Coil rounding device

Abstract

The invention discloses a coil circle splicing device which comprises a straightening and gathering mechanism, a coil circle splicing mechanism and a coil circle splicing mechanism, and the straightening and gathering mechanism is used for straightening and gathering a plurality of iron cores to be processed to form an iron core group to be processed; the circle splicing mechanism is arranged on one side of the straightening and gathering mechanism, and the circle splicing mechanism is used for splicing the multiple to-be-machined iron core sets into a circle to form a whole circle coil; the wire arranging mechanism is arranged on the side, opposite to the straightening and gathering mechanism, of the circle splicing mechanism, and the wire arranging mechanism is used for arranging wires of the whole circle coil; and the material taking mechanism is at least used for clamping the iron core group to be processed between the straightening and closing mechanism and the circle splicing mechanism and clamping the whole circle coil between the circle splicing mechanism and the wire arranging mechanism. According to the coil circle-splicing device, full-automatic circle-splicing of the coil can be achieved, the labor intensity of workers can be reduced, and the coil circle-splicing device has the advantages of being high in circle-splicing efficiency, good in circle-splicing quality consistency and the like.

Description

Technical Field

[0001] The invention relates to the technical field of coil circle assembly, in particular to a coil circle assembly device. Background Art

[0002] In the related art, when multiple two-linked coils are assembled into a full-circle coil, it is usually necessary to manually use tools to perform the assembly operation of the two-linked coils. Among them, some technologies use mechanical automatic operation to perform some steps of assembling the coils into a circle, but it is still impossible to achieve fully automatic assembly of the coils. This not only leads to poor consistency in the assembly of the coils, but also low efficiency, time-consuming and labor-intensive manual assembly of the coils. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a coil rounding device, which can realize full-automatic rounding of coils, is conducive to reducing manual labor intensity, and has the advantages of high rounding efficiency and good rounding quality consistency.

[0004] In order to achieve the above-mentioned purpose, a coil rounding device is proposed according to an embodiment of the present invention, comprising: a straightening and closing mechanism, which is used to straighten and close together a plurality of iron cores to be processed and close them together to form a group of iron cores to be processed; a rounding mechanism, which is arranged on one side of the straightening and closing mechanism, and is used to round together a plurality of the iron core groups to be processed to form a full-circle coil; a wire organizing mechanism, which is arranged on the side of the rounding mechanism facing away from the straightening and closing mechanism, and is used to organize the wires of the full-circle coil; a material picking mechanism, which is at least used to clamp the group of iron cores to be processed between the straightening and closing mechanism and the rounding mechanism, and to clamp the full-circle coil between the rounding mechanism and the wire organizing mechanism.

[0005] The coil rounding device according to the embodiment of the present invention can realize fully automatic rounding of coils, which is beneficial to reducing manual labor intensity and has the advantages of high rounding efficiency and good rounding quality consistency.

[0006] According to some embodiments of the present invention, the straightening and bringing together mechanism includes: a straightening component, which is used to straighten the iron core to be processed; and a bringing together component, which is arranged on the side of the straightening component facing the rounding mechanism, and is used to bring together multiple straightened iron cores to be processed to form the iron core group to be processed.

[0007] According to some embodiments of the present invention, the straightening components are multiple and are disposed on two opposite sides of the material taking mechanism; and / or the closing components are multiple and are disposed on two opposite sides of the material taking mechanism.

[0008] According to some embodiments of the present invention, the straightening assembly includes: a plurality of straightening fixing frames, the plurality of the straightening fixing frames are arranged at intervals; a straightening jaw group, the straightening jaw group includes a plurality of straightening driving members and a plurality of straightening jaws, the straightening driving members are transmission-connected to the straightening jaws, the plurality of straightening jaws are arranged one-to-one on the plurality of the straightening fixing frames, and the plurality of the straightening jaws are used to clamp the same iron core to be processed; a plurality of first driving members, the plurality of the first driving members are arranged on the straightening fixing frames and are transmission-connected to at least some of the plurality of the straightening jaws to drive the straightening jaws to move and / or rotate relative to the straightening fixing frames.

[0009] According to some embodiments of the present invention, the straightening assembly also includes: a first slide rail seat, the first slide rail seat is provided with a first slide rail, and the multiple straightening fixed frames can be slidably matched with the first slide rail; multiple second driving members, and the multiple second driving members are respectively connected to the multiple straightening fixed frames to drive the straightening fixed frames to rise and fall, or drive the multiple straightening fixed frames to move closer to or away from each other along the first slide rail.

[0010] According to some embodiments of the present invention, there are a plurality of straightening jaw groups, the plurality of straightening jaw groups are arranged at intervals, and the plurality of straightening jaws of each straightening jaw group are arranged on a plurality of straightening fixing frames in a one-to-one correspondence.

[0011] According to some embodiments of the present invention, the closing assembly includes: a plurality of closing fixing frames, the plurality of closing fixing frames are arranged at intervals; a plurality of closing jaw groups, the closing jaw groups include a plurality of closing driving members and a plurality of closing jaws, the closing driving members are transmission connected to the closing jaws, the plurality of closing jaws of each closing jaw group are respectively arranged on a plurality of closing fixing frames, and the plurality of closing jaws of each closing jaw group are used to clamp the same iron core to be processed; a plurality of driving arms, the plurality of driving arms are connected to the closing jaws of at least some of the closing jaw groups; a plurality of third driving members, the plurality of third driving members are arranged on the closing fixing frames and are transmission connected to the plurality of driving arms one by one, so as to drive the driving arms to rotate and drive the plurality of closing jaws to approach or move away from each other.

[0012] According to some embodiments of the present invention, the closing assembly also includes: a second slide rail seat, the second slide rail seat is provided with a second slide rail, and the multiple closing fixing frames can be slidably matched with the second slide rail; a first bidirectional lead screw, and the multiple closing fixing frames are respectively connected to the two ends of the first bidirectional lead screw; and a fourth driving member, the fourth driving member is transmission-connected to the first bidirectional lead screw to drive the first bidirectional lead screw to rotate and drive the multiple closing fixing frames to approach or move away from each other along the second slide rail.

[0013] According to some embodiments of the present invention, the circle splicing mechanism includes: a semicircle splicing component, which is arranged on the side of the closing component facing away from the straightening component, and the semicircle splicing component is used to splice multiple iron core groups to be processed into semicircular coils; a full circle splicing component, which is arranged on the side of the semicircle splicing component facing away from the straightening and closing mechanism, and the full circle splicing component is used to splice multiple semicircular coils into full circle coils.

[0014] According to some embodiments of the present invention, the semicircular components are multiple and are arranged on two opposite sides of the material taking mechanism.

[0015] According to some embodiments of the present invention, the semicircular assembly includes: a plurality of semicircular fixing frames, the plurality of the semicircular fixing frames are arranged at intervals; a semicircular jaw group, the semicircular jaw group includes a plurality of semicircular driving members and a plurality of semicircular jaws, the semicircular driving members are transmission-connected to the semicircular jaws, the plurality of the semicircular jaws are one-to-one arranged on the plurality of the semicircular fixing frames, and the plurality of the semicircular jaws are used to clamp the same iron core group to be processed; a plurality of fifth driving members, the plurality of the fifth driving members are transmission-connected to the plurality of the semicircular jaws one-to-one to drive the semicircular jaws to rotate along a first axis relative to the semicircular fixing frames; a plurality of sixth driving members, the plurality of the sixth driving members are transmission-connected to the plurality of the semicircular jaws one-to-one to drive the semicircular jaws to rotate along a second axis relative to the semicircular fixing frames, and the second axis is perpendicular to the first axis.

[0016] According to some embodiments of the present invention, the semicircular assembly also includes: a third slide rail seat, the third slide rail seat is provided with a third slide rail, and the plurality of semicircular fixing frames can be slidably matched with the third slide rail; a second bidirectional lead screw, and the plurality of semicircular fixing frames are respectively connected to the two ends of the second bidirectional lead screw; and a seventh driving member, the seventh driving member is transmission-connected to the second bidirectional lead screw to drive the second bidirectional lead screw to rotate and drive the plurality of semicircular fixing frames to approach or move away from each other along the third slide rail.

[0017] According to some embodiments of the present invention, the whole circle assembly includes: a plurality of whole circle fixing frames, the plurality of the whole circle fixing frames are arranged at intervals; a plurality of whole circle clamping groups, the whole circle clamping groups include a whole circle driving member and a whole circle clamping member, the whole circle driving member and the whole circle clamping member are transmission connected, the plurality of the whole circle clamping groups are arranged one-to-one on the plurality of the whole circle fixing frames, and the plurality of the whole circle clamping groups respectively clamp different semicircular coils; a plurality of eighth driving members, the plurality of the eighth driving members are transmission connected one-to-one with the plurality of the whole circle clamping groups to drive the whole circle clamping groups to rotate relative to the whole circle fixing frames, and the rotation axes of the plurality of the whole circle clamping groups are parallel.

[0018] According to some embodiments of the present invention, the whole circle assembly also includes: a fourth slide rail seat, the fourth slide rail seat is provided with a fourth slide rail, and the plurality of the whole circle fixing frames can be slidably matched with the fourth slide rail; a third bidirectional lead screw, and the plurality of the whole circle fixing frames are respectively connected to the two ends of the third bidirectional lead screw; and a ninth driving member, the ninth driving member is transmission-connected to the third bidirectional lead screw to drive the third bidirectional lead screw to rotate and drive the plurality of the whole circle fixing frames to approach or move away from each other along the fourth slide rail.

[0019] According to some embodiments of the present invention, the material picking mechanism includes a first material picking mechanism, and the first material picking mechanism includes: a material picking fixed frame, which is movable along the arrangement direction of the straightening and closing mechanism and the rounding mechanism; a first driving jaw, which is arranged on the material picking fixed frame, and the first driving jaw is used to clamp the straightened iron core to be processed; a second driving jaw, which is arranged on the material picking fixed frame, and the second driving jaw is used to clamp the iron core group to be processed; a third driving jaw, which is arranged on the material picking fixed frame, and the third driving jaw is used to clamp the semicircular coil.

[0020] According to some embodiments of the present invention, the material picking fixed frame includes: a first bracket, which is movable along the arrangement direction of the straightening and closing mechanism and the rounding mechanism; a second bracket, which is arranged on the first bracket, and the first driving jaw, the second driving jaw and the third driving jaw are arranged at intervals on the second bracket; a first lifting drive member, which is arranged on the first bracket and is transmission-connected to the second bracket to drive the second bracket to rise and fall relative to the first bracket.

[0021] According to some embodiments of the present invention, the straightening components are multiple and are arranged on two opposite sides of the first material taking mechanism, and the first driving clamps are multiple and correspond one-to-one to the multiple straightening components; and / or

[0022] There are multiple closing components and they are arranged on two opposite sides of the first material picking mechanism, there are multiple second driving jaws and they correspond one-to-one to the multiple closing components; and / or there are multiple semicircle components and they are arranged on two opposite sides of the first material picking mechanism, there are multiple third driving jaws and they correspond one-to-one to the multiple semicircle components.

[0023] According to some embodiments of the present invention, the material picking mechanism also includes a second material picking mechanism, and the second material picking mechanism includes: a first fixed seat; a first multi-axis robotic arm, the first multi-axis robotic arm is rotatably connected to the first fixed seat, the first multi-axis robotic arm includes a plurality of first robotic arms connected in sequence, and two adjacent first robotic arms can rotate relative to each other; a material picking jaw assembly, the material picking jaw assembly includes a material picking drive and a material picking jaw, the material picking drive is arranged at an end of the first multi-axis robotic arm away from the first fixed seat, and the material picking drive is transmission-connected to the material picking jaw to drive the material picking jaw to clamp the full-circle coil.

[0024] According to some embodiments of the present invention, the wire management mechanism includes: a positioning component, which is used to position the full-circular coil; a pressing component, which is arranged on one side of the positioning component and is used to press the full-circular coil; a wire management component, which is arranged on the side of the pressing component facing away from the positioning component and is used to organize the wires of the full-circular coil; and a flipping component, which is arranged on one side of the wire management component to flip and cut the full-circular coil.

[0025] According to some embodiments of the present invention, the positioning assembly includes: a fifth slide rail seat, the fifth slide rail seat is provided with a fifth slide rail; a positioning seat, the positioning seat can be slidably matched with the fifth slide rail, and the positioning seat is used to place the full-circle coil; a positioning drive member, the positioning drive member is transmission-connected with the positioning seat to drive the positioning seat to move along the fifth slide rail; a positioning fixed frame, the positioning fixed frame is arranged on the fifth slide rail seat and is at least partially located above the fifth slide rail; a visual positioning member, the visual positioning member is arranged on the positioning fixed frame, and the visual positioning member is used to position the viewing angle of the full-circle coil; a pre-pressing assembly, the pre-pressing assembly can be raised and lowered on the positioning fixed frame to pre-press the full-circle coil.

[0026] According to some embodiments of the present invention, the positioning seat includes: a positioning frame, which is slidably engaged with the fifth slide rail; a positioning column, which is arranged on the positioning frame and is used to pre-position the full-circle coil; a plurality of positioning jaw assemblies, which are arranged at intervals along the circumference of the positioning column, and the positioning jaw assemblies include a positioning jaw driving member and a positioning jaw, and the positioning jaw driving member is arranged on the positioning frame and is transmission-connected to the positioning jaw to drive the positioning jaw to clamp the full-circle coil.

[0027] According to some embodiments of the present invention, the pressing assembly includes: a pressing fixing frame, which is arranged on the fifth slide rail seat and is at least partially located above the fifth slide rail; a pressing driving member, which is telescopically fixed to the pressing fixing frame; and a pressing member, which is connected to the bottom of the pressing driving member and drives the pressing member to rise and fall.

[0028] According to some embodiments of the present invention, the wire management assembly includes: a second fixed seat; a second multi-axis robotic arm, the second multi-axis robotic arm is rotatably connected to the second fixed seat, the second multi-axis robotic arm includes a plurality of second robotic arms connected in sequence, and two adjacent second robotic arms can rotate relative to each other; a wire management rod, the wire management rod is connected to one end of the second multi-axis robotic arm away from the second fixed seat, and the wire management rod is used to organize the wires of the full circular coil.

[0029] According to some embodiments of the present invention, the flipping assembly includes: a base plate; a plurality of flipping fixing frames, wherein the plurality of flipping fixing frames are movably arranged on the base plate; a plurality of flipping jaw assemblies, wherein the flipping jaw assemblies include a flipping driving member and a flipping jaw, wherein the flipping driving member is arranged on the flipping fixing frame and is transmission-connected with the flipping jaw to drive the flipping jaw to clamp the full-circle coil; a plurality of tenth driving members, wherein the tenth driving members are arranged on the flipping fixing frame, and the plurality of the tenth driving members are transmission-connected with the plurality of the flipping jaws one-to-one to drive the flipping jaws to rotate relative to the flipping fixing frame; an eleventh driving member, wherein the eleventh driving member is transmission-connected with at least some of the plurality of flipping fixing frames to drive the plurality of the flipping fixing frames to move closer to or away from each other.

[0030] According to some embodiments of the present invention, the coil rounding device further includes: a base, and the straightening and closing mechanism, the rounding mechanism, the wire organizing mechanism and the material taking mechanism are all arranged on the base.

[0031] According to some embodiments of the present invention, the coil rounding device further includes: a material transporting mechanism, which is disposed on one side of the base and is used to transport the iron core to be processed and / or the full-circle coil.

[0032] According to some embodiments of the present invention, the coil rounding device also includes a loading robot, which is arranged on a side of the base adjacent to the material transporting mechanism, and the loading robot includes: a third fixed seat, which is arranged on the base; a third multi-axis robotic arm, which is rotatably connected to the third fixed seat, and the third multi-axis robotic arm includes a plurality of third robotic arms connected in sequence, and two adjacent third robotic arms can rotate relative to each other; a loading jaw assembly, which includes a plurality of loading driving members and a plurality of loading jaws, and the plurality of loading driving members are transmission-connected to the plurality of loading jaws in a one-to-one correspondence to drive the loading jaws to clamp the iron core to be processed; a second lifting driving member, which is arranged at an end of the third multi-axis robotic arm away from the third fixed seat, and the second lifting driving member is connected to the loading jaw assembly to drive the loading jaw assembly to rise and fall.

[0033] According to some embodiments of the present invention, the coil circle splicing device also includes a feeding robot, which is arranged on a side of the base adjacent to the material transporting mechanism, and the feeding robot includes: a fourth fixed seat, which is arranged on the base; a fourth multi-axis robotic arm, which is rotatably connected to the fourth fixed seat, and the fourth multi-axis robotic arm includes a plurality of fourth robotic arms connected in sequence, and two adjacent fourth robotic arms can rotate relative to each other; a feeding jaw assembly, which includes a feeding drive and a feeding jaw, and the feeding drive is arranged at one end of the fourth multi-axis robotic arm away from the fourth fixed seat, and the feeding drive is transmission-connected to the feeding jaw to drive the feeding jaw to clamp the full-circle coil.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 is a schematic structural diagram of a coil circle forming device according to an embodiment of the present invention;

[0037] Figure 2 is a schematic structural diagram of a straightening assembly according to an embodiment of the present invention;

[0038] Figure 3 It is a schematic diagram of the structures of a closing assembly, a semicircle assembly and a full circle assembly according to an embodiment of the present invention;

[0039] Figure 4is a schematic structural diagram of a closing assembly according to an embodiment of the present invention;

[0040] Figure 5 is a schematic structural diagram of a semicircle assembly according to an embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a circle assembly according to an embodiment of the present invention;

[0042] Figure 7 is a schematic structural diagram of a first material taking mechanism according to an embodiment of the present invention;

[0043] Figure 8 is a structural schematic diagram of a second material taking mechanism according to an embodiment of the present invention;

[0044] Fig. 9 is a structural schematic diagram of a wire management mechanism according to an embodiment of the present invention;

[0045] Fig.10 is a schematic structural diagram of a positioning assembly and a pressing assembly according to an embodiment of the present invention;

[0046] Fig.11 is a schematic structural diagram of a positioning component according to an embodiment of the present invention;

[0047] Fig.12 is a schematic structural diagram of a positioning seat according to an embodiment of the present invention;

[0048] Fig.13 is a schematic structural diagram of a pressing assembly according to an embodiment of the present invention;

[0049] Fig.14 is a schematic structural diagram of a cable management assembly according to an embodiment of the present invention;

[0050] Fig.15 is a schematic structural diagram of a flip assembly according to an embodiment of the present invention;

[0051] Fig.16 is a schematic structural diagram of a feeding robot and a straightening assembly according to an embodiment of the present invention;

[0052] Fig.17 is a schematic structural diagram of a loading robot according to an embodiment of the present invention;

[0053] Fig.18 is a schematic structural diagram of a material unloading robot according to an embodiment of the present invention;

[0054] Fig.19 is a schematic structural diagram of an iron core to be processed and an iron core to be processed after being straightened according to an embodiment of the present invention;

[0055] Fig. 20is a schematic structural diagram of iron cores to be processed being put together to form an iron core group to be processed according to an embodiment of the present invention;

[0056] Fig.21 is a schematic diagram of a structure in which an iron core to be processed is assembled into a semicircular coil according to an embodiment of the present invention;

[0057] Fig. 22 2 is a schematic diagram of the structure of a full-circle coil before and after wire arrangement according to an embodiment of the present invention.

[0058] Reference numerals:

[0059] 1. Coil circle forming device;

[0060] 10. Straightening and closing mechanism;

[0061] 100, straightening assembly; 110, straightening fixing frame; 120, straightening clamping jaw group; 121, straightening driving member; 122, straightening clamping jaw; 130, first driving member; 140, first slide rail seat; 141, first slide rail; 150, second driving member;

[0062] 200, closing assembly; 210, closing fixing frame; 220, closing jaw group; 221, closing driving member; 222, closing jaw; 230, driving arm; 240, third driving member; 250, second slide rail seat; 251, second slide rail; 260, first bidirectional lead screw; 270, fourth driving member;

[0063] 30. Circle mechanism;

[0064] 300, semicircular assembly; 310, semicircular fixing frame; 320, semicircular clamping jaw group; 321, semicircular driving member; 322, semicircular clamping jaw; 330, fifth driving member; 340, sixth driving member; 350, third slide rail seat; 351, third slide rail; 360, second bidirectional lead screw; 370, seventh driving member;

[0065] 400, the whole circle assembly; 410, the whole circle fixing frame; 420, the whole circle clamping jaw group; 421, the whole circle driving member; 422, the whole circle clamping jaw; 430, the eighth driving member; 440, the fourth slide rail seat; 441, the fourth slide rail; 450, the third bidirectional lead screw; 460, the ninth driving member;

[0066] 50. Cable management mechanism;

[0067] 500, positioning assembly; 510, fifth slide rail seat; 511, fifth slide rail; 520, positioning seat; 521, positioning frame; 522, positioning column; 523, positioning jaw assembly; 5231, positioning jaw driving member; 5232, positioning jaw; 530, positioning driving member; 540, positioning fixing frame; 550, visual positioning member; 560, pre-pressing assembly;

[0068] 570, pressing assembly; 571, pressing fixing frame; 572, pressing driving member; 573, pressing member;

[0069] 580, cable management assembly; 581, second fixing seat; 582, second multi-axis mechanical arm; 583, second mechanical arm; 584, cable management rod;

[0070] 600, flip assembly; 610, bottom plate; 620, flip fixing frame; 630, flip clamp assembly; 631, flip driving member; 632, flip clamp; 640, tenth driving member; 650, eleventh driving member;

[0071] 70. Material taking mechanism;

[0072] 700, first material taking mechanism; 710, material taking fixed frame; 720, first driving jaw; 730, second driving jaw; 740, third driving jaw; 750, first bracket; 760, second bracket; 770, first lifting driving member;

[0073] 780, second material picking mechanism; 781, first fixed seat; 782, first multi-axis mechanical arm; 783, first mechanical arm; 784, material picking clamping claw assembly; 785, material picking driving member; 786, material picking clamping claw;

[0074] 80. Base; 90. Material transport mechanism;

[0075] 800, feeding robot; 810, third fixed seat; 820, third multi-axis mechanical arm; 821, third mechanical arm; 830, feeding clamp assembly; 831, feeding drive; 832, feeding clamp; 840, second lifting drive;

[0076] 850, a material unloading robot; 851, a fourth fixed seat; 852, a fourth multi-axis robotic arm; 853, a fourth robotic arm; 854, a material unloading clamping jaw assembly; 855, a material unloading driving member; 856, a material unloading clamping jaw;

[0077] 900, iron core to be processed; 910, iron core group to be processed; 920, semicircular coil; 930, full-circular coil; 931, conductor. DETAILED DESCRIPTION

[0078] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0079] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0080] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0081] In the description of the present invention, "plurality" means two or more than two, and "several" means one or more.

[0082] The following describes a coil circle forming device 1 according to an embodiment of the present invention with reference to the accompanying drawings.

[0083] like Figure 1-Figure 22 As shown, the coil rounding device 1 according to the embodiment of the present invention includes a straightening and closing mechanism 10, a rounding mechanism 30, a wire management mechanism 50 and a material taking mechanism 70.

[0084] The straightening and closing mechanism 10 is used to straighten and close the multiple iron cores 900 to be processed and then close them to form an iron core group 910 to be processed. The rounding mechanism 30 is arranged on one side of the straightening and closing mechanism 10, and the rounding mechanism 30 is used to round the multiple iron core groups 910 to be processed to form a full-circle coil 930. The wire management mechanism 50 is arranged on the side of the rounding mechanism 30 that is away from the straightening and closing mechanism 10, and the wire management mechanism 50 is used to organize the conductive wires 931 of the full-circle coil 930. The material picking mechanism 70 is at least used to clamp the iron core group 910 to be processed between the straightening and closing mechanism 10 and the rounding mechanism 30, and to clamp the full-circle coil 930 between the rounding mechanism 30 and the wire management mechanism 50.

[0085] The iron core 900 to be processed may be a two-wound coil.

[0086] Among them, Figure 1As shown, the coil rounding device 1 can be provided with a base 80, and the straightening and closing mechanism 10, the rounding mechanism 30, the wire management mechanism 50 and the material taking mechanism 70 can all be arranged on the base 80, and the straightening and closing mechanism 10, the rounding mechanism 30 and the wire management mechanism 50 can be arranged along the length direction of the base 80, and the base 80 can be a whole, or the base 80 can be divided into multiple parts, each base 80 is used to fix one or more of the straightening and closing mechanism 10, the rounding mechanism 30, the wire management mechanism 50 and the material taking mechanism 70.

[0087] According to the coil assembly of the embodiment of the present invention, a straightening and closing mechanism 10 is provided. The straightening and closing mechanism 10 is used to straighten and close the multiple iron cores 900 to be processed to form an iron core group 910 to be processed. In this way, the straightening and closing mechanism 10 can arrange the multiple iron cores 900 to be processed. For example, the straightening and closing mechanism 10 can straighten and close the three iron cores 900 to be processed to form an arc-shaped iron core group 910 to be processed. In this way, there is no need to manually straighten and close the iron cores 900 to be processed, which can not only reduce the labor intensity, but also improve the closing consistency of the iron core group 910 to be processed after closing, so as to facilitate subsequent processing, thereby improving the assembly quality of the two-linked coil.

[0088] In addition, the rounding mechanism 30 is arranged on one side of the straightening and converging mechanism 10, and the rounding mechanism 30 is used to round the multiple iron core groups 910 to be processed into a full circular coil 930. That is to say, after the multiple iron cores 900 to be processed are straightened and converged into the iron core groups 910 to be processed by the straightening and converging mechanism 10, the iron core groups 910 to be processed can be transferred to the rounding mechanism 30, and then the multiple iron core groups 910 to be processed are rounded by the rounding mechanism 30 to form a complete full circular coil 930.

[0089] In addition, the wire management mechanism 50 is arranged on the side of the rounding mechanism 30 that is away from the straightening and closing mechanism 10, and the wire management mechanism 50 is used to organize the wire 931 of the full circular coil 930. It can be understood that the two-linked coil is connected to two iron cores by a wire 931. After the multiple iron cores 900 to be processed are rounded to form a full circular coil 930, the wire 931 will be exposed at the end of the full circular coil 930. At this time, the wire management mechanism 50 can be used to organize this part of the wire 931 so that the wire 931 on the full circular coil 930 can be arranged neatly, and the provision of the wire management mechanism 50 further reduces the manual labor in the coil rounding.

[0090] In addition, the material taking mechanism 70 is at least used to clamp the iron core group 910 to be processed between the straightening and converging mechanism 10 and the rounding mechanism 30, and to clamp the full-circle coil 930 between the rounding mechanism 30 and the wire management mechanism 50. In this way, when a plurality of iron cores 900 to be processed are straightened and converging to form an iron core group 910 to be processed, the material taking mechanism 70 can clamp the iron core group 910 to be processed from the straightening and converging mechanism 10 and place it on the rounding mechanism 30 for rounding, and after the rounding mechanism 30 assembles a plurality of iron core groups 910 to be processed into a full-circle coil 930, the full-circle coil 930 can also be clamped and placed on the wire management mechanism 50 to organize the wire 931 through the material taking mechanism 70. The whole process does not require manual transfer of the iron core group 910 to be processed or the full-circle coil 930, which further reduces the labor intensity of manual labor.

[0091] Therefore, the coil rounding device 1 of the embodiment of the present invention can straighten and close together multiple iron cores 900 to be processed to form an iron core group 910 to be processed, and then round the multiple iron core groups 910 to be processed to form a full-circle coil 930, and finally organize the wires 931 of the full-circle coil 930 through the wire management mechanism 50, that is, the coil rounding device 1 is a complete set of assembly line processing, and in the entire processing process, the iron core 900 to be processed, the iron core group 910 to be processed and the full-circle coil 930 can be picked up and transferred by the material picking mechanism 70, so that no manual participation is required, which is conducive to realizing the full automation of the coil rounding device 1, which not only greatly reduces the labor intensity of manual labor, but also is conducive to improving the consistency of coil rounding, and the rounding quality is higher.

[0092] Thus, the coil rounding device 1 according to the embodiment of the present invention can realize the fully automatic rounding of coils, which is beneficial to reducing the labor intensity of manual labor and has the advantages of high rounding efficiency and good rounding quality consistency.

[0093] In some specific embodiments of the present invention, Figure 1-Figure 4 As shown, the straightening and closing mechanism 10 includes a straightening component 100 and a closing component 200 .

[0094] like Fig.19 and Fig. 20 As shown, the straightening assembly 100 is used to straighten the iron core 900 to be processed, and the closing assembly 200 is arranged on the side of the straightening assembly 100 facing the rounding mechanism 30, and the closing assembly 200 is used to close a plurality of straightened iron cores 900 to be processed to form an iron core group 910 to be processed.

[0095] In this way, the straightening component 100 can straighten the iron core 900 to be processed, and then close the multiple straightened iron cores 900 to be processed through the closing component 200. The straightening component 100 and the closing component 200 can perform the straightening and closing of the iron core 900 to be processed in steps, which is more reasonable and helps to reduce the difficulty of the single step of coil assembly and facilitates implementation.

[0096] Moreover, with such an arrangement, when a problem occurs in a single step, such as a failure in the straightening component 100 or the closing component 200, it is easier to detect the failure of the coil rounding device 1, and maintenance is also more convenient and quick.

[0097] Furthermore, if Figure 1-Figure 3 As shown, there are multiple straightening assemblies 100 and they are disposed on two opposite sides of the material taking mechanism 70 ; and / or, there are multiple closing assemblies 200 and they are disposed on two opposite sides of the material taking mechanism 70 .

[0098] Among them, one of the plurality of straightening assemblies 100 can be used to straighten the short-line iron core 900 to be processed, and another one can be used to straighten the long-line iron core 900 to be processed, and one of the plurality of closing assemblies 200 can be used to close the short-line iron core 900 to be processed, and another one can be used to close the long-line iron core 900 to be processed. Of course, the plurality of straightening assemblies 100 can also be used to straighten and close the long-line iron core or the short-line iron core 900 to be processed.

[0099] With this arrangement, the plurality of straightening components 100 can straighten the plurality of iron cores 900 to be processed respectively, and the plurality of closing components 200 can close the plurality of straightened iron cores 900 to be processed to form an iron core group 910 to be processed, thereby improving the efficiency of straightening and closing the plurality of iron cores 900 to be processed.

[0100] For example, there may be two straightening assemblies 100 and two closing assemblies 200, and the plurality of iron core groups 910 to be processed formed by straightening and closing the two straightening assemblies 100 and the two closing assemblies 200 can be assembled into a whole circular coil 930.

[0101] In some specific embodiments of the present invention, Figure 2 As shown, the straightening assembly 100 includes a plurality of straightening brackets 110 , a straightening jaw set 120 and a plurality of first driving members 130 .

[0102] A plurality of straightening fixing frames 110 are arranged at intervals, and a straightening jaw group 120 includes a plurality of straightening driving members 121 and a plurality of straightening jaws 122, the straightening driving members 121 are transmission-connected to the straightening jaws 122, and the plurality of straightening jaws 122 are arranged one by one on the plurality of straightening fixing frames 110, and the plurality of straightening jaws 122 are used to clamp the same iron core 900 to be processed.

[0103] For example, there may be two straightening fixed frames 110, and the straightening jaw group 120 may include two straightening driving members 121 and two straightening jaws 122, and the two straightening driving members 121 and the two straightening jaws 122 may be respectively arranged on the two straightening fixed frames 110, and the straightening driving member 121 may drive the straightening jaws 122 to clamp or loosen so that the straightening jaws 122 can clamp the iron core 900 to be processed.

[0104] Furthermore, a plurality of first driving members 130 are disposed on the straightening fixing frame 110 and are transmission-connected to at least some of the plurality of straightening jaws 122 so as to drive the straightening jaws 122 to move and / or rotate relative to the straightening fixing frame 110. Thus, when the relative positions of a plurality of iron cores of the same iron core 900 to be processed are staggered, the positions of the straightening jaws 122 can be adjusted by means of the plurality of first driving members 130 so as to drive the iron core 900 to be processed to move or rotate by means of the straightening jaws 122. Thus, the relative positions of the plurality of iron cores of the iron core 900 to be processed can be adjusted so as to facilitate subsequent operations after the iron core 900 to be processed is straightened.

[0105] Furthermore, if Figure 2 As shown, the straightening assembly 100 further includes a first slide rail seat 140 and a plurality of second driving members 150 .

[0106] The first slide rail seat 140 is provided with a first slide rail 141, and the plurality of straightening fixed frames 110 can be slidably matched with the first slide rail 141. The plurality of second driving members 150 are respectively connected to the plurality of straightening fixed frames 110 for driving the straightening fixed frames 110 to rise and fall, or to drive the plurality of straightening fixed frames 110 to move closer to or away from each other along the first slide rail 141.

[0107] Thus, when the height of one side of the iron core 900 to be processed needs to be adjusted, one of the second driving members 150 can be used to drive the straightening fixing frame 110 on one side to be raised or lowered, so as to adjust the height of the iron core 900 to be processed, and after the relative position of the iron core 900 to be processed is fixed, the remaining second driving members 150 can be used to drive the plurality of straightening fixing frames 110 to move away from each other, so as to achieve the straightening of the iron core 900 to be processed. Furthermore, after the straightening of the iron core 900 to be processed is completed, the material taking mechanism 70 takes away the straightened iron core 900 to be processed, and the second driving member 150 can drive the plurality of straightening fixing frames 110 to move closer to each other, so as to fix the next batch of iron cores 900 to be processed and straighten them again.

[0108] Furthermore, if Figure 2 As shown, there are a plurality of straightening jaw groups 120 , and the plurality of straightening jaw groups 120 are arranged at intervals, and the plurality of straightening jaws 122 of each straightening jaw group 120 are arranged on the plurality of straightening fixing frames 110 in a one-to-one correspondence.

[0109] For example, there can be three straightening jaw groups 120, and the multiple straightening jaws 122 of the three straightening jaw groups 120 are respectively arranged on multiple straightening fixed frames 110, so that the straightening component 100 can straighten the three iron cores 900 to be processed at the same time. After the three iron cores 900 to be processed are straightened synchronously, they can be transported to the closing component 200 for closing through the material taking mechanism 70. In this way, the closing component 200 can reduce the waiting time of the closing component 200, which is beneficial to improve the straightening and closing efficiency of the straightening component 100 and the closing component 200 for the multiple iron cores 900 to be processed, and the processing efficiency is higher.

[0110] In some specific embodiments of the present invention, Figure 4 As shown, the closing assembly 200 includes a plurality of closing fixing frames 210 , a plurality of closing jaw groups 220 , a plurality of driving arms 230 and a plurality of third driving members 240 .

[0111] A plurality of closing fixing frames 210 are arranged at intervals, and a closing jaw group 220 includes a plurality of closing driving members 221 and a plurality of closing jaws 222. The closing driving members 221 are transmission-connected with the closing jaws 222. The plurality of closing jaws 222 of each closing jaw group 220 are respectively arranged on a plurality of closing fixing frames 210, and the plurality of closing jaws 222 of each closing jaw group 220 are used to clamp the same iron core 900 to be processed.

[0112] For example, there may be two closing fixing frames 210, and each closing jaw group 220 may include two closing driving members 221 and two closing jaws 222, and the two closing driving members 221 and the two closing jaws 222 may be respectively arranged on the two closing fixing frames 210, and the closing driving member 221 may clamp or release the closing jaws 222 so that the closing jaws 222 may clamp the iron core 900 to be processed.

[0113] Furthermore, the plurality of driving arms 230 are connected to at least some of the closing jaws 222 of the closing jaw group 220, and the plurality of third driving members 240 are disposed on the closing fixing frame 210 and are correspondingly connected to the plurality of driving arms 230 in a one-to-one transmission manner, so as to drive the driving arms 230 to rotate and drive the plurality of closing jaws 222 to move closer to or farther from each other. For example, there are three closing jaws 222 on each closing fixing frame 210, and two driving arms 230 can be disposed on each closing fixing frame 210, and the two driving arms 230 are respectively connected to the two closing jaws 222 on the outer sides, so that the two driving arms 230 can drive the two closing jaws 222 on the outer sides to drive the iron core 900 to be processed to rotate closer to the iron core 900 to be processed in the middle.

[0114] It can be understood that in the full-circle coil 930, two adjacent iron cores are arranged in an arc shape. By setting a driving arm 230 and driving the driving arm 230 to rotate through the third driving member 240, when the closing component 200 closes the multiple iron cores 900 to be processed, the two adjacent iron cores 900 to be processed can be rotated close to each other, so that the two adjacent iron cores 900 to be processed can be arranged and connected in an arc shape, and the iron core group 910 to be processed after closing can also extend in an arc shape, which is convenient for the subsequent rounding of the multiple iron core groups 910 to be processed, and the structural setting is more reasonable.

[0115] Furthermore, if Figure 4 As shown, the closing assembly 200 further includes a second slide rail seat 250 , a first bidirectional lead screw 260 and a fourth driving member 270 .

[0116] The second slide rail seat 250 is provided with a second slide rail 251, and multiple close fixing frames 210 can be slidably matched with the second slide rail 251. The multiple close fixing frames 210 are respectively connected to the two ends of the first bidirectional lead screw 260, and the fourth driving member 270 is transmission-connected with the first bidirectional lead screw 260 to drive the first bidirectional lead screw 260 to rotate and drive the multiple close fixing frames 210 to approach or move away from each other along the second slide rail 251.

[0117] Therefore, when the lengths of the iron cores 900 to be processed that need to be brought together are different, the distance between the multiple closing fixing frames 210 needs to be adjusted, and the first bidirectional lead screw 260 can be driven to rotate by the fourth driving member 270. The first bidirectional lead screw 260 can drive the multiple closing fixing frames 210 to move closer to or away from each other along the second slide rail 251, so that the closing assembly 200 can adapt to the iron cores 900 to be processed of different lengths, and has higher adaptability.

[0118] In some specific embodiments of the present invention, Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the circle assembly mechanism 30 includes a semicircle assembly 300 and a full circle assembly 400 .

[0119] As shown in the figure, the semicircular assembly 300 is arranged on the side of the closing assembly 200 that is away from the straightening assembly 100, and the semicircular assembly 300 is used to assemble multiple iron core groups 910 to be processed into a semicircular coil 920, and the full circle assembly 400 is arranged on the side of the semicircular assembly 300 that is away from the straightening and closing mechanism 10, and the full circle assembly 400 is used to assemble multiple semicircular coils 920 into a full circle coil 930.

[0120] In this way, the semicircular assembly 300 can assemble multiple iron core groups 910 to be processed into a semicircular coil 920, and then assemble multiple semicircular coils 920 into a full circle coil 930 through the full circle assembly 400. The semicircular assembly 300 and the full circle assembly 400 can assemble the semicircle and full circle of the coils in steps, which is more reasonably configured and helps to reduce the difficulty of the single step of assembling the coils into a circle, making it easier to implement.

[0121] Moreover, with such arrangement, when a single step in the coil semicircle or full circle assembly has a problem, such as a failure in the semicircle assembly 300 or the full circle assembly 400, it is easier to detect the failure of the coil circle assembly 1, and maintenance is also more convenient and quick.

[0122] Furthermore, if Figure 1 , Figure 3 and Figure 5 As shown, there are multiple semicircle components 300 and they are arranged on two opposite sides of the material taking mechanism 70 .

[0123] Among them, one of the multiple semicircle assemblies 300 can be used to assemble a semicircle for the short-line iron core group 910 to be processed, and the other can be used to assemble a semicircle for the long-line iron core group 910 to be processed. Of course, the multiple semicircle assemblies 300 can also be used to assemble a semicircle for the long-line or short-line iron core group 910 to be processed.

[0124] In this way, the plurality of semicircular assemblies 300 can respectively assemble the plurality of iron core groups 910 to be processed into a semicircle, and the plurality of semicircular assemblies 300 can respectively assemble the plurality of iron core groups 910 to be processed into a plurality of semicircular coils 920, thereby improving the efficiency of assembling the plurality of iron core groups 910 to be processed into a semicircle. For example, there can be two semicircular assemblies 300, and the two semicircular coils 920 assembled by the two semicircular assemblies 300 can be assembled into a whole full circle coil 930.

[0125] In some specific embodiments of the present invention, Figure 5 As shown, the semicircle assembly 300 includes a plurality of semicircle fixing frames 310 , a semicircle clamping jaw set 320 , a plurality of fifth driving members 330 and a plurality of sixth driving members 340 .

[0126] A plurality of semicircular fixing frames 310 are arranged at intervals, and a semicircular clamping group 320 includes a plurality of semicircular driving members 321 and a plurality of semicircular clamping members 322, the semicircular driving members 321 are transmission-connected with the semicircular clamping members 322, and the plurality of semicircular clamping members 322 are arranged one by one on the plurality of semicircular fixing frames 310, and the plurality of semicircular clamping members 322 are used to clamp the same iron core group 910 to be processed.

[0127] For example, there can be two semicircular fixing frames 310, and the semicircular clamping jaws group 320 can include two semicircular driving members 321 and two semicircular clamping jaws 322, and the two semicircular driving members 321 and the two semicircular clamping jaws 322 can be respectively arranged on the two semicircular fixing frames 310, and the semicircular driving members 321 can clamp or release the semicircular clamping jaws 322 so that the semicircular clamping jaws 322 can clamp the iron core group 910 to be processed.

[0128] In addition, multiple fifth driving members 330 are connected to the multiple semicircular clamps 322 in a one-to-one manner to drive the semicircular clamps 322 to rotate along the first axis relative to the semicircular fixing frame 310, and multiple sixth driving members 340 are connected to the multiple semicircular clamps 322 in a one-to-one manner to drive the semicircular clamps 322 to rotate along the second axis relative to the semicircular fixing frame 310, and the second axis is perpendicular to the first axis.

[0129] For example, the first axis can extend along the arrangement direction of the multiple semicircular fixing frames 310, and the sixth axis can extend in the opposite direction perpendicular to the arrangement direction of the multiple semicircular fixing frames 310. In this way, the fifth driving member 330 can adjust the staggered angle of the cores of the core group 910 to be processed by driving the semicircular clamp 322 to rotate along the first axis, and the sixth driving member 340 can adjust the relative flipping angle of the cores of the core group 910 to be processed by driving the semicircular clamp 322 to rotate along the second axis, so that the cores of the core group 910 to be processed can be assembled into a semicircular coil 920 after relative rotation, flipping and approaching.

[0130] Furthermore, if Figure 5 As shown, the semicircle assembly 300 also includes a third slide rail seat 350 , a second bidirectional lead screw 360 and a seventh drive member 370 .

[0131] The third slide rail seat 350 is provided with a third slide rail 351, and multiple semicircular fixing frames 310 can be slidably matched with the third slide rail 351. The multiple semicircular fixing frames 310 are respectively connected to the two ends of the second bidirectional lead screw 360, and the seventh driving member 370 is transmission-connected to the second bidirectional lead screw 360 to drive the second bidirectional lead screw 360 to rotate and drive the multiple semicircular fixing frames 310 to approach or move away from each other along the third slide rail 351.

[0132] In this way, when multiple semicircular driving members 321 drive the cores of the core group 910 to be processed to rotate relative to each other and flip over, the seventh driving member 370 can drive the second bidirectional screw 360 to rotate, and the second bidirectional screw 360 can drive the multiple semicircular fixing frames 310 to approach each other along the third slide rail 351, so that multiple cores of the same core group 910 to be processed can approach each other, thereby the core group 910 to be processed can be spliced ​​to form a semicircular coil 920.

[0133] In some specific embodiments of the present invention, Figure 6 As shown, the whole circle assembly 400 includes a plurality of whole circle fixing frames 410 , a whole circle clamping jaw set 420 and a plurality of eighth driving members 430 .

[0134] Multiple round circle fixing frames 410 are arranged at intervals, and the round circle clamping group 420 includes a round circle driving member 421 and a round circle clamping member 422. The round circle driving member 421 and the round circle clamping member 422 are transmission-connected, and the multiple round circle clamping groups 420 are arranged one by one on the multiple round circle fixing frames, and the multiple round circle clamping members 422 respectively clamp different semicircular coils 920.

[0135] For example, there can be two whole circle fixing frames 410, and there can also be two whole circle clamping groups 420. The two whole circle clamping groups 420 are arranged one by one on the two whole circle fixing frames 410. The whole circle driving member 421 can clamp or release the whole circle clamping jaw 422 so that the whole circle clamping jaw 422 can clamp the semicircular coil 920.

[0136] Furthermore, the plurality of eighth driving members 430 are connected to the plurality of round circle clamping jaw groups 420 in a one-to-one corresponding manner to drive the round circle clamping jaw groups 420 to rotate relative to the round circle fixing frame 410 , and the rotation axes of the plurality of round circle clamping jaw groups 420 are parallel.

[0137] Among them, the rotation axis of the whole circle clamp group 420 can be perpendicular to the whole circle fixing frame 410. For example, the rotation axis of the whole circle clamp group 420 can extend in the up and down direction. In this way, multiple eighth driving members 430 can respectively drive multiple whole circle clamp groups 420 to rotate along their rotation axes, and then can drive multiple semicircular coils 920 to rotate relative to each other, so as to adjust the relative rotation angles of multiple semicircular coils 920. For example, the cross-sections of multiple semicircular coils 920 can be made opposite, so that subsequent multiple semicircular coils 920 can be assembled into a whole circle coil 930 after approaching each other.

[0138] Furthermore, if Figure 6 As shown, the circle assembly 400 also includes a fourth slide rail seat 440 , a third bidirectional lead screw 450 and a ninth driving member 460 .

[0139] The fourth slide rail seat 440 is provided with a fourth slide rail 441, and multiple circular fixing frames 410 can be slidably matched with the fourth slide rail 441. The multiple circular fixing frames 410 are respectively connected to the two ends of the third bidirectional lead screw 450, and the ninth driving member 460 is transmission connected to the third bidirectional lead screw 450 to drive the third bidirectional lead screw 450 to rotate and drive the multiple circular fixing frames 410 to approach or move away from each other along the fourth slide rail 441.

[0140] Among them, the fourth slide rail seat 440 can extend along the arrangement direction of the multiple semicircular assemblies 300, so as to facilitate the transportation of the multiple semicircular coils 920 assembled from the multiple semicircular assemblies 300 to the full circle assembly 400.

[0141] Therefore, when multiple whole circle driving members 421 drive multiple whole circle clamps 422 to drive multiple semicircular coils 920 to complete relative rotation, the eighth driving member 430 can drive the third bidirectional screw 450 to rotate, and the third bidirectional screw 450 can drive multiple whole circle fixing frames 410 to approach each other along the fourth slide rail 441, so that the multiple semicircular coils 920 can approach each other, thereby allowing the multiple semicircular coils 920 to be spliced ​​into a complete whole circle coil 930.

[0142] In some specific embodiments of the present invention, Figure 1 , Figure 3 and Figure 7 As shown, the material picking mechanism 70 includes a first material picking mechanism 700 , and the first material picking mechanism 700 includes a material picking fixing frame 710 , a first driving jaw 720 , a second driving jaw 730 and a third driving jaw 740 .

[0143] The material picking fixed frame 710 is movable along the arrangement direction of the straightening and closing mechanism 10 and the rounding mechanism 30. The first driving jaw 720 is arranged on the material picking fixed frame 710, and the first driving jaw 720 is used to clamp the straightened iron core 900 to be processed. The second driving jaw 730 is arranged on the material picking fixed frame 710, and the second driving jaw 730 is used to clamp the iron core group 910 to be processed. The third driving jaw 740 is arranged on the material picking fixed frame 710, and the third driving jaw 740 is used to clamp the semicircular coil 920.

[0144] That is to say, the first driving clamp 720 can clamp the straightened iron core 900 to be processed from the straightening component 100 to the closing component 200, the second driving clamp 730 can clamp the closed iron core group 910 to be processed from the closing component 200 to the semicircular assembly 300, and the third driving clamp 740 can clamp the semicircular coil 920 from the semicircular assembly 300 to the full circle assembly 400.

[0145] With this arrangement, the transfer of the iron core 900 to be processed, the iron core group 910 to be processed and the semicircular coil 920 between adjacent components of the coil assembly device 1 does not require human intervention, and the first material picking mechanism 700 can realize the automatic clamping and transportation of the iron core 900 to be processed, the iron core group 910 to be processed and the semicircular coil 920, thereby further improving the degree of automation of the coil assembly device 1.

[0146] In addition, the first driving jaw 720, the second driving jaw 730 and the third driving jaw 740 are respectively used to clamp the iron core 900 to be processed, the iron core group 910 to be processed and the semicircular coil 920, so as to avoid interference in the clamping of the iron core 900 to be processed, the iron core group 910 to be processed and the semicircular coil 920, and the shapes of the jaws of the first driving jaw 720, the second driving jaw 730 and the third driving jaw 740 can be set according to the shapes of the iron core 900 to be processed, the iron core group 910 to be processed and the semicircular coil 920, so that the clamping is more precise and stable.

[0147] Furthermore, if Figure 7 As shown, the material taking fixed frame 710 includes a first bracket 750 , a second bracket 760 and a first lifting drive member 770 .

[0148] The first bracket 750 is movable along the arrangement direction of the straightening and closing mechanism 10 and the rounding mechanism 30, the second bracket 760 is arranged on the first bracket 750, and the first driving jaw 720, the second driving jaw 730 and the third driving jaw 740 are arranged at intervals on the second bracket 760, and the first lifting drive member 770 is arranged on the first bracket 750 and is transmission-connected to the second bracket 760 to drive the second bracket 760 to rise and fall relative to the first bracket 750.

[0149] For example, the straightening and closing mechanism 10 and the rounding mechanism 30 can be arranged along the length direction of the base 80, and the first bracket 750 can move along the length direction of the base 80, so that the first bracket 750 can drive the first driving jaw 720 to move to the top of the straightening component 100, and then the first driving member 130 can drive the second bracket 760 to descend, so as to drive the first driving jaw 720 to descend to the top of the iron core 900 to be processed and clamp the iron core 900 to be processed, then the first lifting driving member 770 drives the second bracket 760 to drive the first driving jaw 720 to rise, and the first bracket 750 moves along the length direction of the base 80 again, so as to drive the first driving jaw 720 to move to the top of the closing component 200, and then the first lifting driving member 770 drives the second bracket 760 to descend, so as to drive the first driving jaw 720 to descend, and then the iron core 900 to be processed can be placed on the closing component 200.

[0150] Similarly, the first bracket 750 can drive the second driving jaw 730 to move to the top of the closing component 200, and then the second driving member 150 can drive the second bracket 760 to descend, so as to drive the second driving jaw 730 to descend to the top of the iron core group 910 to be processed and clamp the iron core group 910 to be processed, and then the first lifting driving member 770 drives the second bracket 760 to drive the second driving jaw 730 to rise, and the first bracket 750 moves along the length direction of the base 80 to drive the second driving jaw 730 to move to the top of the semicircular assembly 300, and then the first lifting driving member 770 drives the second bracket 760 to descend, so as to drive the second driving jaw 730 to descend, and then the iron core group 910 to be processed can be placed on the semicircular assembly 300.

[0151] Similarly, the first bracket 750 can drive the third driving jaw 740 to move above the semicircular assembly 300, and then the second driving member 150 can drive the second bracket 760 to descend, so as to drive the third driving jaw 740 to descend to above the semicircular coil 920 and clamp the semicircular coil 920, and then the first lifting driving member 770 drives the second bracket 760 to drive the third driving jaw 740 to rise, and the first bracket 750 moves along the length direction of the base 80 to drive the third driving jaw 740 to move to above the full circle assembly 400, and then the first lifting driving member 770 drives the second bracket 760 to descend, so as to drive the third driving jaw 740 to descend, and then the semicircular coil 920 can be placed on the full circle assembly 400.

[0152] In addition, it should be noted that the first driving jaw 720, the second driving jaw 730 and the third driving jaw 740 can be clamped and placed synchronously, so that the straightening component 100, the closing component 200, the semicircle assembly 300 and the full circle assembly 400 can operate synchronously, which is beneficial to improving the working efficiency of the coil circle assembly device 1.

[0153] In some specific embodiments of the present invention, Figure 1 and Figure 3 As shown, there are multiple straightening assemblies 100 and they are arranged on two opposite sides of the first material taking mechanism 700, and there are multiple first driving clamps 720 and they correspond one by one to the multiple straightening assemblies 100;

[0154] And / or, there are multiple closing assemblies 200 and they are arranged on two opposite sides of the first material taking mechanism 700, and there are multiple second driving clamps 730 and they correspond one by one to the multiple closing assemblies 200;

[0155] And / or, there are multiple semicircle assemblies 300 and they are arranged on two opposite sides of the first material taking mechanism 700, and there are multiple third driving clamps 740 and they correspond one by one to the multiple semicircle assemblies 300.

[0156] In this way, multiple straightening components 100, multiple closing components 200 and multiple semicircular assembly components 300 can operate simultaneously, and after a single step is completed, multiple first driving jaws 720 can respectively clamp the iron cores 900 to be processed on the multiple straightening components 100, and multiple second driving jaws 730 can respectively clamp the iron core groups 910 to be processed on the multiple closing components 200, and multiple third driving jaws 740 can respectively clamp the semicircular coils 920 on the multiple semicircular assembly 300, thereby further improving the circle assembly processing efficiency of the coil circle assembly device 1.

[0157] In some specific embodiments of the present invention, Figure 8 As shown, the material picking mechanism 70 also includes a second material picking mechanism 780 , and the second material picking mechanism 780 includes a first fixed seat 781 , a first multi-axis mechanical arm 782 and a material picking clamp assembly 784 .

[0158] The first multi-axis robot arm 782 is rotatably connected to the first fixed seat 781. The first multi-axis robot arm 782 includes a plurality of first robot arms 783 connected in sequence, and two adjacent first robot arms 783 can rotate relative to each other. The material picking clamp assembly 784 includes a material picking drive member 785 and a material picking clamp 786. The material picking drive member 785 is arranged at one end of the first multi-axis robot arm 782 away from the first fixed seat 781, and the material picking drive member 785 is transmission-connected to the material picking clamp 786 to drive the material picking clamp 786 to clamp the full-circle coil 930.

[0159] Among them, the second material taking mechanism 780 can be arranged between the wire organizing mechanism 50 and the circle forming mechanism 30.

[0160] For example, the first multi-axis robot arm 782 can be a four-axis robot arm, so that the first multi-axis robot arm 782 can drive the material picking claw assembly 784 to move in multiple directions, for example, it can drive the material picking claw assembly 784 to rise and fall or translate in a horizontal plane, so that the material picking claw assembly 784 can clamp the full circle coil 930 to the wire management mechanism 50. In this way, after the circle assembly mechanism 30 completes the splicing of the full circle coil 930, there is no need to manually move the full circle coil 930, which further improves the degree of automation of the coil circle assembly device 1.

[0161] In addition, it should be noted that the second material picking mechanism 780 can not only clamp the full-circle coil 930 from the full-circle assembly 400 to the wire management mechanism 50, but also clamp the full-circle coil 930 after wire management to the flip assembly 600 described below.

[0162] In some specific embodiments of the present invention, Fig. 9 As shown, the cable management mechanism 50 includes a positioning assembly 500 , a pressing assembly 570 , a cable management assembly 580 and a flipping assembly 600 .

[0163] The positioning component 500 is used to position the full circular coil 930, the pressing component 570 is arranged on one side of the positioning component 500, and the pressing component 570 is used to press the full circular coil 930, the wire management component 580 is arranged on the side of the pressing component 570 facing away from the positioning component 500, and the wire management component 580 is used to organize the wires 931 of the full circular coil 930, and the flipping component 600 is arranged on one side of the wire management component 580 to flip and cut the full circular coil 930.

[0164] Therefore, the wire management mechanism 50 can perform operations such as positioning, pressing, wire management and flipping and cutting on the whole circular coil 930 in sequence. It can be understood that before the whole circular coil 930 is wired, the positioning accuracy and fixing reliability of the whole circular coil 930 can be improved by positioning and pressing the whole circular coil 930, thereby improving the accuracy of wire management of the whole circular coil 930.

[0165] Furthermore, by setting up the flip assembly 600, the flip assembly 600 can cooperate with the unloading robot 850 described below to automatically unload the full-circle coil 930 after the wire arrangement is completed, which makes unloading more convenient, helps save labor and improves the unloading rate.

[0166] In some specific embodiments of the present invention, Fig.10 and Fig.11 As shown, the positioning assembly 500 includes a fifth slide rail seat 510 , a positioning seat 520 , a positioning drive member 530 , a positioning fixing frame 540 , a visual positioning member 550 and a pre-pressing assembly 560 .

[0167] The fifth slide rail seat 510 is provided with a fifth slide rail 511, the positioning seat 520 can be slidably matched with the fifth slide rail 511, and the positioning seat 520 is used to place the full-circle coil 930, and the positioning drive member 530 is transmission-connected with the positioning seat 520 to drive the positioning seat 520 to move along the fifth slide rail 511. In this way, the positioning drive member 530 can drive the positioning seat 520 to move along the fifth slide rail 511 to the bottom of the visual positioning member 550 for visual positioning, and can move to the bottom of the pre-pressing assembly 560 for pre-pressing.

[0168] In addition, the positioning and fixing frame 540 is arranged on the fifth slide rail seat 510 and is at least partially located above the fifth slide rail 511. The visual positioning component 550 is arranged on the positioning and fixing frame 540, and the visual positioning component 550 is used to visually position the full circular coil 930. In this way, when the positioning seat 520 drives the full circular coil 930 to move below the visual positioning component 550, the visual positioning component 550 can visually position the full circular coil 930 to obtain the relative position of the wire 931 on the full circular coil 930, which is convenient for the wire management mechanism 50 to automatically control the wire management component 580 to organize the wire 931.

[0169] In addition, the pre-pressing component 560 can be raised and lowered on the positioning and fixing frame 540 to pre-press the full-circular coil 930. It can be understood that the second material picking component places the full-circular coil 930 on the positioning seat 520, and the placement may be relatively loose. The pre-pressing component 570 can perform preliminary pressing on the full-circular coil 930 so that the full-circular coil 930 can be more stably fixed on the positioning seat 520.

[0170] Furthermore, if Fig.12 As shown, the positioning seat 520 includes a positioning frame 521 , a positioning column 522 and a plurality of positioning clamping jaw assemblies 523 .

[0171] The positioning frame 521 can be slidably matched with the fifth slide rail 511, the positioning column 522 is arranged on the positioning frame 521, and the positioning column 522 is used to pre-position the full-circle coil 930, a plurality of positioning jaw assemblies 523 are arranged at intervals along the circumference of the positioning column 522, and the positioning jaw assembly 523 includes a positioning jaw driving member 5231 and a positioning jaw 5232, the positioning jaw driving member 5231 is arranged on the positioning frame 521 and is transmission-connected with the positioning jaw 5232 to drive the positioning jaw 5232 to clamp the full-circle coil 930.

[0172] Therefore, when the second material picking mechanism 780 places the full circular coil 930 on the positioning frame 521, the positioning column 522 can preliminarily position the full circular coil 930, and then the positioning jaw driving member 5231 can drive the positioning jaw 5232 to move toward the direction close to the full circular coil 930, so that the positioning jaws 5232 of the multiple positioning jaw assemblies 523 can clamp and fix the full circular coil 930 from the circumference of the full circular coil 930.

[0173] In some specific embodiments of the present invention, Fig.13 As shown, the pressing assembly 570 includes a pressing fixing frame 571 , a pressing driving member 572 and a pressing member 573 .

[0174] The pressing fixing frame 571 is arranged on the fifth slide rail seat 510 and is at least partially located above the fifth slide rail 511. The pressing driving member 572 is telescopically fixed to the pressing fixing frame 571. The pressing member 573 is connected to the bottom of the pressing driving member 572. The pressing driving member 572 drives the pressing member 573 to rise and fall.

[0175] Among them, the pressing drive component 572 can be fixed to the pressing fixing frame 571 in a liftable manner along the up and down directions. When the positioning seat 520 moves along the fifth slide rail 511 to the bottom of the pressing assembly 570, the pressing drive component 572 can drive the pressing machine to descend, so that the pressing component 573 can be used to press the entire circular coil 930. In this way, not only can the pressing component 573 be used to further press and fix the entire circular coil 930, but the pressing component 573 can also be used to press the wire 931 on the entire circular coil 930 to prevent the wire 931 from being too loose, so as to facilitate the subsequent arrangement of the wire 931 through the wire management assembly 580.

[0176] In some specific embodiments of the present invention, Fig.14 As shown, the cable management assembly 580 includes a second fixing base 581 , a second multi-axis mechanical arm 582 and a cable management rod 584 .

[0177] The second multi-axis robotic arm 582 is rotatably connected to the second fixed seat 581. The second multi-axis robotic arm 582 includes a plurality of second robotic arms 583 connected in sequence, and two adjacent second robotic arms 583 can rotate relative to each other. The wire management rod 584 is connected to one end of the second multi-axis robotic arm 582 away from the second fixed seat 581, and the wire management rod 584 is used to organize the wires 931 of the full circular coil 930.

[0178] For example, the second multi-axis robot 582 can be a six-axis robot, so that the second multi-axis robot 582 can drive the wire rod 584 to move in multiple directions, for example, the second multi-axis robot 582 can drive the wire rod 584 to move up and down or translate in a horizontal plane, or can drive the wire rod 584 to translate in a horizontal plane when it is moved up and down, that is, it can drive the wire rod 584 to tilt and move up and down. In this way, the second multi-axis robot 582 can arrange the wires 931 of the full-circle coil 930 through the wire rod 584, so that the wires 931 of the full-circle coil 930 after the circle is assembled are arranged more neatly, further improving the degree of automation of the coil assembly device 1.

[0179] In some specific embodiments of the present invention, Fig.15 As shown, the flip assembly 600 includes a base plate 610 , a plurality of flip fixing frames 620 , a plurality of flip clamping jaw assemblies 630 , a plurality of tenth driving members 640 and an eleventh driving member 650 .

[0180] A plurality of flip fixing frames 620 are movably arranged on the bottom plate 610, and the flip clamp assembly 630 includes a flip driving member 631 and a flip clamp 632. The flip driving member 631 is arranged on the flip fixing frame 620 and is transmission-connected with the flip clamp 632 to drive the flip clamp 632 to clamp the full-circle coil 930. The tenth driving member 640 is arranged on the flip fixing frame 620, and a plurality of tenth driving members 640 are transmission-connected with the plurality of flip clamps 632 in a one-to-one correspondence to drive the flip clamp 632 to rotate relative to the flip fixing frame 620. The eleventh driving member 650 is transmission-connected with at least part of the plurality of flip fixing frames 620 to drive the plurality of flip fixing frames 620 to move closer to or away from each other.

[0181] Specifically, the flip driving member 631 can drive the flip clamp 632 to clamp or release the full-circle coil 930, the second material picking mechanism 780 can clamp the full-circle coil 930 and place it on the flip clamp assembly 630, and the tenth driving member 640 can drive the flip clamp assembly 630 to flip.

[0182] It can be understood that when the whole circular coil 930 is wired, the wire 931 on the upper end surface of the whole circular coil 930 is arranged, but the wire 931 will still extend from the lower end surface of the whole circular coil 930. At this time, the whole circular coil 930 is clamped and placed on a flipping clamp assembly 630 of the flipping assembly 600 through the second material picking mechanism 780, and the extended wire 931 is located on the lower end surface of the whole circular coil 930. Then the tenth driving member 640 can drive the flipping clamp assembly 630 to flip, and at the same time, the eleventh driving member 650 drives another clamp flip assembly 600 to flip, and the tenth driving member 640 drives the flipping clamp assembly 630 to flip. A driving member 650 can drive multiple flipping fixed frames 620 to approach each other. After the two gripper flipping assemblies 600 are docked, the full circular coil 930 can be transferred to another gripper flipping assembly 600. At this time, the wire 931 of the full circular coil 930 can extend from the gripper flipping assembly 600, and finally the full circular coil 930 is clamped by the unloading robot 850 and placed on the material transport mechanism 90. In this way, the end of the full circular coil 930 with the wire 931 arranged can be placed downward on the material transport mechanism 90, and the end of the full circular coil 930 with the wire 931 extending can face upward.

[0183] Therefore, the flipping component 600 can not only cooperate with the second material picking mechanism 780 and the unloading robot 850 to flip and unload the full circular coil 930, but also can flip the full circular coil 930 so that the wire 931 extends from the upper end of the full circular coil 930 to prevent the wire 931 from being pressed underneath, thereby preventing the wire 931 of the full circular coil 930 from being squeezed and deformed after the circle is assembled.

[0184] In some specific embodiments of the present invention, Figure 1As shown, the coil rounding device 1 also includes a material transporting mechanism 90 , which is disposed on one side of the base 80 , and is used to transport the iron core 900 to be processed and / or the full-circle coil 930 .

[0185] For example, the material transport mechanism 90 can be a conveyor belt, which can transport the iron core 900 to be processed to a position close to the straightening assembly 100, so that the loading robot 800 can place the material on the straightening assembly 100 after taking it, and the conveyor belt can also be used to transport the full-circle coil 930 flipped and unloaded by the flipping mechanism. In this way, the transportation of the iron core 900 to be processed and the full-circle coil 930 can also be automated, that is, the coil rounding device 1 can realize automated loading and unloading, further improving the degree of automation of the coil rounding device 1.

[0186] In addition, it should be noted that the material transport mechanism 90 can be a whole or divided into multiple parts. When the material transport mechanism 90 is set as multiple parts, the multiple material transport mechanisms 90 can be respectively arranged at positions adjacent to the straightening assembly 100 and the wire pulling mechanism, so that the multiple material transport mechanisms 90 can be used to transport the iron core 900 to be processed and the full circular coil 930 respectively.

[0187] In some specific embodiments of the present invention, Figure 1 , Fig.16 and Fig.17 As shown, the coil rounding device 1 also includes a loading robot 800, which is arranged on one side of the base 80 adjacent to the material transport mechanism 90, and the loading robot 800 includes a third fixed seat 810, a third multi-axis robotic arm 820, a loading clamp assembly 830 and a second lifting drive member 840.

[0188] Specifically, the third fixed seat 810 is arranged on the base 80, the third multi-axis robot 820 is rotatably connected to the third fixed seat 810, the third multi-axis robot 820 includes a plurality of third robots 821 connected in sequence, and two adjacent third robots 821 can rotate relative to each other, the loading jaw assembly 830 includes a plurality of loading driving members 831 and a plurality of loading jaws 832, the plurality of loading driving members 831 are transmission-connected to the plurality of loading jaws 832 in a one-to-one correspondence to drive the loading jaws 832 to clamp the iron core 900 to be processed, the second lifting driving member 840 is arranged at one end of the third multi-axis robot 820 away from the third fixed seat 810, and the second lifting driving member 840 is connected to the loading jaw assembly 830 to drive the loading jaw assembly 830 to rise and fall.

[0189] In this way, the second lifting drive member 840 can drive the loading clamp assembly 830 to lift, and the loading drive member 831 can drive the loading clamp 832 to clamp or release the iron core 900 to be processed, so that the loading clamp assembly 830 can clamp the iron core 900 to be processed from the material transport mechanism 90.

[0190] For example, the third multi-axis robot 820 can be a four-axis robot, so that the third multi-axis robot 820 can drive the loading clamp assembly 830 to move in multiple directions, for example, it can drive the loading clamp assembly 830 to rise and fall or translate in the horizontal plane, so that the loading clamp assembly 830 can clamp the workpiece to be processed from the material transport mechanism 90 and place it on the straightening assembly 100, thereby eliminating the need for manual loading, further improving the degree of automation of the coil rounding device 1, and achieving higher production efficiency.

[0191] In some specific embodiments of the present invention, Figure 1 and Fig.18 As shown, the coil rounding device 1 also includes a material unloading robot 850, which is arranged on one side of the base 80 adjacent to the material transport mechanism 90, and the material unloading robot 850 includes a fourth fixed seat 851, a fourth multi-axis robotic arm 852 and a material unloading clamp assembly 854.

[0192] The fourth fixed seat 851 is arranged on the base 80, the fourth multi-axis robot arm 852 is rotatably connected to the fourth fixed seat 851, the fourth multi-axis robot arm 852 includes a plurality of fourth robots 853 connected in sequence, and two adjacent fourth robots 853 can rotate relative to each other, the unloading clamp assembly 854 includes a unloading drive member 855 and a unloading clamp 856, the unloading drive member 855 is arranged at one end of the fourth multi-axis robot arm 852 away from the fourth fixed seat 851, and the unloading drive member 855 is transmission-connected to the unloading clamp 856 to drive the unloading clamp 856 to clamp the full circular coil 930.

[0193] For example, the fourth multi-axis robot 852 can be a four-axis robot, so that the fourth multi-axis robot 852 can drive the unloading clamp assembly 854 to move in multiple directions, for example, it can drive the unloading clamp assembly 854 to rise and fall or translate in the horizontal plane, and the unloading drive 855 can drive the unloading clamp 856 to clamp or release the full-circle coil 930, so that the unloading clamp assembly 854 can clamp the full-circle coil 930 from the flipping assembly 600 and place it on the material transport mechanism 90, thereby eliminating the need for manual unloading, further improving the degree of automation of the coil splicing device 1, and achieving higher production efficiency.

[0194] Other structures and operations of the coil circle assembly device 1 according to the embodiment of the present invention are known to ordinary technicians in this field and will not be described in detail here.

[0195] In the description of this specification, the description with reference to the terms "specific embodiment", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0196] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A coil circle device (1), characterized in that: include: A straightening and bringing together mechanism (10), the straightening and bringing together mechanism (10) being used to straighten a plurality of iron cores (900) to be processed and bring them together to form an iron core group (910) to be processed; A rounding mechanism (30), the rounding mechanism (30) being arranged on one side of the straightening and closing mechanism (10), and the rounding mechanism (30) being used to round a plurality of the iron core groups (910) to be processed into a full-circle coil (930); A wire management mechanism (50), the wire management mechanism (50) being arranged on a side of the rounding mechanism (30) facing away from the straightening and closing mechanism (10), and the wire management mechanism (50) being used to organize the wires (931) of the full-circle coil (930); A material taking mechanism (70), the material taking mechanism (70) is at least used to clamp the iron core group (910) to be processed between the straightening and closing mechanism (10) and the rounding mechanism (30), and to clamp the full-circle coil (930) between the rounding mechanism (30) and the wire organizing mechanism (50).

2. The coil circle forming device (1) according to claim 1, characterized in that: The straightening and closing mechanism (10) comprises: A straightening assembly (100), the straightening assembly (100) being used to straighten the iron core (900) to be processed; A closing assembly (200) is provided on a side of the straightening assembly (100) facing the rounding mechanism (30), and the closing assembly (200) is used to close together a plurality of straightened iron cores (900) to be processed to form the iron core group (910) to be processed.

3. The coil circle forming device (1) according to claim 2, characterized in that: The straightening components (100) are multiple and are arranged on two opposite sides of the material taking mechanism (70); and / or, The closing components (200) are in plurality and are arranged on two opposite sides of the material taking mechanism (70).

4. The coil circle forming device (1) according to claim 2, characterized in that: The straightening assembly (100) comprises: A plurality of straightening and fixing frames (110), wherein the plurality of straightening and fixing frames (110) are arranged at intervals; A straightening jaw group (120), the straightening jaw group (120) comprising a plurality of straightening driving members (121) and a plurality of straightening jaws (122), the straightening driving members (121) being transmission-connected to the straightening jaws (122), the plurality of straightening jaws (122) being arranged one-to-one on the plurality of straightening fixing frames (110), and the plurality of straightening jaws (122) being used to clamp the same iron core (900) to be processed; A plurality of first driving members (130) are provided on the straightening fixing frame (110) and are in transmission connection with at least some of the plurality of straightening clamping jaws (122) so as to drive the straightening clamping jaws (122) to move and / or rotate relative to the straightening fixing frame (110).

5. The coil circle forming device (1) according to claim 4, characterized in that: The straightening assembly (100) further comprises: A first slide rail seat (140), wherein the first slide rail seat (140) is provided with a first slide rail (141), and the plurality of straightening fixing frames (110) are slidably matched with the first slide rail (141); A plurality of second driving members (150) are respectively connected in transmission with the plurality of straightening fixing frames (110) to drive the straightening fixing frames (110) to rise and fall, or to drive the plurality of straightening fixing frames (110) to move closer to or farther away from each other along the first slide rail (141).

6. The coil circle forming device (1) according to claim 4, characterized in that: There are a plurality of straightening jaw groups (120), the plurality of straightening jaw groups (120) are arranged at intervals, and the plurality of straightening jaws (122) of each straightening jaw group (120) are arranged on the plurality of straightening fixing frames (110) in a one-to-one correspondence.

7. The coil circle forming device (1) according to claim 2, characterized in that: The closing assembly (200) comprises: A plurality of fixed frames (210) arranged side by side, wherein the plurality of fixed frames (210) are arranged side by side at intervals; A plurality of closing jaw groups (220), wherein the closing jaw groups (220) comprise a plurality of closing driving members (221) and a plurality of closing jaws (222), wherein the closing driving members (221) are drivingly connected to the closing jaws (222), the plurality of closing jaws (222) of each closing jaw group (220) are respectively arranged on a plurality of closing fixing frames (210), and the plurality of closing jaws (222) of each closing jaw group (220) are used for clamping the same iron core (900) to be processed; A plurality of driving arms (230), wherein the plurality of driving arms (230) are connected to at least some of the closing jaws (222) of the closing jaw group (220); A plurality of third driving members (240) are disposed on the closing fixing frame (210) and are transmission-connected to the plurality of driving arms (230) in a one-to-one correspondence, so as to drive the driving arms (230) to rotate and drive the plurality of closing clamps (222) to move closer to or farther from each other.

8. The coil circle forming device (1) according to claim 7, characterized in that: The closing assembly (200) further comprises: A second slide rail seat (250), wherein the second slide rail seat (250) is provided with a second slide rail (251), and the plurality of the close-fitting fixing frames (210) are slidably matched with the second slide rail (251); A first bidirectional screw (260), wherein the plurality of the close-together fixing frames (210) are respectively connected to two ends of the first bidirectional screw (260); A fourth driving member (270) is connected to the first bidirectional lead screw (260) in a transmission manner to drive the first bidirectional lead screw (260) to rotate and drive the plurality of the close-fitting fixing frames (210) to move closer to or farther from each other along the second slide rail (251).

9. The coil circle device (1) according to claim 2, characterized in that: The circle-forming mechanism (30) comprises: a semicircular assembly (300), the semicircular assembly (300) being arranged on a side of the closing assembly (200) facing away from the straightening assembly (100), and the semicircular assembly (300) being used to assemble a plurality of the iron core groups (910) to be processed into a circle to form a semicircular coil (920); A round circle assembly (400) is provided on a side of the semicircular assembly (300) facing away from the straightening and closing mechanism (10), and the round circle assembly (400) is used to assemble a plurality of semicircular coils (920) into a round circle to form a full circle coil (930).

10. The coil circle device (1) according to claim 9, characterized in that: The semicircular components (300) are in plurality and are arranged on two opposite sides of the material taking mechanism (70).

11. The coil circle forming device (1) according to claim 9, characterized in that: The semicircle assembly (300) comprises: A plurality of semicircular fixing frames (310), wherein the plurality of semicircular fixing frames (310) are arranged at intervals; A semicircular clamping jaw group (320), the semicircular clamping jaw group (320) comprising a plurality of semicircular driving members (321) and a plurality of semicircular clamping jaws (322), the semicircular driving members (321) being transmission-connected to the semicircular clamping jaws (322), the plurality of semicircular clamping jaws (322) being arranged on the plurality of semicircular fixing frames (310) in a one-to-one correspondence, and the plurality of semicircular clamping jaws (322) are used to clamp the same iron core group (910) to be processed; A plurality of fifth driving members (330), wherein the plurality of fifth driving members (330) are connected to the plurality of semicircular clamping jaws (322) in a one-to-one corresponding manner so as to drive the semicircular clamping jaws (322) to rotate along the first axis relative to the semicircular fixing frame (310); A plurality of sixth driving members (340) are connected to the plurality of semicircular clamps (322) in a one-to-one corresponding manner so as to drive the semicircular clamps (322) to rotate along a second axis relative to the semicircular fixing frame (310), wherein the second axis is perpendicular to the first axis.

12. The coil circle forming device (1) according to claim 11, characterized in that: The semicircle assembly (300) further comprises: A third slide rail seat (350), wherein the third slide rail seat (350) is provided with a third slide rail (351), and the plurality of semicircular fixing frames (310) are slidably matched with the third slide rail (351); A second bidirectional screw (360), wherein the plurality of semicircular fixing frames (310) are respectively connected to two ends of the second bidirectional screw (360); A seventh driving member (370) is connected to the second bidirectional lead screw (360) in a transmission manner to drive the second bidirectional lead screw (360) to rotate and drive the plurality of semicircular fixing frames (310) to move closer to or farther from each other along the third slide rail (351).

13. The coil circle forming device (1) according to claim 9, characterized in that: The circle assembly (400) comprises: A plurality of round-shaped fixing frames (410), wherein the plurality of round-shaped fixing frames (410) are arranged at intervals; A plurality of rounded circle clamping jaw groups (420), wherein the rounded circle clamping jaw groups (420) include a rounded circle driving member (421) and a rounded circle clamping jaw (422), the rounded circle driving member (421) and the rounded circle clamping jaw (422) are drivingly connected, the plurality of rounded circle clamping jaw groups (420) are arranged on the plurality of rounded circle fixing frames (410) in a one-to-one correspondence, and the plurality of rounded circle clamping jaws (422) respectively clamp different semicircular coils (920); A plurality of eighth driving members (430) are connected to the plurality of the round circle clamping jaw groups (420) in a one-to-one corresponding manner so as to drive the round circle clamping jaw groups (420) to rotate relative to the round circle fixing frame (410), and the rotation axes of the plurality of the round circle clamping jaw groups (420) are parallel.

14. The coil circle forming device (1) according to claim 13, characterized in that: The circle assembly (400) further comprises: A fourth slide rail seat (440), wherein the fourth slide rail seat (440) is provided with a fourth slide rail (441), and the plurality of the assembled circular fixing frames (410) are slidably matched with the fourth slide rail (441); A third bidirectional screw (450), wherein the plurality of the assembled circular fixing frames (410) are respectively connected to both ends of the third bidirectional screw (450); A ninth driving member (460) is connected to the third bidirectional lead screw (450) in a transmission manner to drive the third bidirectional lead screw (450) to rotate and drive the plurality of the assembled circle fixing frames (410) to move closer to or farther from each other along the fourth slide rail (441).

15. The coil circle forming device (1) according to claim 9, characterized in that: The material taking mechanism (70) comprises a first material taking mechanism (700), and the first material taking mechanism (700) comprises: A material taking fixed frame (710), wherein the material taking fixed frame (710) is movable along the arrangement direction of the straightening and closing mechanism (10) and the rounding mechanism (30); A first driving clamp (720), wherein the first driving clamp (720) is disposed on the material taking fixing frame (710), and the first driving clamp (720) is used to clamp the straightened iron core (900) to be processed; A second driving clamp (730), wherein the second driving clamp (730) is disposed on the material taking fixing frame (710), and the second driving clamp (730) is used to clamp the iron core group (910) to be processed; A third driving clamp (740), wherein the third driving clamp (740) is disposed on the material taking fixing frame (710), and the third driving clamp (740) is used to clamp the semicircular coil (920).

16. The coil circle forming device (1) according to claim 15, characterized in that: The material taking fixed frame (710) comprises: A first bracket (750), wherein the first bracket (750) is movable along the arrangement direction of the straightening and closing mechanism (10) and the rounding mechanism (30); A second bracket (760), wherein the second bracket (760) is disposed on the first bracket (750), and the first driving jaw (720), the second driving jaw (730) and the third driving jaw (740) are disposed on the second bracket (760) at intervals; A first lifting drive member (770), wherein the first lifting drive member (770) is disposed on the first bracket (750) and is transmission-connected to the second bracket (760) to drive the second bracket (760) to rise and fall relative to the first bracket (750).

17. The coil circle forming device (1) according to claim 15, characterized in that: The straightening components (100) are multiple and are arranged on two opposite sides of the first material taking mechanism (700), and the first driving clamps (720) are multiple and correspond one-to-one to the multiple straightening components (100); and / or The plurality of the closing assemblies (200) are arranged on two opposite sides of the first material taking mechanism (700), and the plurality of the second driving clamps (730) correspond one to one to the plurality of the closing assemblies (200); and / or The semicircular components (300) are multiple and are arranged on two opposite sides of the first material taking mechanism (700), and the third driving clamps (740) are multiple and correspond one-to-one to the multiple semicircular components (300).

18. The coil circle forming device (1) according to claim 15, characterized in that: The material taking mechanism (70) further comprises a second material taking mechanism (780), and the second material taking mechanism (780) comprises: A first fixing seat (781); A first multi-axis mechanical arm (782), the first multi-axis mechanical arm (782) is rotatably connected to the first fixed seat (781), the first multi-axis mechanical arm (782) includes a plurality of first mechanical arms (783) connected in sequence, and two adjacent first mechanical arms (783) can rotate relative to each other; A material picking jaw assembly (784), wherein the material picking jaw assembly (784) includes a material picking drive component (785) and a material picking jaw (786), wherein the material picking drive component (785) is disposed at one end of the first multi-axis robotic arm (782) away from the first fixed seat (781), and the material picking drive component (785) is transmission-connected to the material picking jaw (786) to drive the material picking jaw (786) to clamp the full-circle coil (930).

19. The coil circle forming device (1) according to claim 1, characterized in that: The wire management mechanism (50) comprises: A positioning component (500), wherein the positioning component (500) is used to position the full-circle coil (930); A pressing assembly (570), the pressing assembly (570) being arranged on one side of the positioning assembly (500), and the pressing assembly (570) being used to press the full-circle coil (930); A wire management component (580), the wire management component (580) being arranged on a side of the pressing component (570) facing away from the positioning component (500), and the wire management component (580) being used to organize the wires (931) of the full-circle coil (930); A flipping assembly (600) is disposed on one side of the wire management assembly (580) to flip and cut the full-circle coil (930).

20. The coil circle forming device (1) according to claim 19, characterized in that: The positioning assembly (500) comprises: A fifth slide rail seat (510), wherein the fifth slide rail seat (510) is provided with a fifth slide rail (511); A positioning seat (520), wherein the positioning seat (520) is slidably matched with the fifth slide rail (511), and the positioning seat (520) is used to place the full-circle coil (930); a positioning drive member (530), the positioning drive member (530) being transmission-connected to the positioning seat (520) so as to drive the positioning seat (520) to move along the fifth slide rail (511); a positioning fixing frame (540), the positioning fixing frame (540) being arranged on the fifth slide rail seat (510) and at least partially located above the fifth slide rail (511); A visual positioning member (550), the visual positioning member (550) being arranged on the positioning fixing frame (540), and the visual positioning member (550) being used for positioning the viewing angle of the full-circle coil (930); A pre-pressing component (560) is movably mounted on the positioning and fixing frame (540) to pre-press the full-circle coil (930).

21. The coil circle forming device (1) according to claim 20, characterized in that: The positioning seat (520) comprises: A positioning frame (521), wherein the positioning frame (521) is slidably matched with the fifth slide rail (511); A positioning column (522), wherein the positioning column (522) is arranged on the positioning frame (521), and the positioning column (522) is used to pre-position the full-circle coil (930); A plurality of positioning jaw assemblies (523) are arranged at intervals along the circumference of the positioning column (522), and the positioning jaw assemblies (523) include a positioning jaw driving member (5231) and a positioning jaw (5232), wherein the positioning jaw driving member (5231) is disposed on the positioning frame (521) and is transmission-connected to the positioning jaw (5232) to drive the positioning jaw (5232) to clamp the full-circle coil (930).

22. The coil circle forming device (1) according to claim 20, characterized in that: The pressing assembly (570) comprises: A pressing and fixing frame (571), the pressing and fixing frame (571) being arranged on the fifth slide rail seat (510) and at least partially located above the fifth slide rail (511); A pressing driving member (572), wherein the pressing driving member (572) is telescopically fixed to the pressing fixing frame (571); The pressing member (573) is connected to the lower part of the pressing driving member (572), and the pressing driving member (572) drives the pressing member (573) to rise and fall.

23. The coil circle forming device (1) according to claim 19, characterized in that: The cable management assembly (580) comprises: A second fixing seat (581); A second multi-axis mechanical arm (582), the second multi-axis mechanical arm (582) is rotatably connected to the second fixed seat (581), the second multi-axis mechanical arm (582) includes a plurality of second mechanical arms (583) connected in sequence, and two adjacent second mechanical arms (583) are relatively rotatable; A wire management rod (584), the wire management rod (584) being connected to an end of the second multi-axis mechanical arm (582) away from the second fixing seat (581), the wire management rod (584) being used to organize the wires (931) of the full-circle coil (930).

24. The coil circle forming device (1) according to claim 19, characterized in that: The flip assembly (600) comprises: Bottom plate (610); A plurality of flip fixing frames (620), wherein the plurality of flip fixing frames (620) are movably arranged on the bottom plate (610); A plurality of flipping clamping jaw assemblies (630), wherein the flipping clamping jaw assemblies (630) include a flipping driving member (631) and a flipping clamping jaw (632), wherein the flipping driving member (631) is disposed on the flip fixing frame (620) and is in transmission connection with the flipping clamping jaw (632) so as to drive the flipping clamping jaw (632) to clamp a full-circle coil (930); a plurality of tenth driving members (640), wherein the tenth driving members (640) are arranged on the flip fixing frame (620), and the plurality of tenth driving members (640) are transmission-connected to the plurality of flip clamps (632) in a one-to-one correspondence, so as to drive the flip clamps (632) to rotate relative to the flip fixing frame (620); An eleventh driving member (650), the eleventh driving member (650) is drivingly connected to at least part of the plurality of flipping and fixing frames (620) so as to drive the plurality of flipping and fixing frames (620) to move closer to or farther from each other.

25. The coil circle forming device (1) according to claim 1, characterized in that: Also includes: A base (80), the straightening and closing mechanism (10), the rounding mechanism (30), the wire arrangement mechanism (50) and the material taking mechanism (70) are all arranged on the base (80).

26. The coil circle forming device (1) according to claim 25, characterized in that: Also includes: A material transport mechanism (90), wherein the material transport mechanism (90) is disposed on one side of the base (80), and the material transport mechanism (90) is used to transport the iron core (900) to be processed and / or the full-circle coil (930).

27. The coil circle forming device (1) according to claim 26, characterized in that: The material loading robot (800) is also included. The material loading robot (800) is arranged on a side of the base (80) adjacent to the material transport mechanism (90), and the material loading robot (800) includes: A third fixing seat (810), wherein the third fixing seat (810) is disposed on the base (80); A third multi-axis mechanical arm (820), the third multi-axis mechanical arm (820) is rotatably connected to the third fixed seat (810), the third multi-axis mechanical arm (820) comprises a plurality of third mechanical arms (821) connected in sequence, and two adjacent third mechanical arms (821) are relatively rotatable; A feeding jaw assembly (830), the feeding jaw assembly (830) comprising a plurality of feeding driving members (831) and a plurality of feeding jaws (832), the plurality of feeding driving members (831) being transmission-connected to the plurality of feeding jaws (832) in a one-to-one correspondence, so as to drive the feeding jaws (832) to clamp the iron core (900) to be processed; A second lifting drive member (840), wherein the second lifting drive member (840) is disposed at one end of the third multi-axis robot arm (820) away from the third fixed seat (810), and the second lifting drive member (840) is connected to the loading clamp assembly (830) to drive the loading clamp assembly (830) to rise and fall.

28. The coil circle forming device (1) according to claim 26, characterized in that: The device further comprises a material unloading robot (850), wherein the material unloading robot (850) is arranged on a side of the base (80) adjacent to the material transport mechanism (90), and the material unloading robot (850) comprises: A fourth fixing seat (851), wherein the fourth fixing seat (851) is disposed on the base (80); A fourth multi-axis mechanical arm (852), the fourth multi-axis mechanical arm (852) is rotatably connected to the fourth fixed seat (851), the fourth multi-axis mechanical arm (852) includes a plurality of fourth mechanical arms (853) connected in sequence, and two adjacent fourth mechanical arms (853) can rotate relative to each other; A material unloading clamp assembly (854), wherein the material unloading clamp assembly (854) includes a material unloading drive component (855) and a material unloading clamp (856), wherein the material unloading drive component (855) is disposed at one end of the fourth multi-axis robot arm (852) away from the fourth fixed seat (851), and the material unloading drive component (855) is transmission-connected to the material unloading clamp (856) to drive the material unloading clamp (856) to clamp the full-circle coil (930).

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