an assembly groove 21, and the notch of the assembly groove 21 is oriented in the same direction as the notch of the plug-in groove 611. The plug-in mechanism 600 also includes a plug-in drive component 620. The plug-in drive component 620 can drive the connector 610 and the skeleton 20 inserted in the plug-in groove 611 to move toward the core 10 at the second end 412, so that the core 10 can be inserted into the assembly groove 21, thereby realizing the assembly of the skeleton 20 and the core 10.

[0050] Furthermore, if Figure 4 and Figure 5As shown, the plug mechanism 600 also includes a plug fixing plate 640, the plug 610 is arranged on the plug fixing plate 640, the plug drive assembly 620 includes a first plug drive device 621, a second plug drive device 622 and a third plug drive device 623, the driving end of the first plug drive device 621 is connected to the plug fixing plate 640, the fixed end of the first plug drive device 621 is connected to the driving end of the second plug drive device 622, the fixed end of the second plug drive device 622 is connected to the driving end of the third plug drive device 623, and the fixed end of the third plug drive device 623 is installed on On the frame 100, the driving directions of the first plug-in drive device 621 and the second plug-in drive device 622 are the same, and the driving directions of the second plug-in drive device 622 and the third plug-in drive device 623 are on the same horizontal plane and perpendicular to each other, thereby adjusting the position of the connector 610 in the horizontal direction through the third plug-in drive device 623, and adjusting the position of the connector 610 in the front-to-back direction through the first plug-in drive device 621 and the second plug-in drive device 622, so that the connector 610 can be plugged in the skeleton 20 supplied by the skeleton feeding mechanism 500, and the plugged in skeleton 20 can be assembled onto the iron core 10. In this embodiment, two front-to-back position drive devices are provided, namely, a first plug-in drive device 621 and a second plug-in drive device 622, so that the adjustment of the front-to-back position of the connector 610 can be performed on the two drive devices respectively. On the one hand, the adjustment accuracy of the front-to-back position of the connector 610 is improved, and on the other hand, the driving stroke of the drive device in the front-to-back direction is shortened, thereby reducing the overall moving space required for the connector mechanism 600 in the front-to-back direction, and finally reducing the space occupied by the connector between the core and the skeleton. On the other hand, when one of the first plug-in drive device 621 and the second plug-in drive device 622 fails, the front-to-back position of the connector 610 can be adjusted by the other one alone, thereby improving the reliability of the connector mechanism 600. It should be noted that the horizontal direction mentioned above refers to Figure 4 The X direction in the figure refers to the front-back direction. Figure 4 It should be noted that the first plug-in drive device 621, the second plug-in drive device 622 and the third plug-in drive device 623 may be a drive device with a reciprocating linear motion drive end such as a reciprocating cylinder or a ball screw.

[0051] Alternatively, if Figures 4 to 7As shown, the second end 412 of the core support plate 410 is provided with a limiting groove 4121, and the width of the limiting groove 4121 is equal to the width of the core 10. The core positioning assembly 420 includes a limiting member 421 and a limiting member driving device (not shown in the figure). The limiting member driving device is driven and connected to the limiting member 421, so that the limiting member 421 can be extended and retracted in the limiting groove 4121. When one end of the core 10 is inserted into the assembly groove 21, the limiting member 421 can extend out of the limiting groove 4121 and can abut against the other end of the core 10. In this way, when the core 10 is assembled with the skeleton 20, the positioning of the core 10 can avoid the problems of skewing, shaking or retreating of the core 10 during the assembly process, thereby effectively improving the assembly effect. It should be noted that the aforementioned retreat direction is Figure 6 and Figure 7 in the Y direction.

[0052] Furthermore, if Figures 4 to 7 As shown, in the present embodiment, a lifting hole (not shown in the figure) is provided at the bottom of the limit groove 4121, and the limit member driving device can drive the limit member 421 to protrude from the bottom of the lifting hole, so that the limit member 421 can abut against the iron core 10 being assembled, and when the iron core 10 and the skeleton 20 are assembled, the limit member driving device drives the limit member 421 to fall from the lifting hole to make way for the next iron core 10 that moves from the first end 411 to the second end 412. Of course, in other embodiments, the lifting hole can also be omitted, and the limit member driving device drives the limit member 421 to fall from the top of the limit groove 4121, so that the limit member 421 can abut against the iron core 10 being assembled, and when the iron core 10 and the skeleton 20 are assembled, the limit member driving device drives the limit member 421 to rise upward to make way for the next iron core 10 that moves from the first end 411 to the second end 412. It should be noted that the above-mentioned up and down directions are Figure 6 and Figure 7 It should be noted that the above-mentioned limiter driving device can be a driving device with a reciprocating linear motion driving end such as a reciprocating cylinder or a ball screw.

[0053] Furthermore, if Figures 4 to 7As shown, the core positioning assembly 420 also includes a first toggle member 423, a second toggle member 424, a first driving device 425, a second driving device 426 and a third driving device (not shown in the figure), the first toggle member 423 is arranged at the first end 411, and is slidably connected to the surface of the core support plate 410, and the second toggle member 424 is movably connected to the core support plate 410. Specifically, the fixed end of the first driving device 425 is installed on the frame 100, and the driving end of the first driving device 425 is connected to the first toggle member 423, so that the first toggle member 423 can slide along the X direction on the surface of the core support plate 410 to place the The iron core 10 is moved to a position aligned with the limiting groove 4121 (i.e., the axis of the iron core 10 at the first end 411 coincides with the axis of the limiting groove 4121), the fixed end of the second drive device 426 is installed on the frame 100, the driving end of the second drive device 426 is connected to the fixed end of the third drive device, and the driving end of the third drive device is connected to the second toggle member 424, so that the second toggle member 424 can move in the Y direction and the Z direction respectively, so as to move the iron core 10 located at the first end 411 and aligned with the limiting groove 4121 into the limiting groove 4121, thereby realizing the iron core 10 from the first end 411 to the limiting groove 4121 of the second end 412. It should be noted that the above-mentioned first drive device 425, the second drive device 426 and the third drive device can be a drive device with a reciprocating linear motion driving end such as a reciprocating cylinder and a ball screw.

[0054] Preferably, considering that the technical solution of this embodiment includes two core positioning mechanisms 400, Figures 4 to 7 As shown, the technical solution of this embodiment also includes a connecting member 427. One of the first toggle members 423 in the two core positioning mechanisms 400 is connected to one end of the connecting member 427, and the first toggle member 423 in the other core positioning mechanism 400 is connected to the other end of the connecting member 427. Therefore, only one first driving device 425 is used to simultaneously drive the two first toggle members 423, which effectively reduces the number of installed driving devices, thereby reducing the overall volume of the core positioning mechanism 400 and the driving energy consumption.

[0055] Alternatively, if Figures 4 to 7As shown, the plug-in mechanism 600 further includes a first skeleton support 630, the first skeleton support 630 is provided with a first accommodating groove 631, and the two opposite side walls of the first accommodating groove 631 are provided with first through holes 6311, and the two first through holes 6311 are both connected with the limiting groove 4121. When the plug-in component 610 drives the skeleton 20 to move toward the iron core 10 in the limiting groove 4121, and when the iron core 10 is inserted into the assembly groove 21, the two first through holes 6311 can limit the plug-in component 610, avoiding the problem of shaking of the plug-in component 610 in the X direction, so that the plug-in component 610 can always move toward the iron core 10 in the Y direction, and then the iron core 10 can be accurately inserted into the assembly groove 21, thereby improving the assembly accuracy and assembly efficiency of the iron core 10 and the skeleton 20.

[0056] Alternatively, if Figures 4 to 9As shown, the assembly groove 21 is a through groove. When the skeleton 20 is inserted into the plug-in groove 611, along the axial direction of the assembly groove 21, the assembly groove 21 and the plug-in groove 611 are connected. The plug-in mechanism 600 also includes an expansion component 650, and the expansion component 650 includes a guide rod 651 and a guide rod driving device 632. The end of the guide rod 651 facing the plug-in groove 611 is a tapered structure. The guide rod driving device 632 can drive the guide rod 651 to move along the axial direction of the assembly groove 21, so that the tapered structure is inserted into and withdrawn from the assembly groove 21. In the groove depth direction of the assembly groove 21, the end of the tapered structure and the groove bottom of the assembly groove 21 are The spacing is greater than the spacing between the notch of the assembly groove 21 and the iron core 10 at the second end 412. Before the iron core 10 is inserted into the assembly groove 21, the guide rod driving device 632 drives the conical structure of the guide rod 651 to insert into the assembly groove 21, which expands the skeleton 20 close to the bottom of the assembly groove 21, making it easier for the iron core 10 to be smoothly inserted into the assembly groove 21. After a portion of the iron core 10 is inserted into the assembly groove 21, the guide rod driving device 632 drives the conical structure of the guide rod 651 to withdraw from the assembly groove 21, which has a avoiding effect, allowing the remaining part of the iron core 10 to continue to be inserted into the assembly groove 21, thereby completing the assembly of the iron core 10 and the skeleton 20. Here, the assembly of the core 10 and the skeleton 20 can be regarded as two stages. The first stage is the assembly of the core 10 and the skeleton 20 when the conical structure of the guide rod 651 is inserted into the assembly groove 21, and the second stage is the assembly of the core 10 and the skeleton 20 when the conical structure of the guide rod 651 withdraws from the assembly groove 21. As mentioned above, in the technical solution provided in this embodiment, the driving device that drives the connector 610 to move along the Y direction includes a first plug-in driving device 621 and a second plug-in driving device 622. Therefore, one of the first plug-in driving device 621 and the second plug-in driving device 622 can be configured as a driving device that drives the connector 610 to move along the Y direction in the first stage, and the other can be configured as a driving device that drives the connector 610 to move along the Y direction in the second stage, thereby achieving the effect of the two stages of the assembly of the core 10 and the skeleton 20 being driven separately by the two driving devices, leaving sufficient time for the conical structure of the guide rod 651 to withdraw from the assembly groove 21 between the two stages. It should be noted that the guide rod driving device 632 may be a driving device such as a reciprocating cylinder, a ball screw, etc., whose driving end is a reciprocating linear motion driving device.

[0057] Furthermore, if Figures 4 to 9As shown, in the technical solution provided in this embodiment, a first skeleton support 630 is provided with an avoidance hole 6312, and a guide rod 631 is respectively provided above and below the first skeleton support 630, the axes of the two guide rods 631 coincide with the axes of the avoidance hole 6312, and the conical structures on the two guide rods 631 are arranged toward the avoidance hole 6312, the number of the above-mentioned guide rod driving devices 632 is two, and the driving ends of the two guide rod driving devices 632 are respectively driven and connected to the two guide rods 631, before the iron core 10 is inserted into the assembly groove 21, the guide rod 631 located above the first skeleton support 630 moves downward, so that its conical structure is inserted into the assembly groove 21 from top to bottom, and the guide rod 631 located below the first skeleton support 630 moves upward, so that its conical structure passes through the avoidance hole 6312 and is inserted into the assembly groove 21 from bottom to top, thereby making the skeleton 20 close to the bottom of the assembly groove 21 expand more evenly in the up and down directions, further facilitating the smooth insertion of the iron core 10 into the assembly groove 21. In addition, if the two conical structures are inserted into (or withdrawn from) the assembly groove 21 at the same time, the structural setting can also improve the stability of the skeleton 20 in the up and down directions when the conical structure is inserted into and withdrawn from the assembly groove 21, thereby improving the stability of the skeleton 20 inserted into the plug-in groove 611. As a preferred solution, when the conical structure is inserted into the assembly groove 21, and when the iron core 10 is inserted into the assembly groove 21, the lower end surface of the skeleton 20 is in contact with the bottom of the first receiving groove 631, and the first receiving groove 631 plays a certain supporting role for the skeleton 20, improving the stability of the skeleton 20 inserted into the plug-in groove 611, and the stability of the iron core 10 when inserted into the assembly groove 21, thereby improving the assembly effect of the iron core 10 and the skeleton 20. Of course, in other embodiments, only one guide rod 631 can be set above or below the skeleton 20, that is, the conical structure is only inserted into the assembly groove 21 from top to bottom (or from bottom to top), so that the skeleton 20 close to the bottom of the assembly groove 21 can also have an expansion effect, which can be determined according to actual production conditions. It should be noted that the above-mentioned up and down directions are Fig. 9 The Z direction in .

[0058] Alternatively, if Figures 4 to 11As shown, the skeleton feeding mechanism 500 includes a skeleton feeding device 510, a pre-positioning drive assembly 520 and a third toggle member 530. The discharge port of the skeleton feeding device 510 is provided with a second skeleton support 540. The second skeleton support 540 is provided with a second accommodating groove 541. The second accommodating groove 541 is used to contain the skeleton 20 supplied by the skeleton feeding device 510. The side wall of the second accommodating groove 541 is provided with a second through hole 5411. The pre-positioning drive assembly 520 can drive the third toggle member 530 to toggle the skeleton 20 placed in the second accommodating groove 541 to align with the second through hole 5411 (that is, the axis of the skeleton 20 overlaps with the axis of the second through hole 5411). The plug-in drive assembly 620 can drive the connector 610 to pass through the second through hole 5411 to insert the skeleton 20. Before the connector 610 inserts the skeleton 20, the supplied skeleton 20 is pre-positioned to facilitate the connector 610 to directly insert the skeleton 20. Specifically, the skeleton feeding device 510 is a vibration plate with a capacity greater than three thousand pieces, and the vibration plate includes a hopper, a circular vibration plate, a linear vibration plate and a blowing device, wherein the skeleton 20 is conveyed into the hopper by a conveyor belt, and the skeleton 20 entering the hopper is conveyed through the circular vibration plate and the linear vibration plate, and a gate is provided on the conveyor belt to control the amount of skeleton 20 fed into the hopper by the conveyor belt; the discharge port of the linear vibration plate is the discharge port of the vibration plate, and the blowing device is arranged at the discharge port of the linear vibration plate to blow the skeleton 20 at the discharge port into the second receiving groove 541 of the second skeleton support 540. It should be noted that the specific structure and working principle of the vibration plate are relatively mature prior arts in this field, and will not be repeated here. In addition, in other embodiments, the vibration plate can also be of other capacities, depending on actual production needs. In this embodiment, the mounting frame of the vibration plate is disposed inside the frame 100, and the mounting frame of the vibration plate is separated from the frame 100 to reduce the vibration transmitted from the vibration plate to the plug-in mechanism 600 and the core positioning mechanism 400, thereby improving the assembly stability. It is understood that in other embodiments, the skeleton feeding device 510 may also be other feeding devices, such as a conveyor belt or other device having a conveying function.

[0059] Furthermore, if Figures 4 to 11As shown, the pre-positioning drive assembly 520 includes a fourth drive device 521, a fifth drive device 522, a slide plate 523 and a slider 524. The driving end of the fourth drive device 521 is connected to the slide plate 523 to drive the slide plate 523 to move along the Z direction. The slide plate 523 is provided with a slide rail, and the slider 524 is provided with a slide groove. The slide rail and the slide groove are slidably matched. The driving end of the fifth drive device 522 is connected to the slider 524 to drive the slider 524 to move along the X direction. The third toggle member 530 is fixed on the slider 524. Then, under the drive of the fourth drive device 521 and the fifth drive device 522, the third toggle member 530 can realize the movement in the Z direction and the X direction, so that the third toggle member 530 toggles the skeleton 20 in the second accommodating groove 541. It should be noted that the fourth drive device 521 and the fifth drive device 522 can be a drive device with a reciprocating linear motion driving end such as a reciprocating cylinder or a ball screw.

[0060] Furthermore, if Figures 4 to 11 As shown, the side wall of the connector fixing plate 640 is provided with a notch to achieve a avoiding effect, so as to facilitate the movement of the connector fixing plate 640 in the X direction, so that the connector 610 can be inserted into the frame 20 on the second frame support 540 .

[0061] Preferably, Figures 4 to 11As shown, in the technical solution provided by this embodiment, three connectors 610 are fixed on the connector fixing plate 640, and the three connectors 610 are evenly spaced. Correspondingly, three second through holes 5411 are also provided on the second skeleton support 540, and the spacing of the three second through holes 5411 is equal to the spacing of the three connectors 610. Under the drive of the fourth driving device 521 and the fifth driving device 522, the third toggle 530 respectively toggles the three skeletons 20 to the position aligned with the three second through holes 5411, so that the three connectors 610 can be plugged in and out of the three skeletons 20 at one time, which effectively improves the assembly efficiency. Further, the number of the third toggle 530 is also three, and the three third toggle 530 respectively toggle the three skeletons 20, further improving the assembly efficiency. In this embodiment, each two adjacent third toggle 530 are connected by screws to improve the movement consistency of the three third toggle 530, thereby improving the accuracy of the three third toggle 530 toggling the three skeletons 20. Correspondingly, six first through holes 6311 are provided on the first skeleton support 630, and each two first through holes 6311 form a group and are relatively arranged on two opposite side walls of the first accommodating groove 631, and the spacing between two adjacent groups of first through holes 6311 is equal to the spacing between two adjacent plug-in components 610. Correspondingly, the number of the limiting grooves 4121 is three, and each limiting groove 4121 corresponds to a plug-in component 610, so as to realize the assembly of three groups of iron cores 10 and skeletons 20. It can be understood that in other embodiments, the number of plug-in components 610, second through holes 5411, third toggle components 530, first through holes 6311 and limiting grooves 4121 can also be other, and it is required to set corresponding numbers of plug-in components 610, second through holes 5411, third toggle components 530, first through holes 6311 and limiting grooves 4121 according to actual production.

[0062] The working principle of the plug-in device for connecting the core and the frame provided in this embodiment is briefly described below:

[0063] The iron core 10 is placed in the placement groove 211 of the material tray 210, the material tray 210 is stacked on the support plate 240, and then the support plate 240 is pushed, so that the support plate 240 carrying the tray and the iron core 10 moves toward the lifting assembly on the conveying roller 222, and then the fork lifts the material tray 210 to the multi-axis robot 300 to take the material position, and the multi-axis robot 300 absorbs the iron core 10 on the material tray 210 through the magnet 310, and then the multi-axis robot 300 transfers the absorbed iron core 10 to the first end 411 of the iron core support plate 410;

[0064] The first toggle member 423, driven by the first driving device 425, toggles the iron core 10 so that the iron core 10 at the first end 411 is aligned with the limiting groove 4121. The second toggle member 424, driven by the second driving device 426 and the third driving device, toggles the iron core 10 from the first end 411 into the limiting groove 4121. The limiting member driving device drives the limiting member 421 to extend out of the limiting groove 4121.

[0065] The vibration plate supplies the skeleton 20, and the skeleton 20 at the discharge port of the vibration plate is blown into the second receiving groove 541 of the second skeleton support 540 by the blowing device. Under the joint action of the fourth driving device 521, the fifth driving device 522, the slide plate 523 and the slider 524, the third moving member 530 moves the skeleton 20 in the second receiving groove 541, so that the skeleton 20 in the second receiving groove 541 is aligned with the second through hole 5411;

[0066] Driven by the first plug-in drive device 621, the second plug-in drive device 622 and the third plug-in drive device 623, the plug-in component 610 inserts the frame 20 aligned with the second through hole 5411 and transfers it to the first receiving groove 631 of the first frame support 630;

[0067] Under the drive of the guide rod driving device 632, the conical structure at the end of the guide rod 631 is inserted into the assembly groove 21 of the frame 20, and under the drive of the first plug-in driving device 621 (or the second plug-in driving device 622), the plug-in component 610 drives the frame 20 to move toward the iron core 10 located in the limit groove 4121, so that one end of the iron core 10 is inserted into the assembly groove 21. At this time, the limit component 421 extending out of the limit groove 4121 abuts against the other end of the iron core 10. After the iron core 10 is partially inserted into the assembly groove 21, the guide rod driving device 632 is driven to move the frame 20 toward the iron core 10 located in the limit groove 4121. The driving device 632 drives the guide rod 631 away from the frame 20, that is, the conical structure at the end of the guide rod 631 withdraws from the assembly groove 21, and then, under the drive of the second plug-in driving device 622 (or the first plug-in driving device 621), the plug-in member 610 drives the frame 20 to continue to move toward the iron core 10, so that another part of the iron core 10 is also inserted into the assembly groove 21, thereby forming a semi-finished product; the limiting member driving device drives the limiting member 421 to withdraw from the limiting groove 4121, making way for the next toggle of the second toggle member 424;

[0068] The multi-axis robot 300 absorbs the semi-finished product in the limiting groove 4121 through the magnet 310 and transfers it to another core positioning mechanism 400, and moves and assembles the semi-finished product on the other core positioning mechanism 400. The structures and working principles of the two core positioning mechanisms 400, the two plug-in mechanisms 600 and the two skeleton feeding mechanisms 500 are the same, so the assembly process of the finished product is not repeated;

[0069] When the semi-finished product is assembled, the multi-axis robot 300 absorbs the finished product in the limit groove 4121 through the magnet 310 and transfers it to the material tray 210 of the unloading mechanism 700. The unloading mechanism 700 transports the finished product to the next production process. It should be noted that in this embodiment, since the structure and working principle of the unloading mechanism 700 and the iron core loading mechanism 200 are the same, the process of transporting the finished product by the unloading mechanism 700 is no longer repeated.

[0070] It should be noted here that since the spacing between two adjacent connectors 610, the spacing between two adjacent groups of first through holes 6311, the spacing between two adjacent second through holes 5411, and the spacing between two adjacent limiting grooves 4121 are all equal, there is no need to adjust the spacing between two adjacent skeletons 20 during the process of inserting the connector 610 into the skeleton 20, transferring the skeleton 20 with the connector 610, and assembling the core 10 with the skeleton 20. After the connector 610 is inserted into the skeleton 20, it can be directly expanded and assembled with the core 10, which effectively improves the assembly efficiency of the core 10 and the skeleton 20.

[0071] The lifting drive device 231, the first block drive device 252, the second block drive device 253, the limiter drive device, the first drive device 425, the second drive device 426, the second drive device, the fourth drive device 521, the fifth drive device 522, the first plug drive device 621, the second plug drive device 622, the third plug drive device 623, the guide rod drive device 631 and other drive devices are all connected to the controller signal, and the controller controls the driving of each of the above-mentioned drive devices. It should be noted that the specific control method of the controller belongs to the relatively mature existing technology in this field, and the control method of the limiter drive device Taking this method as an example, the driving distance values ​​required for the limit member 421 to extend out of the limit slot 4121 and exit the limit slot 4121 can be stored in the controller, and a sensing device such as an infrared sensor is set at the edge of the limit slot 4121, and the sensing device is connected to the controller signal. The sensor senses whether there is an iron core 10 in the limit slot 4121. When the sensor senses that there is an iron core 10 in the limit slot 4121, the controller controls the limit member driving device to drive the limit member 421 to extend out of the limit slot 4121. When the sensor senses that there is no iron core 10 in the limit slot 4121, the controller controls the limit member driving device to drive the limit member 421 to exit the limit slot 4121.

[0072] The plug-in device for the core and the frame provided in this embodiment realizes the automatic assembly of the frame 20 and the core 10, eliminating the manual assembly process in the prior art, thereby effectively improving the production efficiency and reducing the amount of labor input, which has the effect of shortening the production cycle and reducing the production cost. In addition, during the assembly process of the frame 20 and the core 10, the pre-positioned frame 20 is inserted through the plug-in 610, and then the frame 20 is pushed toward the core 10 on the horizontal plane, so that the core 10 is inserted into the assembly slot 21 of the frame 20. The assembly process is simple, and there is no need for too many clamping mechanisms and driving components, so that the overall volume of the plug-in device for the core and the frame is small, and the energy consumption is small.

[0073] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A plug-in device for connecting an iron core to a frame, characterized in that: It comprises a frame (100), on which is provided: An iron core feeding mechanism (200), wherein the iron core feeding mechanism (200) is used to supply an iron core (10); Transfer device; An iron core positioning mechanism (400), the iron core positioning mechanism (400) comprising an iron core support plate (410) and an iron core positioning assembly (420), the iron core support plate (410) having a first end (411) and a second end (412) that are connected, the transfer device being capable of transferring the iron core (10) supplied by the iron core feeding mechanism (200) to the first end (411), and the iron core positioning assembly (420) being capable of transferring the iron core (10) at the first end (411) to the second end (412); A skeleton feeding mechanism (500), wherein the skeleton feeding mechanism (500) is used to feed the skeleton (20); a plug-in mechanism (600), wherein the plug-in mechanism (600) is capable of plugging the skeleton (20) supplied by the skeleton feeding mechanism (500) and assembling the skeleton (20) onto the iron core (10) at the second end (412); The plug-in mechanism (600) comprises a plug-in component (610), wherein the plug-in component (610) is provided with a plug-in slot (611), wherein the plug-in slot (611) is a through slot, wherein the width of the plug-in slot (611) is equal to the width of the frame (20), so that the frame (20) can be plugged into the plug-in slot (611), and wherein two opposite side walls of the frame (20) are provided with flanges, wherein the flanges can be mounted on the edge of the plug-in slot (611); The frame (20) is provided with an assembly slot (21), the notch of the assembly slot (21) and the notch of the plug-in slot (611) are oriented in the same direction, and the plug-in mechanism (600) further comprises a plug-in drive assembly (620), the plug-in drive assembly (620) being capable of driving the plug-in component (610) and the frame (20) inserted in the plug-in slot (611) to move toward the iron core (10) at the second end (412), so that the iron core (10) can be inserted into the assembly slot (21); The assembly groove (21) is a through groove, and when the frame (20) is inserted into the plug-in groove (611), along the axial direction of the assembly groove (21), the assembly groove (21) and the plug-in groove (611) are connected.

2. The plug-in device for connecting the core and the frame according to claim 1, characterized in that: The plug-in mechanism (600) further comprises an expansion component (650), wherein the expansion component (650) comprises a guide rod (651) and a guide rod driving device (632), wherein one end of the guide rod (651) facing the plug-in slot (611) is a conical structure, and the guide rod driving device (632) is capable of driving the guide rod (651) to move along the axial direction of the assembly slot (21) so that the conical structure is inserted into and withdrawn from the assembly slot (21), and in the slot depth direction of the assembly slot (21), the distance between the end of the conical structure and the slot bottom of the assembly slot (21) is greater than the distance between the slot opening of the assembly slot (21) and the iron core (10) at the second end (412).

3. The plug-in device for connecting the core and the frame according to claim 1, characterized in that: The second end (412) is provided with a limiting groove (4121), the width of the limiting groove (4121) is equal to the width of the iron core (10), the iron core positioning assembly (420) comprises a limiting member (421) and a limiting member driving device, the limiting member driving device is drivingly connected to the limiting member (421), so that the limiting member (421) can be extended and retracted in the limiting groove (4121), when one end of the iron core (10) is inserted into the assembly groove (21), the limiting member (421) can extend out of the limiting groove (4121) and can abut against the other end of the iron core (10).

4. The plug-in device for connecting the core and the frame according to claim 3, characterized in that: The plug-in mechanism (600) further comprises a first skeleton support (630), wherein the first skeleton support (630) is provided with a first accommodating groove (631), and two opposite side walls of the first accommodating groove (631) are provided with first through holes (6311), and the two first through holes (6311) are both connected to the limiting groove (4121).

5. The plug-in device for connecting the core and the frame according to claim 3, characterized in that: The iron core positioning assembly (420) further comprises a first toggle member (423) and a second toggle member (424), wherein the first toggle member (423) is arranged at the first end (411) and is slidably connected to the surface of the iron core support plate (410), and the second toggle member (424) is movably connected to the iron core support plate (410), and the iron core (10) at the first end (411) can be aligned with the limiting groove (4121) under the toggle of the first toggle member (423) and then enter the limiting groove (4121) under the toggle of the second toggle member (424).

6. The plug-in device for connecting the core and the frame according to claim 1, characterized in that: The skeleton feeding mechanism (500) includes a skeleton feeding device (510), a pre-positioning driving component (520) and a third toggle member (530). The discharge port of the skeleton feeding device (510) is provided with a second skeleton support (540). The second skeleton support (540) is provided with a second receiving groove (541). The second receiving groove (541) is used to contain the skeleton (20) supplied by the skeleton feeding device (510). The side wall of the second receiving groove (541) is provided with a second through hole (5411). The pre-positioning driving component (520) can drive the third toggle member (530) to toggle the skeleton (20) placed in the second receiving groove (541) to align with the second through hole (5411). The plug-in driving component (620) can drive the plug-in member (610) to pass through the second through hole (5411) to insert the skeleton (20).

7. The plug-in device for connecting an iron core to a frame according to any one of claims 1 to 6, characterized in that: The iron core loading mechanism (200) comprises a material tray (210), a conveying assembly (220) and a lifting assembly, wherein the material tray (210) is used to hold the iron core (10), the conveying assembly (220) is used to convey the material tray (210), and the lifting assembly can drive the material tray (210) to rise and fall.

8. The plug-in device for connecting an iron core to a frame according to any one of claims 1 to 6, characterized in that: The transfer device is a multi-axis robot (300), and a magnet (310) is provided on the end rotating shaft of the multi-axis robot (300) to absorb the iron core (10) supplied by the iron core feeding mechanism (200).

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