Electromagnetic element hanging foot device and winding hanging foot integrated device

Abstract

The application discloses an electromagnetic element hanging foot equipment and a winding and hanging foot integrated equipment, which are used for assembling an insulating seat and a magnetic core coil to form an electromagnetic element and winding a wire end on the magnetic core coil on a conductive lead of the insulating seat. The electromagnetic element hanging foot equipment comprises a multi-axis movement mechanism, a loading clamp, a transfer manipulator, a wire end stripping mechanism, a feeding manipulator and a hanging foot device. The transfer manipulator is used for transferring the magnetic core coil to the loading clamp. The wire end stripping mechanism is used for stripping the wire end on the upper end of the magnetic core coil. The feeding manipulator is used for transferring the insulating seat to the loading clamp and assembling the insulating seat and the magnetic core coil to form the electromagnetic element. The hanging foot device comprises a plurality of hanging foot manipulators, which are arranged around the loading clamp and are used for clamping the wire end on the magnetic core coil and winding the wire end on the conductive lead of the insulating seat. According to the electromagnetic element hanging foot equipment and the winding and hanging foot integrated equipment, the winding and hanging foot operations can be completed, full-automatic processing is realized, and the production efficiency is high.

Description

Technical Field

[0001] This invention relates to winding equipment, and more particularly to an electromagnetic component hanging device and an integrated winding hanging device. Background Technology

[0002] Electromagnetic components are common in electronic products, such as inductors and transformers. However, some components in these devices often need to be fixed to an insulating base, and the coil ends of the electromagnetic component are connected to the conductive pins of the insulating base to facilitate mounting on the circuit board during application. Taking a common-mode inductor as an example, a common-mode inductor typically has two coils, with each coil having a lead at both ends. In the fabrication of a common-mode inductor, two coils are first wound on a magnetic core, and then the four leads of the two coils are wound onto the four conductive pins of the insulating base (this process is called "pin mounting").

[0003] In related technologies, electromagnetic components have a low degree of automation in processing, especially for the winding of closed magnetic cores and the hanging feet after winding, which are difficult to automate and have low processing efficiency. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the object of this invention is to provide an electromagnetic component hanging device and an integrated winding hanging device.

[0005] To achieve the above objectives, on one hand, according to an embodiment of the present invention, an electromagnetic component mounting device is used to assemble an insulating base and a magnetic core coil to form an electromagnetic component, and to wind the wire ends of the magnetic core coil around the conductive pins of the insulating base. The electromagnetic component mounting device includes:

[0006] Multi-axis motion mechanism;

[0007] A mounting fixture suitable for clamping and fixing vertically placed magnetic core coils;

[0008] A transfer robot arm, which is mounted on the multi-axis motion mechanism, is used to transfer the magnetic core coil to the loading fixture;

[0009] A wire stripping mechanism is provided on the multi-axis motion mechanism and is used to strip the wire ends at the upper end of the magnetic core coil after the magnetic core coil is transferred to the loading fixture, so that the wire ends at the upper end of the magnetic core coil are curled upwards.

[0010] A loading robot, which is mounted on the multi-axis motion mechanism, is used to transfer the insulating seat to the loading fixture and assemble it with the magnetic core coil to form the electromagnetic element;

[0011] The hanging device includes multiple hanging manipulators arranged around the loading fixture for gripping the wire ends on the magnetic core coil and winding them around the conductive pins on the insulating base.

[0012] In addition, the electromagnetic component mounting device according to the above embodiments of the present invention may also have the following additional technical features:

[0013] According to one embodiment of the present invention, it further includes a wire end cutting device for cutting the lead wire ends on the electromagnetic element, wherein the lead wire ends are excess wire ends formed after the wire ends on the magnetic core coil are wound around the conductive pins on the insulating base.

[0014] According to one embodiment of the present invention, the magnetic core coil includes a closed magnetic core and a coil, the coil being wound on the side posts of the closed magnetic core; the wire stripping mechanism includes:

[0015] A coil clamping assembly is used to press the coil on the enclosed magnetic core downwards;

[0016] A wire-removing device is located on one side of the coil clamping assembly. The wire-removing device includes a scraper and a first driving mechanism. The first driving mechanism is connected to the scraper and is used to drive the scraper to move along the X-axis towards the coil after the coil is clamped by the coil clamping assembly, so as to insert it below the wire end at the upper end of the coil, causing the wire end at the upper end of the coil to bend upward.

[0017] According to one embodiment of the present invention, the coil clamping assembly includes:

[0018] Pressure head;

[0019] At least one elastic needle is mounted on the bottom of the pressure head, and the lower end of the elastic needle is adapted to elastically abut against the coil;

[0020] The second drive mechanism is connected to the pressure head and is used to drive the pressure head to move along the Z-axis.

[0021] According to one embodiment of the present invention, the line-scraping device further includes a blade holder, the blade being disposed on the blade holder and pivotable between a first position and a second position about a first axis extending along the Y-axis direction;

[0022] When the shovel is in the first position, the shovel head is adapted to be aligned with the lower end of the wire inserted into the upper end of the coil, and the second position is located above the first position;

[0023] The first drive mechanism is connected to the blade holder and is used to drive the blade holder to move along the X-axis.

[0024] According to one embodiment of the present invention, the transfer robot includes:

[0025] The first clamping finger extends along the Z-axis direction, and the lower end of the first clamping finger has an upper clamp for clamping the top of the closed magnetic core.

[0026] The second clamping finger is arranged parallel to the first clamping finger. The lower end of the second clamping finger is bent to form a lower clamp for clamping the bottom of the closed magnetic core. The lower clamp and the upper clamp are arranged opposite to each other in the Z-axis direction and define a clamping gap.

[0027] The third driving mechanism is used to drive the first and second gripping fingers to move relative to each other in the Z-axis direction, so that the upper and lower grippers move closer or further apart to grip or release the magnetic core coil.

[0028] According to one embodiment of the present invention, the thread cutting device includes:

[0029] Two fixed tool holders are arranged opposite each other in the Y-axis direction and define a workpiece positioning space suitable for positioning the electromagnetic element, each fixed tool holder having a fixed tool head;

[0030] A movable cutting blade is located between two fixed blade holders, and the movable cutting blade has a cutting head with two moving blades arranged back to back in the Y-axis direction.

[0031] The fourth driving mechanism is used to drive the movable cutter to switch between a central position, a first cutting position, and a second cutting position, wherein the first cutting position and the second cutting position are located on both sides of the central position, respectively.

[0032] When the movable cutter moves from the central position to the first cutting position, one of the moving blades in the cutter head holds one lead of the electromagnetic element against the fixed blade of one of the two fixed blade holders and cuts it off; when the movable cutter moves from the central position to the second cutting position, the other moving blade in the cutter head holds the other lead of the electromagnetic element against the fixed blade of the other of the two fixed blade holders and cuts it off.

[0033] According to one embodiment of the present invention, the fixed cutter head has a stop surface, and the Y-axis direction is perpendicular to the stop surface;

[0034] When the electromagnetic element is located within the workpiece positioning space, the conductive pin is located inside the stop surface and is close to the stop surface.

[0035] According to one embodiment of the present invention, the foot-hanging robotic arm includes:

[0036] A wire clamping robot includes a third clamping finger, a fourth clamping finger, and a fifth driving mechanism. The third and fourth clamping fingers are arranged opposite to each other, and the fifth driving mechanism is connected to the third and fourth clamping fingers to drive the third and fourth clamping fingers to move relative to each other to clamp or release the wire end.

[0037] A three-axis motion platform is connected to the wire-clamping robot and is used to drive the wire-clamping robot to move in the X, Y and Z axis directions.

[0038] On the other hand, the integrated winding and hanging device according to an embodiment of the present invention includes:

[0039] A winding device for winding a coil on a closed magnetic core to form a magnetic core coil;

[0040] The electromagnetic component mounting device described above is used to assemble an insulating base and a magnetic core coil to form an electromagnetic component, and to wind the wire ends of the magnetic core coil around the conductive pins of the insulating base.

[0041] According to the electromagnetic component hanging device and winding hanging device provided in the embodiments of the present invention, after the winding is completed, the transfer robot can transfer the magnetic core coil to the loading fixture, and then the wire end is stripped off at the upper end of the coil by the wire end stripping mechanism. Then, the loading robot assembles the insulating seat and the magnetic core coil together. Finally, the wire end of the coil is wound around the conductive pin of the insulating seat by the hanging device. In this way, the winding and hanging operations are completed, realizing fully automated processing and high production efficiency.

[0042] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of an electromagnetic component;

[0045] Figure 2 This is a schematic diagram of the structure of a closed magnetic core (i.e., a "magnetic core coil") with a coil wound around it;

[0046] Figure 3 This is a schematic diagram of a structure where the coil and the enclosed magnetic core are separated;

[0047] Figure 4 This is a schematic diagram of the structure of the electromagnetic component mounting device according to an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure of the electromagnetic component hanging device (with the three-axis motion mechanism removed) according to an embodiment of the present invention;

[0049] Figure 6 This is a structural schematic diagram of the electromagnetic component hanging device (with the three-axis motion mechanism and three-axis moving platform removed) according to an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of the structure of the hanging robot and the loading fixture in the electromagnetic component hanging device of this invention.

[0051] Figure 8 This is a schematic diagram of the transfer robot, wire stripping mechanism, and loading fixture in the electromagnetic component hanging device of this embodiment of the invention;

[0052] Figure 9 This is a schematic diagram showing the disassembly of the transfer robot and wire stripping mechanism from the loading fixture in the electromagnetic component hanging device of this embodiment of the invention;

[0053] Figure 10 This is a front view of the transfer robot, wire stripping mechanism, and loading fixture in the electromagnetic component hanging device of this embodiment of the invention;

[0054] Figure 11 This is an exploded view of the transfer robot, the wire stripping mechanism, and the loading fixture in the electromagnetic component hanging device of this embodiment of the invention;

[0055] Figure 12 This is a schematic diagram of the wire stripping mechanism and the loading clamp in the electromagnetic component hanging device of this invention.

[0056] Figure 13 yes Figure 12 A magnified view of a section at point A in the middle;

[0057] Figure 14 This is a front view of the wire stripping mechanism and the loading clamp in the electromagnetic component hanging device of this embodiment of the invention;

[0058] Figure 15 This is an exploded view of the wire stripping mechanism and the mounting fixture in the electromagnetic component hanging device of this embodiment of the invention;

[0059] Figure 16 This is an exploded view of the wire stripping mechanism and the mounting fixture in the electromagnetic component hanging device of this invention.

[0060] Figure 17 This is a schematic diagram of the structure of the mounting fixture in the electromagnetic component hanging device according to an embodiment of the present invention;

[0061] Figure 18 This is an exploded view of the mounting fixture in the electromagnetic component hanging device according to an embodiment of the present invention;

[0062] Figure 19 This is a schematic diagram of the wire stripping mechanism, the mounting clamp, and the wire pulling device in the electromagnetic component hanging device of this invention.

[0063] Figure 20 This is an exploded view of the wire stripping mechanism, the mounting clamp, and the wire pulling device in the electromagnetic component hanging device of this invention.

[0064] Figure 21 This is a schematic diagram of the wire end cutting device in the electromagnetic component hanging device according to an embodiment of the present invention;

[0065] Figure 22 This is a cross-sectional view of the wire end cutting device in the electromagnetic component hanging device of this invention embodiment;

[0066] Figure 23 This is an exploded view of the wire cutting device in the electromagnetic component hanging device of this invention.

[0067] Figure 24 This is a schematic diagram of the wire cutting device in the electromagnetic component hanging device of this invention.

[0068] Figure 25 This is a bottom view of the wire cutting device in the electromagnetic component hanging device of this embodiment of the invention;

[0069] Figure 26 This is a bottom view of the wire cutting device in the electromagnetic component hanging device of this invention, showing its usage state.

[0070] Figure 27 This is an exploded view of the wire end cutting device in the electromagnetic component hanging device of this invention.

[0071] Figure 28 This is a structural schematic diagram of the integrated winding and hanging device according to an embodiment of the present invention.

[0072] Figure label:

[0073] 10. Multi-axis motion mechanism; 101. First moving robotic arm; 102. Second moving robotic arm;

[0074] 20. Loading fixture; 201. Base; 202. Movable seat; 203. Seventh drive mechanism; H20. Clamping slot;

[0075] 30. Transfer robot; 301. First gripper finger; 301a. Upper gripper; 302. Second gripper finger; 302a. Lower gripper; 302b. Positioning part; H3a. First drive groove; H3b. Second drive groove; 303. Third drive mechanism; 303a. Fixed base; 303b. Central pivot; 3031b. First end; 3032b. Second end; 303c. First actuator;

[0076] 40. Wire end stripping mechanism; 401. Coil clamping assembly; 401a. Pressing head; H40. Slide groove; 401b. Elastic needle; 401c. Second drive mechanism; 402. Wire scraping device; 402a. Scraper; 4021a. Scraper head; S4a. Flat bottom surface; S4b. Sloping top surface; 402b. First drive mechanism; 402c. Scraper holder; Z01. First axis; Z02. Third axis; 403. Wire pulling device; 403a. Actuating element; 403b. Lifting drive device; 403c. Rotation drive device; 50. Loading robot;

[0077] 60. Foot-hanging device; 601. Foot-hanging manipulator; 6011. Third gripper finger; 6012. Fourth gripper finger; 6013. Fifth drive mechanism; 602. Three-axis moving platform; 603. Clamping mechanism; 6031. Clamping arm; 6032. Sixth drive mechanism;

[0078] 70. Thread cutting device; 701. Fixed blade holder; 701a. Fixed blade head; 7011a. Fixed blade edge; S7a. Stop surface; S7b. Inclined surface; H7a. Positioning groove; 702. Movable cutting component; 702a. Cutting head; 7021. Moving blade edge; H7b. Blade groove; H7c. Cutting notch; 703. Fourth drive mechanism; 703a. First elastic component;

[0079] 703b, Second elastic component; 703c, First cylinder; 703d, Second cylinder; 704, Base; 705, Swing arm;

[0080] 80. Magnetic core coil; 801. Enclosed magnetic core; 8011. Side post; 8012. First enclosed part; 8013. Second enclosed part; 802. Coil;

[0081] 81. Insulating base; 811. Conductive pin;

[0082] 90. Winding device.

[0083] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0084] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0085] The electromagnetic component hanging device and the integrated winding hanging device of the present invention are described in detail below with reference to the accompanying drawings.

[0086] Reference Figures 1 to 3 As shown, the electromagnetic element includes an insulating base 81 and a magnetic core coil 80, that is, the insulating base 81 and the magnetic core coil 80 are assembled to form an electromagnetic element. The magnetic core coil 80 is generally composed of a closed magnetic core 801 and a coil 802. The closed magnetic core 801 is a generally rectangular structure. The closed magnetic core 801 generally has two parallel side posts 8011. The upper ends of the two side posts 8011 are connected to a first sealing part 8012, that is, the upper ends of the two side posts 8011 are closed by the first sealing part 8012. The lower ends of the two side posts 8011 are connected to a second sealing part 8013, that is, the lower ends of the two side posts 8011 are closed by the second sealing part 8013. The two side posts 8011, the first sealing part 8012 and the second sealing part 8013 are usually formed as an integral structure. Side post 8011 is used to wind coil 802. Coil 802 can be wound on one side post 8011 or on two side posts 8011 respectively.

[0087] In the fabrication of electromagnetic components, a coil 802 is wound around a closed magnetic core 801 to form a magnetic core coil 80. Then, an insulating base 81 is assembled with the magnetic core coil 80 to form the electromagnetic component. Finally, the end of the magnetic core coil 80 needs to be wound around the conductive pin 811 of the insulating base 81. Of course, in subsequent processes, spot welding is required at the point where the end of the coil and the conductive pin 811 are wound to form a reliable electrical connection.

[0088] Reference Figures 4 to 26 As shown, the electromagnetic component hanging device provided according to an embodiment of the present invention is used to assemble an insulating base 81 and a magnetic core coil 80 to form an electromagnetic component, and to wind the wire ends on the magnetic core coil 80 onto the conductive pins 811 of the insulating base 81. The electromagnetic component hanging device includes a multi-axis motion mechanism 10, a loading clamp 20, a transfer robot, a wire stripping mechanism 40, a loading robot 50, and a hanging device 60.

[0089] Specifically, the multi-axis motion mechanism 10 can move in multiple axes, such as the X-axis and Z-axis. The multi-axis motion mechanism 10 can drive the transfer robot, the wire stripping mechanism 40 and the loading robot 50 to move in various directions.

[0090] The mounting clamp 20 is adapted to clamp and fix the vertically placed magnetic core coil 80. Preferably, the mounting clamp 20 has a clamping groove H20 adapted to clamp the second closure portion 8013 (i.e., the lower end of the closed magnetic core 801) of the closed magnetic core 801. Exemplarily, the clamping groove H20 is a shallow groove with an open state and a clamped state, and can switch between the two states.

[0091] A transfer robot is mounted on the multi-axis motion mechanism 10 and is used to transfer the magnetic core coil 80 to the loading clamp 20. In practical use, driven by the multi-axis motion mechanism 10, the transfer robot inserts the magnetic core coil 80 in the winding device 90 into the open clamping groove H20 in an upright state. Then, the clamping groove H20 is switched from the open state to the clamping state, and the second closing part 8013 of the closed magnetic core 801 is clamped by the clamping groove H20, thereby achieving the clamping and fixing of the magnetic core coil 80.

[0092] The wire stripping mechanism 40 is provided on the multi-axis motion mechanism 10 and is used to strip the wire ends at the upper end of the magnetic core coil 80 after the magnetic core coil 80 is transferred to the loading fixture 20, so that the wire ends at the upper end of the magnetic core coil 80 are raised upwards.

[0093] After the coil 802 is wound on the closed magnetic core 801, a raised wire end is usually not formed at the starting end of the coil 802. This is because the wire automatically winds into loops after passing through the arc-shaped winding channel of the winding fixture, and each loop is close to the others. Thus, the starting end also forms a loop and is close to the adjacent loops. At the end of the coil 802, since this end is the wire feeding end, the cutting position can be controlled to form the end wire end. For example, when the closed magnetic core 801 is wound vertically, a raised wire end cannot be formed at the upper end of the coil 802, but a wire end can be formed at the lower end of the coil 802 by controlling the cutting position. When a raised wire end cannot be formed at the upper end of the coil 802, it is difficult to clamp the wire end at the upper end of the coil 802 and wrap it around the conductive pin 811 in the subsequent pin-attaching process.

[0094] In this application, after the winding is completed, the transfer robot moves the magnetic core coil 80 to the placement fixture 20, and then the wire end stripping mechanism 40 strips the wire end at the upper end of the magnetic core coil 80 so that the wire end at the upper end of the magnetic core coil 80 is raised upward, thereby facilitating the foot hanging device 60 to hang the foot.

[0095] A loading robot 50 is mounted on the multi-axis motion mechanism 10 and is used to transfer the insulating base 81 into the loading fixture 20 and assemble it with the magnetic core coil 80 to form the electromagnetic element. In other words, the loading robot 50 can be driven by the multi-axis motion mechanism 10 to clamp the insulating frame and move it towards the loading fixture 20, so that the insulating frame is just combined with the magnetic core coil 80, and the assembled electromagnetic element is formed.

[0096] The hanging device 60 includes a plurality of hanging manipulators 601, which are arranged around the loading clamp 20 for gripping the wire ends on the magnetic core coil 80 and winding them around the conductive pins 811 on the insulating base 81. Each hanging manipulator 601 can grip one wire end and wind it around one conductive pin 811 of the insulating base 81.

[0097] The specific working process is as follows: After winding is completed, the multi-axis motion mechanism 10 drives the transfer robot to move the magnetic core coil 80 in the winding device 90 to the placement fixture 20 and keep it in an upright state. The placement fixture 20 clamps and fixes the lower end of the magnetic core coil 80. Next, the wire end stripping mechanism 40 strips the wire end at the upper end of the magnetic core coil 80, causing the wire end at the upper end of the magnetic core coil 80 to curl upwards. The hanging robot 601 clamps the wire ends at the upper and lower ends of the magnetic core coil 80 respectively. Further, the multi-axis motion mechanism 10 drives the loading robot 50 to move the insulating seat 81 towards the placement fixture 20 until the insulating seat 81 and the magnetic core coil 80 are assembled together. Finally, the hanging robot 601 winds each wire end onto the respective conductive pins 811 of the insulating seat 81.

[0098] According to the electromagnetic component hanging device provided in the embodiment of the present invention, after the winding is completed, the transfer robot can transfer the magnetic core coil 80 to the placement fixture 20, and then the wire end stripping mechanism 40 strips the wire end at the upper end of the coil 802. Subsequently, the loading robot 50 assembles the insulating seat 81 and the magnetic core coil 80 together. Finally, the hanging device 60 winds the wire end of the coil 802 onto the conductive pin 811 of the insulating seat 81. In this way, the winding and hanging operations are completed, realizing fully automated processing and high production efficiency.

[0099] Reference Figures 4 to 6 As shown, in some embodiments of the present invention, a wire end cutting device 70 is also included for cutting the hanging wire ends on the electromagnetic element. The hanging wire ends are excess wire ends formed after the wire ends on the magnetic core coil 80 are wound around the conductive pins 811 on the insulating base 81.

[0100] After the hanging device 60 winds the end of the magnetic core coil 80 onto the conductive pin 811, the excess wire needs to be cut off. Then, in the subsequent process, the winding position needs to be spot-welded to achieve an electrical connection between the end of the coil 802 and the conductive pin 811.

[0101] In this embodiment, the wire end cutting device 70 can be used to cut the wire ends of the electromagnetic component after the pins are attached. This achieves automatic cutting and removal of excess wire ends after pin attachment, which facilitates the subsequent welding process, improves the overall processing efficiency of the electromagnetic component, and also improves the product quality of the electromagnetic component.

[0102] For example, the multi-axis motion mechanism 10 includes a first moving robotic arm 101 and a second moving robotic arm 102, both of which are movable at least in the X-axis and Z-axis directions. A transfer robot and a thread stripping mechanism 40 are mounted on the first moving robotic arm 101, while a loading robot 50 and a thread cutting device 70 are mounted on the second moving robotic arm 102. In actual operation, the first moving robotic arm 101 drives the transfer robot and the thread stripping mechanism 40 to move synchronously, and the second moving robotic arm 102 drives the loading robot 50 and the thread cutting device 70 to move synchronously. Thus, through coordinated control, better motion coordination can be achieved while simplifying the structure of the drive components, realizing fully automated processing.

[0103] Reference Figures 8 to 16 As shown, in one embodiment of the present invention, the wire stripping mechanism 40 includes a coil clamping assembly 401 and a wire scraping device 402. The coil clamping assembly 401 is used to press the coil 802 on the enclosed magnetic core 801 downwards. Since the enclosed magnetic core 801 is placed vertically in the clamping groove H20, the coil clamping assembly 401 can press the topmost coil of the coil 802 along an axis parallel to the coil 802. It is understood that when the coil clamping assembly 401 presses the topmost coil of the coil 802, the upper end of the coil 802, which is the wire end, cannot be pressed down, so that the wire scraping device 402 can scrape the wire end upwards.

[0104] The wire-removing device 402 is located on one side of the coil clamping assembly 401. The wire-removing device 402 includes a scraper 402a and a first driving mechanism 402b. The first driving mechanism 402b is connected to the scraper 402a and is used to drive the scraper 402a to move along the X-axis towards the coil 802 after the coil 802 is clamped by the coil clamping assembly 401, so as to insert it below the wire end at the upper end of the coil 802, causing the wire end at the upper end of the coil 802 to bend upward.

[0105] In the specific operation, the magnetic core coil 80 is transferred to the mounting fixture 20 and clamped by the mounting fixture 20. Then, the coil clamping assembly 401 presses the coil 802 downward along the axial direction. Finally, the first driving mechanism 402b drives the scraper 402a to move along the X-axis towards the coil 802 and insert it below the wire end at the upper end of the coil 802. In this way, the wire end at the upper end of the coil 802 can be raised upward. This method of inserting the scraper 402a below the wire end to raise the wire end ensures the reliability of the wire end being separated and raised.

[0106] Reference Figures 12 to 16 As shown, in one embodiment of the present invention, the coil clamping assembly 401 includes a clamping head 401a and at least one elastic needle 401b. The elastic needle 401b is mounted on the bottom of the clamping head 401a, and the lower end of the elastic needle 401b is adapted to elastically abut against the coil 802. The elastic needle 401b is elastic in the Z-axis direction. Preferably, the diameter of the elastic needle 401b is adapted to or slightly smaller than the wire width of the coil 802, so that the elastic needle 401b can be clamped onto the coil 802 in the Z-axis direction.

[0107] The second drive mechanism 401c is connected to the pressure head 401a and drives the pressure head 401a to move along the Z-axis. Preferably, the second drive mechanism 401c is mounted on the multi-axis motion mechanism 10. On the one hand, under the drive of the multi-axis motion mechanism 10, the coil clamping assembly 401 can move freely, for example, along the X-axis and Z-axis directions. On the other hand, under the drive of the second drive mechanism 401c, the pressure head 401a and the elastic needle 401b can be driven to move along the Z-axis direction.

[0108] In the specific working process, when the multi-axis motion mechanism 10 (e.g., the first moving robotic arm 101) drives the transfer robot to transfer the magnetic core coil 80 to the placement fixture 20, since the wire stripping mechanism 40 and the transfer robot 30 are mounted on the same first moving robotic arm 101, the wire stripping mechanism 40 moves to the top of the placement fixture 20, and the elastic needle 401b is aligned with the topmost coil of the lower coil 802. The second drive mechanism 401c then drives the pressure head 401a and the elastic needle 401b to move downwards until the elastic needle 401b descends to the target height. The lower end of the elastic needle 401b elastically abuts against the topmost coil of the coil 802. At this time, the scraper 402a is located on one side of the coil 802 and aligned with the topmost coil. Finally, the first drive mechanism 402b drives the scraper 402a to move along the X-axis towards the coil 802 and insert it below the wire end at the top of the coil 802, so that the wire end can be lifted upwards.

[0109] In this embodiment, the clamping structure of the elastic needle 401b ensures that while clamping the coil 802, the wire end at the upper end of the coil 802 is not clamped, thereby allowing the scraper 402a to be inserted below the wire end at the upper end of the coil 802, and the wire end can be lifted smoothly. Its structure is simple and can ensure the reliability of the wire end lifting.

[0110] It should be noted that there can be one or more elastic needles 401b. For example, there can be two elastic needles 401b. The two elastic needles 401b are symmetrically arranged on the diameter of the coil 802. The end of the wire at the upper end of the coil 802 is located on one side of the two elastic needles 401b. In this way, it can be ensured that the coil 802 is pressed in a balanced manner. The end of the wire at the upper end of the coil 802 is easy to shift upward and lift up as the scraper 402a is inserted.

[0111] Reference Figures 15 to 16 As shown, in one example of the present invention, the line-scraping device 402 further includes a scraper seat 402c, wherein the scraper 402a is disposed on the scraper seat 402c and is pivotable between a first position and a second position about a first axis Z01, the first axis Z01 extending along the Y-axis direction.

[0112] When the shovel 402a is in the first position, the shovel head 4021a of the shovel 402a is adapted to be aligned with the lower end of the wire inserted into the upper end of the coil 802, and the second position is located above the first position.

[0113] The first drive mechanism 402b is connected to the blade holder 402c and is used to drive the blade holder 402c to move along the X-axis.

[0114] In other words, in this embodiment, the scraper 402a can rotate up and down a certain range relative to the scraper base 402c. Before the scraper 402a is inserted below the lower end of the upper end of the coil 802, the scraper 402a remains in the first position. When the scraper 402a is inserted below the wire end of the upper end of the coil 802, the scraper 402a can float between the first position and the second position. In this way, the floating structure design can adapt to size and position errors, ensuring that even with certain errors, the scraper 402a can still be smoothly inserted below the wire end of the upper end of the coil 802 and scrape up the wire end of the upper end of the coil 802, causing the wire end to shift upward and tilt upward. This reduces the size and position accuracy requirements of the scraper 402a and improves the reliability of the wire scraping device 402.

[0115] For example, a pivot groove is provided at the bottom of the shovel holder 402c, and the shovel 402a is pivotally connected to the pivot groove via a rotating shaft. The shovel head 4021a of the shovel 402a extends along the X-axis direction on the side close to the coil 802. In this way, by utilizing the cooperation between the pivot groove and the shovel 402a, it can be ensured that when the shovel 402a rotates between the first position and the second position, the rotation trajectory is accurate and the rotation is stable and reliable.

[0116] Advantageously, the shovel head 4021a of the shovel 402a has a flat bottom surface S4a and a sloping top surface S4b. The sloping top surface S4b is located above the flat bottom surface S4a and intersects to form a blade suitable for insertion below the wire end. Thus, when the shovel 402a is inserted below the wire end at the upper end of the coil 802, the wire end is located above the sloping top surface S4b. Under the guidance of the sloping top surface S4b, the wire end shifts upward and tilts up, thereby achieving a better wire end separation effect.

[0117] Reference Figures 19 to 20 As shown, in some embodiments of the present invention, the wire stripping mechanism 40 further includes a wire pulling device 403, which is disposed adjacent to the loading clamp 20 and is used to pull the wire end at the lower end of the coil 802 to a predetermined position so that the wire end at the upper end of the coil 802 rotates to a position opposite to the scraper 402a.

[0118] Since there is a gap between the coil 802 and the side post 8011 after the coil 802 is wound on the side post 8011 of the closed magnetic core 801, the coil 802 can rotate around the axis of the side post 8011. Therefore, after the winding is completed, the closed magnetic core 801 is transferred to the clamping groove H20 of the mounting fixture 20. At this time, the position of the wire end at the lower end of the coil 802 may not be fixed. That is, the wire end of the previous coil 802 and the wire end of the next coil 802 may not be in the exact same position.

[0119] Therefore, in this embodiment, by configuring a wire-pulling device 403, after the closed magnetic core 801 is transferred to the clamping groove H20 of the mounting fixture 20, the wire end at the lower end of the coil 802 on the closed magnetic core 801 can be moved to a predetermined position by the wire-pulling device 403. During the process of moving the wire end at the lower end of the coil 802, the coil 802 rotates, and the wire end at the upper end of the coil 802 rotates accordingly to a position opposite to the scraper 402a. In this way, after the elastic needle 401b presses the coil 802, when the scraper 402a moves towards the coil 802, it can be accurately inserted below the wire end at the upper end of the coil 802, forcing the wire end at the upper end of the coil 802 to shift and tilt upwards. By using this wire-pulling device 403 to perform the wire-pulling operation before the elastic needle 401b presses the coil 802, it is ensured that the wire end at the upper end of the coil 802 can accurately reach the position opposite to the scraper 402a, which can ensure that the wire removal operation of each coil 802 can be performed accurately, thereby improving the yield rate.

[0120] Reference Figures 19 to 20 As shown, in one embodiment of the present invention, the wire-picking device 403 includes a toggle member 403a, a lifting drive device 403b, and a rotating drive device 403c. The toggle member 403a is used to toggle the wire end at the lower end of the coil 802. Preferably, the toggle member 403a has an upwardly protruding toggle pin, the diameter of which is slightly larger than the width of the wire, to facilitate toggle the wire end.

[0121] The lifting drive device 403b is connected to the actuating member 403a and is used to drive the actuating member 403a to move to the vicinity of the loading clamp 20 and to the outside of the wire end at the lower end of the coil 802.

[0122] A rotary drive device 403c is connected to the actuating member 403a and is used to drive the actuating member 403a to rotate around a second axis to move the wire end inward to the predetermined position. The second axis extends along the Z-axis. Exemplarily, the rotary drive device 403c is mounted on a lifting drive device 403b, and the actuating member 403a is connected to the rotary drive device. The lifting drive device 403b can drive the rotary drive device 403c and the actuating member 403a to rise and fall together, so that the actuating member 403a reaches the target height. The rotary drive device 403c can drive the actuating member 403a to rotate and move the wire.

[0123] Specifically, after the sealed magnetic core 801 is transferred to the loading fixture 20, the wire end located at the lower end of the coil 802 can be raised to the outside by the lifting drive device 403b driving the actuating member 403a. Then, the actuating member 403a can be rotated inward by the rotation drive device 403c. The actuating member 403a can then move the wire end at the lower end of the coil 802 to a predetermined position. The coil 802 rotates, and the wire end at the upper end of the coil 802 rotates accordingly to a position opposite to the scraper 402a.

[0124] In this embodiment, the aforementioned toggle device 403 can be used to drive the toggle member 403a to rise and fall and then rotate to complete the wire-picking action. In this way, it can be ensured that when wire picking is not required, the toggle member is located below the mounting fixture 20 and will not interfere with the operation of other parts. In addition, the rotation method of wire picking is consistent with the rotation method of the coil 802, making the wire picking operation more reliable.

[0125] Reference Figures 8 to 11 As shown, in one embodiment of the present invention, the transfer robot 30 includes a first gripper 301, a second gripper 302 and a third drive mechanism 303. The first gripper 301 extends along the Z-axis direction, and the lower end of the first gripper 301 has an upper chuck 301a for gripping the top of the closed magnetic core 801.

[0126] The second clamping finger 302 is arranged parallel to the first clamping finger 301. The lower end of the second clamping finger 302 is bent to form a lower clamp 302a for clamping the bottom of the closed magnetic core 801. The lower clamp 302a and the upper clamp 301a are arranged opposite to each other in the Z-axis direction and define a clamping gap.

[0127] The third drive mechanism 303 is used to drive the first clamping finger 301 and the second clamping finger 302 to move relative to each other in the Z-axis direction, so that the upper clamp 301a and the lower clamp 302a move closer or further apart, so as to clamp or release the magnetic core coil 80.

[0128] For example, the first gripper 301 and the second gripper 302 are rod-shaped members extending along the Z-axis. The upper chuck 301a of the first gripper 301 and the lower chuck 302a of the second gripper 302 form an opening and closing clamping structure. The third drive mechanism 303, on the multi-axis motion mechanism 10, can drive the first gripper 301 and the second gripper 302 to move relative to each other, so that the clamping structure performs a clamping or releasing action. For example, when the first gripper 301 moves downward and the second gripper 302 moves upward, the upper chuck 301a moves downward and the lower chuck 302a moves upward, thus performing a clamping action to clamp the magnetic core coil 80. When the first gripper 301 moves upward and the second gripper 302 moves downward, the upper chuck 301a moves upward and the lower chuck 302a moves upward, thus performing a releasing action to release the magnetic core coil 80.

[0129] When transferring the magnetic core coil 80, the multi-axis motion mechanism 10 drives the transfer robot to move in the horizontal direction (in Figure 4 In the example, the position of the transfer robot (in the X-axis direction) relative to the magnetic core coil 80 is then driven to move along the X-axis direction, ensuring that the upper chuck 301a moves above the first closed portion 8012 of the magnetic core coil 80, and the lower chuck 302a moves below the second closed portion 8013 of the magnetic core coil 80. The third drive mechanism 303 then drives the first gripper 301 and the second gripper 302 to perform a clamping action to clamp the magnetic core coil 80. The multi-axis motion mechanism 10 then drives the transfer to the placement fixture 20. Finally, the third drive mechanism 303 drives the first gripper 301 and the second gripper 302 to perform a releasing action to release the magnetic core coil 80.

[0130] In this embodiment, the aforementioned transfer robot 30 is used, which can better adapt to the clamping of the magnetic core coil 80 wound in a vertical state (i.e., the axis of the side post 8011 extends along the Z-axis direction), which facilitates the transfer of the magnetic core coil 80. Moreover, its structure is simple, occupies little space, and the clamping is reliable and stable.

[0131] Preferably, the placement fixture 20 has finger grooves intersecting with the clamping groove H20, which prevent the lower chuck 302a from being obstructed when the transfer robot moves the magnetic core coil 80 into the clamping groove H20. Since the clamping structure at the lower end of the first clamping finger 301 and the second clamping finger 302 needs to clamp the magnetic core coil 80 and perform the clamping operation of transferring it to the placement fixture 20, finger grooves are provided on the placement fixture 20 to prevent the clamping structure at the lower end of the first clamping finger 301 and the second clamping finger 302 from being obstructed. In this way, mechanical interference can be ensured during the transfer operation, making the transfer smoother and more reliable.

[0132] For example, the length direction of the clamping groove H20 is consistent with the length direction of the second closed part 8013, while the finger groove is perpendicular to the length direction of the clamping groove H20. In this way, the clamping structure at the lower end of the first clamping finger 301 and the second clamping finger 302 can be better avoided.

[0133] Reference Figures 8 to 11 As shown, in one embodiment of the present invention, the second clamping finger 302 further includes a positioning portion 302b located above the lower clamp 302a, the positioning portion 302b being adapted to be inserted between the two coils 802. Preferably, the insertion end of the positioning portion 302b has two symmetrically arranged semi-circular notches, the two semi-circular notches corresponding one-to-one with the two coils 802 on the closed magnetic core 801, so that when the positioning portion 302b is inserted between the two coils 802, the two coils 802 are just abutting against the two semi-circular notches.

[0134] When the transfer robot moves to a position opposite the magnetic core coil 80 in the X-axis direction, and then drives the transfer robot to move horizontally, the upper chuck 301a moves above the first closed part 8012 of the magnetic core coil 80, the lower chuck 302a moves below the second closed part 8013 of the magnetic core coil 80, and the positioning part 302b moves and inserts between the two coils 802 and is located between the first closed part 8012 and the second closed part 8013.

[0135] Subsequently, when the third drive mechanism 303 drives the first clamping finger 301 and the second clamping finger 302 to perform clamping action and clamp the magnetic core coil 80, the upper clamp 301a presses against the first closed part 8012, the lower clamp 302a clamps against the second closed part 8013, and the positioning part 302b presses upward against the bottom of the second closed part 8013. In this way, the positioning part 302b plays a positioning role and also plays an auxiliary clamping role during the clamping process, further improving the reliability of clamping.

[0136] Reference Figure 10 and Figure 11As shown, in one embodiment of the present invention, the third drive mechanism 303 includes a fixed base 303a, a central pivot 303b and a first driver 303c, with the fixed base 303a disposed on the multi-axis drive mechanism.

[0137] A central pivot member 303b is pivotally mounted on a fixed base 303a, and the central pivot member 303b has a first end 3031b and a second end 3032b symmetrically arranged about the pivot center of the central pivot member 303b; the first end 3031b is movably connected to the first gripper finger 301, the second end 3032b is movably connected to the first gripper finger 301, and the second end 3032b is movably connected to the second gripper finger 302.

[0138] For example, the upper end of the first gripper finger 301 is provided with a first driving groove H3a, and the upper end of the second gripper finger 302 is provided with a second driving groove H3b. The first end 3031b is located in the first driving groove H3a, and the second end 3032b is located in the second driving groove H3b. When the central rotating member rotates, the first end 3031b and the second end 3032b rotate in different directions. Thus, the first end 3031b and the second end 3032b can cause the first gripper finger 301 and the second gripper finger 302 to form opposite movements in the Z-axis direction.

[0139] The first driver 303c is connected to one of the first finger 301 and the second finger 302 to drive one of the first finger 301 and the second finger 302 to move along the Z-axis, causing the central pivot 303b to rotate, and driving the other of the first finger 301 and the second finger 302 to move in the opposite direction along the Z-axis through the central pivot 303b.

[0140] In this embodiment, the rotation of the central pivot 303b drives the symmetrical first end 3031b and second end 3032b to move in opposite directions, thereby realizing the linkage of the first gripping finger 301 and the second gripping finger 302 and their opposite movement in the Z-axis direction. In this way, it is ensured that the first gripping finger 301 and the second gripping finger 302 can move synchronously during gripping, ensuring reliable and stable gripping.

[0141] It is understood that the implementation of the third drive mechanism 303 is not limited to the above embodiments. In other examples, it is sufficient as long as it can drive the first finger clamp 301 and the second finger clamp 302 to move synchronously. Alternatively, if one of the first finger clamp 301 and the second finger clamp 302 remains stationary while the other moves up and down, finger clamping can also be achieved.

[0142] Preferably, the upper chuck 301a has a slot whose length is adapted to the length of the first closure portion 8012, so that the slot is suitable for engaging above the first closure portion 8012. In one example, the length direction of the slot is square with the Y-axis direction. Thus, by utilizing the cooperation between the slot and the first closure portion 8012, the magnetic core coil 80 can be more securely and accurately clamped after the upper chuck 301a clamps the first closure portion 8012, ensuring that the magnetic core coil 80 can be accurately placed into the clamping slot H20 of the carrier fixture 20 when transferred to the predetermined position, thereby improving the reliability of the transfer.

[0143] Reference Figures 21 to 27 As shown, in some embodiments of the present invention, the wire cutting device 70 includes two fixed blade holders 701, a movable cutting blade 702, and a fourth drive mechanism 703. The two fixed blade holders 701 are arranged opposite each other in the Y-axis direction and define a workpiece positioning space suitable for positioning the electromagnetic element. Each fixed blade holder 701 has a fixed blade head 701a. That is, the electromagnetic element can be precisely positioned in the workpiece positioning space between the two fixed blade holders 701.

[0144] The movable cutter 702 is located between the two fixed cutter seats 701, and the movable cutter 702 has a cutter head 702a, which has two moving blades 7021 arranged back-to-back in the Y-axis direction. The movable cutter 702 can swing back and forth between the two fixed cutter seats 701. During the swinging process, the two back-to-back moving blades 7021 on the movable cutter 702 respectively cooperate with the fixed cutter seats 701 on both sides, that is, one moving blade 7021 cooperates with the fixed cutter seat 701 on the same side opposite to it, and the moving blade 7021 is used to cut the hanging wire end on the fixed cutter seat 701.

[0145] The fourth drive mechanism 703 is used to drive the movable cutter 702 to switch between a central position, a first cutting position, and a second cutting position, wherein the first cutting position and the second cutting position are located on both sides of the central position.

[0146] When the movable cutter 702 moves from the central position to the first cutting position, one of the moving blades 7021 of the cutter head 702a holds one lead of the electromagnetic element against the fixed blade head 701a of one of the two fixed blade seats 701 and cuts it off; when the movable cutter 702 moves from the central position to the second cutting position, the other moving blade 7021 of the cutter head 702a holds the other lead of the electromagnetic element against the fixed blade head 701a of the other of the two fixed blade seats 701 and cuts it off.

[0147] In other words, the fourth drive mechanism 703 can drive the movable cutter 702 to switch between a central position, a first cutting position, and a second cutting position. The central position is where the movable cutter 702 is positioned exactly between the two fixed blade holders 701, with both moving blades 7021 separated from the two fixed blade holders 701. When the fourth drive mechanism 703 drives the movable cutter 702 to move to the first cutting position, one of the moving blades 7021 on one side of the movable cutter 702 moves towards the fixed blade holder 701 on the same side (one of the fixed blade holders 701), pressing a lead wire from the electromagnetic element against the fixed blade holder 701 and cutting it off. When the fourth drive mechanism 703 drives the movable cutter 702 to move to the second cutting position, the moving blade 7021 on the other side of the movable cutter 702 moves to the fixed blade holder 701 on the same side, holding one of the hanging wire ends on the electromagnetic element against the fixed blade holder 701 (another fixed blade holder 701) and cutting it off.

[0148] In the actual operation, the electromagnetic element is attached to the hanging device 60. The multi-axis motion mechanism 10 drives the wire end cutting device 70 to move above the loading fixture 20 and descend to a predetermined height, positioning the two fixed tool holders 701 outside the electromagnetic element. That is, the electromagnetic element is precisely positioned in the workpiece positioning space between the two fixed tool holders 701. At this time, one hanging wire end on the electromagnetic element is located between one fixed tool holder 701 and one moving blade 7021 of the cutting head 702a, and the other hanging wire end on the electromagnetic element is located between another fixed tool holder 701 and another moving blade 7021 of the cutting head 702a. Then, the fourth drive mechanism 703 drives the movable cutting tool 702 from the central position to the first cutting position and from the central position to the second cutting position, thereby cutting both hanging wire ends at once.

[0149] In this embodiment, by switching between the central position, the first cutting position and the second cutting position of the movable cutter 702, the hanging wire ends on the electromagnetic component can be automatically cut off. This structural design achieves rapid cutting of multiple hanging wire ends in an extremely simple structure, which is not only reliable but also more efficient.

[0150] Reference Figure 26 As shown, in some embodiments of the present invention, there are four conductive pins 811, and each of the four conductive pins 811 forms a hanging wire end. For example, the electromagnetic element has two coils 802, each coil 802 has two wire ends, one at the beginning and one at the end, so the two coils 802 have four wire ends. The insulating base 81 has four conductive pins 811, and the four wire ends are wound one-to-one around the four conductive pins 811 401a, thus forming four hanging wire ends. Exemplarily, the four wire ends are arranged symmetrically in pairs and extend along the X-axis direction.

[0151] Each fixed blade holder 701 has two fixed blade heads 701a, which are arranged opposite each other in a second direction, which is perpendicular to the first direction; the movable cutter 702 has two cutter heads 702a, which are arranged opposite each other in the second direction.

[0152] One of the two cutting heads 702a is located between two opposing fixed cutting heads 701a on the two fixed cutting seats 701, and is used to cut the lead wire ends on two of the four conductive pins 811; the other of the two cutting heads 702a is located between two other opposing fixed cutting heads 701a on the two fixed cutting seats 701, and is used to cut the lead wire ends on the other two of the four conductive pins 811.

[0153] In other words, the two fixed cutter heads 701a on one fixed cutter holder 701 correspond one-to-one with the two fixed cutter heads 701a on the other fixed cutter holder 701, forming two sets of fixed cutter heads 701a. The two fixed cutter heads 701a in each set are arranged opposite each other in the first direction. The two cutting cutter heads 702a correspond one-to-one with the two sets of fixed cutter heads 701a, and each cutting cutter head 702a is located between the two fixed cutter heads 701a in its corresponding set.

[0154] Therefore, when the fourth drive mechanism 703 drives the movable cutter 702 from the center position to the first cutting position, the two moving blades 7021 on one side of the two cutter heads 702a respectively cooperate with the fixed blades 701a on the two fixed blade seats 701 on the same side to cut the two hanging wire ends on that side. When the fourth drive mechanism 703 drives the movable cutter 702 from the center position to the second cutting position, the two moving blades 7021 on the other side of the two cutter heads 702a respectively cooperate with the fixed blades 701a on the two fixed blade seats 701 on the same side to cut the two hanging wire ends on that side. In this way, four hanging wire ends can be cut quickly, efficiently, and reliably.

[0155] Reference Figures 24 to 27 As shown, in one embodiment of the present invention, the fixed tool head 701a has a stop surface S7a, and the Y-axis direction is perpendicular to the stop surface S7a. When the electromagnetic element is located within the workpiece positioning space, the conductive pin 811 is located inside the stop surface S7a and close to the stop surface S7a.

[0156] During the cutting operation, when the cutting head 702a moves towards the fixed blade holder 701, the moving blade 7021 on the cutting head 702a applies pressure to the lead wire end. Since the lead wire end is formed by the wire end of the coil 802 wrapped around the conductive pin 811, the lead wire end extends outward around the conductive pin 811. When the moving blade 7021 applies pressure to the lead wire end, part of the pressure is transmitted to the conductive pin 811 through the lead wire end. In this embodiment, a stop surface S7a is provided on the fixed blade holder 701. When the stop surface S7a stops outside the conductive pin 811, it supports the conductive pin 811, preventing the conductive pin 811 from deforming outward due to force, which could lead to problems such as unsmooth lead wire switching and poor product quality due to conductive pin deformation.

[0157] In other words, by utilizing the supporting effect of the stop surface S7a on the conductive pin 811, it can be ensured that when the moving blade 7021 applies pressure to the hanging wire end, the conductive pin 811 will not deform outward, the hanging wire end will smoothly abut against the fixed blade holder 701 and be reliably cut off, thereby improving the reliability of wire end cutting and product quality.

[0158] It is understood that the moving blade 7021 can cut the hanging wire end by pressing it against the stop surface S7a, or it can cut the hanging wire end by pressing it against other positions of the fixed blade holder 701. This is not intended to limit the invention.

[0159] Reference Figures 24 to 26 As shown, in one embodiment of the present invention, the fixed cutting head 701a has an inclined surface S7b, which intersects with the stop surface S7a to form a fixed cutting edge 7011a. The moving cutting edge 7021 is substantially opposite to the fixed cutting edge 7011a in the first direction. Preferably, the included angle between the inclined surface S7b and the stop surface S7a is between 90° and 180°.

[0160] In this embodiment, a fixed cutting edge 7011a is formed by the intersection of the inclined surface S7b and the stop surface S7a. When the moving cutting edge 7021 approaches the fixed cutting edge 701, the lead wire end is held against the fixed cutting edge 7011a. Under the pressure of the moving cutting edge 7021, shearing force is easily generated on the fixed cutting edge 7011a, making it easier to cut the lead wire end from the position of the fixed cutting edge 7011a. In addition, during this process, the lead wire end deflects towards the inclined surface S7b and abuts against the inclined surface S7b, which helps the cut end to form a wrapped and abutting state on the conductive pin 811 after cutting, rather than a loose state deviating from the conductive pin 811. This wrapped and abutting state helps to improve the reliability of the electrical connection between the coil 802 and the conductive pin 811, and allows for a more reliable electrical connection after spot welding at this position.

[0161] Reference Figures 24 to 27 As shown, in one embodiment of the present invention, the bottom of the cutting head 702a has a groove H7b for cooperating with the fixed cutting head 701a. The groove H7b is open to one side facing the fixed cutting head 701a to form an open side, and the moving cutting edge 7021 is formed on the inner wall of the groove H7b.

[0162] In other words, a groove H7b is provided on the cutting head 702a. When the movable cutting member 702 moves to the first cutting position, the groove H7b receives the fixed cutting head 701a, ensuring that the moving blade 7021 can approach the fixed cutting head 701a, thereby successfully cutting the leaded wire end. In addition, the groove H7b allows the conductive pin 811 to be inserted, ensuring that the leaded wire end on the conductive pin 811 is located between the fixed cutting head 701a and the moving blade 7021. This ensures accurate and reliable wire cutting.

[0163] Preferably, the bottom of the cutting head 702a is provided with a slit H7c, which communicates with the blade groove H7b and is open in the X-axis direction to prevent the hanging wire end from being obstructed when the electromagnetic element is inserted into the workpiece positioning space. By providing a slit H7c on the cutting head 702a that communicates with the blade groove H7b, when the workpiece positioning space of the wire cutting device 70 is engaged with the positioning of the electromagnetic element, the conductive pin 811 on the electromagnetic element is inserted into the blade groove H7b, and the hanging wire end on the conductive pin 811 can just extend outward from the slit H7c in the second direction, ensuring that the hanging wire end can be positioned between the fixed blade head 701a and the moving blade 7021 and extend outward. This facilitates the cutting of the hanging wire end and improves the reliability of the cutting.

[0164] Reference Figure 24 As shown, in one embodiment of the present invention, the fixed tool holder 701 is provided with a positioning groove H7a for positioning the insulating seat 81, and the two fixed tool heads 701a are located on both sides of the positioning groove H7a in the X-axis direction.

[0165] In other words, positioning grooves H7a are provided on the two fixed blade holders 701. These positioning grooves H7a are adapted to the insulating base 81 of the electromagnetic component. When the two fixed blade holders 701 descend, they can ensure that both sides of the insulating base 81 are locked in the two positioning grooves H7a. In this way, the electromagnetic component is kept fixed. In the subsequent cutting process, based on the relatively stable positional relationship, the hanging wire end can be cut off smoothly.

[0166] Refer to 15 to Figure 18 As shown, in one embodiment of the present invention, the loading clamp 20 includes a base 201, a movable seat 202 and a seventh drive mechanism 203, and a clamping groove H20 is formed on the top of the base 201, the clamping groove H20 having an open side.

[0167] The movable seat 202 is configured on the open side and is switchable between an open position and a closed position. In one example, the movable seat 202 is located on one side of the base 201 in the X-axis direction.

[0168] The seventh drive mechanism 203 is connected to the movable seat 202 and is used to drive the movable seat 202 to switch between the open position and the closed position. The seventh drive mechanism 203 includes, but is not limited to, cylinders, linear motors, etc.

[0169] When the movable seat 202 is in the open position, the movable seat 202 separates from the base 201 to open the open side. When the movable seat 202 is in the closed position, the movable seat 202 is close to the base 201 to close the open side and clamp the second closing part 8013 of the closed magnetic core 801 in the clamping groove H20.

[0170] In use, the movable seat 202 is first kept in the open position. Then, the closed magnetic core 801 with coil 802 is transferred and inserted into the clamping slot H20. Next, the movable seat 202 is driven from the open position to the closed position by the seventh drive mechanism 203. At this time, the movable seat 202 abuts against the open side of the base 201, so that the clamping slot H20 is closed and the second closed part 8013 of the closed magnetic core 801 in the clamping slot H20 is clamped. The loading clamp 20 with this structure can reliably clamp and fix the closed magnetic core 801, especially in the Z-axis direction, it can withstand greater pressure, ensuring the subsequent operation of the coil clamping assembly 401 clamping the coil 802.

[0171] Reference Figures 17 to 18 As shown, in one embodiment of the present invention, the movable seat 202 is pivotally connected to the base 201, and the seventh drive mechanism 203 drives the movable seat 202 to pivot between the open position and the closed position along the third axis Z02, which extends along the Y-axis direction.

[0172] In this embodiment, the movable seat 202 is connected to the base 201 by a pivot connection. The seventh drive mechanism 203 drives the movable seat 202 to rotate around the third axis Z02, so that the movable seat 202 can move closer to or away from the open side of the base 201. In this way, the clamping operation is realized. Its structure is simple and the clamping is reliable.

[0173] It is understood that in other embodiments, the movable seat 202 can also be driven to move closer to or away from the open side of the base 201 by a linear drive, that is, the movable seat 202 slides in a straight line relative to the base 201, thus achieving the clamping action.

[0174] Reference Figures 21 to 23As shown, in one embodiment of the present invention, the thread cutting device 70 further includes a mounting base 704 and a swing arm 705. The mounting base 704 has a downward penetrating swing groove. Exemplarily, the mounting base 704 is a strip structure and the swing groove is formed inside.

[0175] The swing arm 705 passes through the swing groove, and the upper end of the swing arm 705 is pivotable about an axis that extends along the second direction. That is, the swing arm 705 can swing about the axis in the swing groove. The swing amplitude of the swing arm 705 can be limited by the width of the swing groove, thereby defining the first cutting position and the second cutting position of the movable cutter 702.

[0176] Two fixed blade holders 701 are mounted on the lower end of the mounting base 704 and located on both sides of the swing groove in the Y-axis direction. The movable cutter 702 is mounted on the lower end of the swing arm 705. The fourth drive mechanism 703 drives the swing arm 705 to swing within the swing groove, so that the movable cutter 702 switches between the central position, the first cutting position, and the second cutting position.

[0177] In other words, the two fixed blade holders 701 are fixed to the bottom of the mounting base 704, while the movable cutter 702 is mounted on the swing arm 705. The fourth drive mechanism 703 is connected to the swing arm 705. The swing arm 705 is driven to swing in the swing groove through the fourth drive mechanism 703, thereby driving the movable cutter 702 to switch between the first cutting position, the center position and the second cutting position, thereby achieving the cutting of the hanging wire end.

[0178] In this embodiment, the swing-type drive structure is adopted. Its structure is stable and the swing is reliable, thereby ensuring that the movable cutter 702 can switch reliably between the first cutting position, the central position and the second cutting position. In addition, the structure is simple, occupies little space and is suitable for cooperation with other mechanisms in the equipment.

[0179] It is understandable that the movable cutter 702 can also adopt a linear drive structure, that is, drive the movable cutter 702 to slide back and forth along a straight line in the first direction, and can also switch between the first cutting position, the center position and the second cutting position.

[0180] Reference Figures 21 to 23As shown, in one embodiment of the present invention, the fourth drive mechanism 703 includes a first elastic component 703a, a second elastic component 703b, and a drive component. The first elastic component 703a is disposed between the mounting base 704 and one side of the swing arm 705. The second elastic component 703b is disposed between the mounting base 704 and the other side of the swing arm 705. The elastic forces provided by the first elastic component 703a and the second elastic component 703b are in opposite directions, thereby positioning the swing arm 705 in the central position.

[0181] A drive assembly is mounted on the mounting base 704 and connected to the swing arm 705, for driving the swing arm 705 to move to one side of the first direction against the elastic force of the first elastic component 703a, or to move to the other side of the first direction against the elastic force of the second elastic component 703b. Exemplarily, the drive assembly includes a first cylinder 703c and a second cylinder 703d, with the first cylinder 703c mounted on one side of the mounting base 704 in the first direction and the second cylinder 703d mounted on the other side of the mounting base 704 in the first direction.

[0182] During the cutting process, the movable cutter 702 is first driven by the second cylinder 703d to overcome the elastic force of the first elastic component 703a and move to one side in the first direction, thus cutting off a portion of the lead wire end on the electromagnetic element. Then, the movable cutter 702 is driven by the first cylinder 703c to overcome the elastic force of the second elastic component 703b and move to the other side in the first direction, thus cutting off the other portion of the lead wire end on the electromagnetic element. In this way, the cutting operation of the lead wire end can be achieved. In addition, when reset is required, neither the first cylinder 703c nor the second cylinder 703d is working. Under the elastic forces provided by the first elastic component 703a and the second elastic component 703b in opposite directions and of equal magnitude, the movable cutter 702 can be reset to the central position. This drive structure is simple in structure and provides stable and reliable drive.

[0183] Reference Figures 6 to 7 As shown, in some embodiments of the present invention, the hanging manipulator 601 includes a wire clamping manipulator and a three-axis moving platform 602. The wire clamping manipulator includes a third clamping finger 6011, a fourth clamping finger 6012, and a fifth driving mechanism 6013. The third clamping finger 6011 and the fourth clamping finger 6012 are arranged opposite to each other. The fifth driving mechanism 6013 is connected to the third clamping finger 6011 and the fourth clamping finger 6012 and is used to drive the third clamping finger 6011 and the fourth clamping finger 6012 to move relative to each other to clamp or loosen the wire end.

[0184] The three-axis moving platform 602 is connected to the wire-clamping robot and is used to drive the wire-clamping robot to move in the X-axis, Y-axis and Z-axis directions.

[0185] In the specific process of hanging the wire, the three-axis moving platform 602 drives the wire clamping robot to move to the wire end position of the coil 802. Then, the fifth driving mechanism 6013 drives the first clamping finger 301 and the second clamping finger 302 to move relative to each other to clamp the wire end of the coil 802. Then, the three-axis moving platform 602 drives the wire clamping robot to move to wrap the wire end around the conductive pin 811 of the insulating base 81. In this way, the wire hanging operation is completed. The structure is simple, the wire hanging operation is reliable, and the efficiency is high.

[0186] For example, the fifth drive mechanism 6013 may be a drive mechanism such as a clamping cylinder.

[0187] Advantageously, the foot-hanging device 60 also includes a clamping mechanism 603, which includes two clamping arms 6031 and a sixth drive mechanism 6032 that drives the clamping arms 6031 to move along the Y-axis and Z-axis. The two clamping arms 6031 are arranged opposite each other in the Y-axis direction. Before hanging the foot, the two clamping arms 6031 can be driven to move closer to each other along the Y-axis by the sixth drive mechanism 6032, and then driven to move downward along the Z-axis. This allows the two clamping arms 6031 to press the insulating seat 81 onto the magnetic core coil 80, making the insulating seat 81 more reliably fixed. This makes it easier and more reliable to hang the foot when the foot-hanging robot 601 winds the wire end around the conductive pin 811.

[0188] Reference Figure 28 As shown, the integrated winding and hanging device according to an embodiment of the present invention includes a winding device 90 and an electromagnetic element hanging device as described above.

[0189] The winding device 90 is used to wind a coil 802 on a closed magnetic core 801 to form a magnetic core coil 80. The winding device 90 is prior art and will not be described in detail here.

[0190] The electromagnetic component mounting device is used to assemble the insulating base 81 and the magnetic core coil 80 to form an electromagnetic component, and to wind the wire ends of the magnetic core coil 80 around the conductive pins 811 of the insulating base 81.

[0191] According to the embodiment of the present invention, the winding and hanging device first winds the wire through the winding device 90. After the winding is completed, the transfer robot can transfer the magnetic core coil 80 to the placement fixture 20. Then, the wire end stripping mechanism 40 strips the wire end from the upper end of the coil 802. Subsequently, the loading robot 50 assembles the insulating seat 81 and the magnetic core coil 80 together. Finally, the hanging device 60 winds the wire end of the coil 802 onto the conductive pin 811 of the insulating seat 81. In this way, the winding and hanging operations are completed, realizing fully automated processing and high production efficiency.

[0192] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An electromagnetic component mounting device for assembling an insulating base and a magnetic core coil to form an electromagnetic component, and for winding the wire ends of the magnetic core coil around the conductive pins of the insulating base, characterized in that, The electromagnetic component mounting device includes: Multi-axis motion mechanism; A mounting fixture suitable for clamping and fixing vertically placed magnetic core coils; A transfer robot arm, which is mounted on the multi-axis motion mechanism, is used to transfer the magnetic core coil to the loading fixture; A wire stripping mechanism is provided on the multi-axis motion mechanism and is used to strip the wire ends at the upper end of the magnetic core coil after the magnetic core coil is transferred to the loading fixture, so that the wire ends at the upper end of the magnetic core coil are curled upwards. A loading robot, which is mounted on the multi-axis motion mechanism, is used to transfer the insulating seat to the loading fixture and assemble it with the magnetic core coil to form the electromagnetic element; A foot-hanging device, comprising multiple foot-hanging robotic arms arranged around the loading fixture for gripping the wire ends on the magnetic core coil and winding them around the conductive pins on the insulating base; It also includes a wire end cutting device for cutting the hanging wire ends on the electromagnetic element, wherein the hanging wire ends are the excess wire ends formed after the wire ends on the magnetic core coil are wound around the conductive pins on the insulating base; The thread cutting device includes: Two fixed tool holders are arranged opposite each other in the Y-axis direction and define a workpiece positioning space suitable for positioning the electromagnetic element, each fixed tool holder having a fixed tool head; A movable cutting blade is located between two fixed blade holders, and the movable cutting blade has a cutting head with two moving blades arranged back to back in the Y-axis direction. The fourth driving mechanism is used to drive the movable cutter to switch between a central position, a first cutting position, and a second cutting position, wherein the first cutting position and the second cutting position are located on both sides of the central position, respectively. When the movable cutter moves from the central position to the first cutting position, one of the moving blades in the cutter head holds one lead of the electromagnetic element against the fixed blade of one of the two fixed blade holders and cuts it off; when the movable cutter moves from the central position to the second cutting position, the other moving blade in the cutter head holds the other lead of the electromagnetic element against the fixed blade of the other of the two fixed blade holders and cuts it off.

2. The electromagnetic component mounting device according to claim 1, characterized in that, The magnetic core coil includes a closed magnetic core and a coil, the coil being wound on the side posts of the closed magnetic core; the wire stripping mechanism includes: A coil clamping assembly is used to press the coil on the enclosed magnetic core downwards; A wire-removing device is located on one side of the coil clamping assembly. The wire-removing device includes a scraper and a first driving mechanism. The first driving mechanism is connected to the scraper and is used to drive the scraper to move along the X-axis towards the coil after the coil is clamped by the coil clamping assembly, so as to insert it below the wire end at the upper end of the coil, causing the wire end at the upper end of the coil to bend upward.

3. The electromagnetic component mounting device according to claim 2, characterized in that, The coil clamping assembly includes: Pressure head; At least one elastic needle is mounted on the bottom of the pressure head, and the lower end of the elastic needle is adapted to elastically abut against the coil; The second drive mechanism is connected to the pressure head and is used to drive the pressure head to move along the Z-axis.

4. The electromagnetic component mounting device according to claim 2, characterized in that, The line-shoveling device also includes a blade holder, the blade being disposed on the blade holder and pivotable between a first position and a second position about a first axis, the first axis extending along the Y-axis direction; When the shovel is in the first position, the shovel head is adapted to be aligned with the lower end of the wire inserted into the upper end of the coil, and the second position is located above the first position; The first drive mechanism is connected to the blade holder and is used to drive the blade holder to move along the X-axis.

5. The electromagnetic component mounting device according to claim 2, characterized in that, The transfer robot includes: The first clamping finger extends along the Z-axis direction, and the lower end of the first clamping finger has an upper clamp for clamping the top of the closed magnetic core. The second clamping finger is arranged parallel to the first clamping finger. The lower end of the second clamping finger is bent to form a lower clamp for clamping the bottom of the closed magnetic core. The lower clamp and the upper clamp are arranged opposite to each other in the Z-axis direction and define a clamping gap. The third driving mechanism is used to drive the first and second gripping fingers to move relative to each other in the Z-axis direction, so that the upper and lower grippers move closer or further apart to grip or release the magnetic core coil.

6. The electromagnetic component mounting device according to claim 1, characterized in that, The fixed cutter head has a stop surface, and the Y-axis direction is perpendicular to the stop surface; When the electromagnetic element is located within the workpiece positioning space, the conductive pin is located inside the stop surface and is close to the stop surface.

7. The electromagnetic component mounting device according to claim 1, characterized in that, The foot-hanging robotic arm includes: A wire clamping robot includes a third clamping finger, a fourth clamping finger, and a fifth driving mechanism. The third and fourth clamping fingers are arranged opposite to each other, and the fifth driving mechanism is connected to the third and fourth clamping fingers to drive the third and fourth clamping fingers to move relative to each other to clamp or release the wire end. A three-axis motion platform is connected to the wire-clamping robot and is used to drive the wire-clamping robot to move in the X, Y and Z axis directions.

8. A winding and hanging integrated device, characterized in that, include: A winding device for winding a coil on a closed magnetic core to form a magnetic core coil; The electromagnetic element mounting device according to any one of claims 1 to 7 is used to assemble an insulating base and a magnetic core coil to form an electromagnetic element, and to wind the wire ends of the magnetic core coil around the conductive pins of the insulating base.

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