Framework coil tray filling machine

Abstract

The invention discloses a bobbin coil tray loading machine which is characterized in that no-load trays stored in an empty tray bin are transferred to an empty tray conveying device through an empty tray taking and placing device, the empty tray conveying device moves the no-load trays to a tray transferring device, and the tray transferring device transfers the trays on the empty tray conveying device to a tray discharging device; in the process of transferring the material disc, the bobbin coil taking and placing device is matched with the bobbin coil taking and placing device to carry out bobbin coil disc loading, the bobbin coil taking and placing device moves the bobbin coil to the visual detection device to be detected, and the bobbin coil is transferred to the corresponding material disc or the defective product storage device according to the detection result. The material tray discharging device comprises a material tray bin, a material tray taking and placing device and a material tray conveying device, the material tray conveying device moves the material trays with the framework coils to the material tray taking and placing device, and the material tray taking and placing device stacks the material trays on the material tray conveying device into the material tray bin. By optimizing the moving path of the material tray, the tray loading waiting time is shortened, and then the tray loading efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of skeleton coil loading equipment, and in particular to a skeleton coil loading machine. Background Art

[0002] The skeleton coil includes a coil skeleton, pins mounted on the coil skeleton, and copper wire wound on the coil skeleton. The production of skeleton coils generally includes: feeding, winding, tinning, bending, mounting and other process flows, and each process flow is integrated to form an automated production line.

[0003] In the process of loading the skeleton coil, a loading machine is generally used to realize the automatic loading of the skeleton coil. The existing loading machines mostly adopt a reciprocating transfer method. For example, the Chinese utility model patent with announcement number: CN221115929U discloses a material unloading mechanism for a coil frame, including: a frame, a material transfer assembly and a clamping assembly. A pair of blanking racks are provided at both ends of the frame, and a waiting area is formed between the pair of blanking racks. The blanking racks are used to store storage boxes (i.e., material trays), and first limit cylinders are provided on both sides of the blanking racks. The first limit cylinders on both sides movably abut against the periphery of the storage boxes, so that the storage boxes are at a preset height in the blanking racks. After multiple storage boxes are stacked and placed in one of the blanking racks in sequence, the feeding tray of the material transfer assembly can drive a single storage box to be transported in turn toward another blanking rack. When the storage box moves to the waiting area, the clamping claws on the clamping assembly can place the grabbed coil racks in the storage box in an orderly manner until the storage box is full of coil racks and is sent to another blanking rack for stacking and storage. Finally, the feeding tray resets and moves to the bottom of the starting blanking rack to perform the next group of actions.

[0004] The feed tray reset path of this reciprocating tray loading machine is long, and it takes a certain amount of time to load and unload the feed tray and reset it. During this period of time, the clamping components and the upstream coil conveyor line need to stop and wait, resulting in a long cycle time for the entire tray loading process and reduced efficiency. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a skeleton coil loading machine to solve the problem of long loading waiting time in the existing reciprocating loading machines, which leads to long cycle time of the entire loading process and low efficiency.

[0006] In order to achieve the above object, the technical solution proposed by the present invention is: A skeleton coil loading machine comprises: a frame, a tray loading device installed on the frame, a tray unloading device, a tray transfer device, a skeleton coil picking and placing device, a visual inspection device and a defective product storage device. The tray loading device comprises: an empty tray bin, an empty tray picking and placing device and an empty tray conveying device. The empty tray bin is used to stack empty trays, the empty tray picking and placing device is used to transfer the trays stored in the empty tray bin to the empty tray conveying device, and the empty tray conveying device is used to move the trays to the tray transfer device. The tray transfer device is used to transfer the trays on the empty tray conveying device to the tray unloading device, and cooperate with the skeleton coil picking and placing device to load the coils during the transfer of the trays. The skeleton coil picking and placing device is used to move the skeleton coil to the visual inspection device for inspection, and is used to transfer the skeleton coils with good inspection results to the trays on the tray transfer device, and transfer the skeleton coils with defective inspection results to the defective product storage device. The tray unloading device comprises: a tray bin, a tray pick-up and placement device and a tray conveying device. The tray conveying device is used to move the tray with the skeleton coil to the tray pick-up and placement device. The tray pick-up and placement device is used to stack the trays on the tray conveying device into the tray bin.

[0007] Preferably, the empty plate bin comprises: an empty plate bin rack and two groups of empty plate supporting components. The empty plate bin rack comprises: two first front angle plates, two second front angle plates, two rear angle plates, a front bracket, a rear bracket, two side brackets, two latches and two latch seats; the front bracket and the rear bracket are arranged at intervals in front and back, the two ends of the rear bracket are respectively connected to a rear angle plate, the two ends of the front bracket are respectively connected to a first front angle plate, each of the first front angle plates is provided with a second front angle plate above, the second front angle plate is hinged with the rear angle plate on the same side through the side bracket, each of the second front angle plates is installed with a latch, and the front side of each of the first front angle plates is provided with a latch seat that cooperates with the latch. The empty plate supporting component comprises: an empty plate support plate and an empty plate support plate telescopic cylinder. The empty plate support plate telescopic cylinder is fixed on the frame, and the empty plate support plate is fixed to the output end of the empty plate support plate telescopic cylinder. The two empty plate telescopic cylinders are used to drive the two empty plate support plates to move horizontally toward each other or back to back.

[0008] Preferably, the empty tray pick-up and placement device comprises: a tray pick-up mechanism and a tray placement mechanism. The tray pick-up mechanism is arranged below the empty tray bin, and comprises: an empty tray bearing plate, an empty tray translation module, and an empty tray lifting module. The empty tray lifting module is fixed at the output end of the empty tray translation module, the empty tray bearing plate is fixed at the output end of the empty tray lifting module, the empty tray lifting module is used to drive the empty tray bearing plate to rise and fall to cooperate with the empty tray bin to drop the bottom tray, the empty tray translation module is used to drive the empty tray bearing plate to move back and forth between the empty tray bin and the empty tray conveying device to convey the tray to the bottom of the tray placement mechanism. The tray placement mechanism is arranged above the empty tray conveying device, and comprises: a suction cup lifting assembly, a suction cup assembly, and a vacuum generator. The suction cup assembly is fixed at the output end of the suction cup lifting assembly, the vacuum generator is connected to the suction cup assembly, and is used to control the suction cup assembly to absorb the empty tray, and the suction cup lifting assembly is used to drive the suction cup assembly to transfer the empty tray on the tray pick-up mechanism to the empty tray conveying device.

[0009] Preferably, the empty tray conveying device and / or the material tray conveying device both comprise: a first belt drive assembly and two groups of first belt conveying assemblies. The two groups of first belt conveying assemblies are relatively parallelly arranged on the frame, and are used to support the material tray from opposite sides of the material tray, and the first belt drive assembly is used to drive the two groups of first belt conveying assemblies to rotate synchronously to drive the material tray to move.

[0010] Preferably, the tray transfer device is arranged below the empty tray conveying device and the tray conveying device, and comprises: a tray translation module, a tray lifting module and a tray clamping mechanism. The tray translation module is fixed on the frame, the tray lifting module is fixed at the output end of the tray translation module, and the tray clamping mechanism is fixed at the output end of the tray lifting module. The tray clamping mechanism is used to clamp the tray, the tray translation module is used to drive the tray clamping mechanism to move between the empty tray conveying device and the tray conveying device, and to cooperate with the skeleton coil picking and placing device to load the skeleton coil onto the tray during the movement, the tray lifting module is used to drive the tray clamping mechanism to rise when the tray translation module moves the tray clamping mechanism to the bottom of the empty tray conveying device to lift the empty tray from the empty tray conveying device, and to drive the tray clamping mechanism to descend when the tray translation module moves the tray clamping mechanism to the bottom of the tray conveying device to place the tray with the skeleton coil on the tray conveying device.

[0011] Preferably, the tray clamping mechanism comprises: a base, a driver, a rotating seat, four clamping seats, four connecting rods and four slide rails. The base is fixed to the output end of the tray lifting module, the driver is fixed to the base, the rotating seat is fixed to the output end of the driver, the four slide rails are fixed to the base at intervals along the circumference of the rotating seat, each of the slide rails is equipped with a clamping seat, the four connecting rods correspond to the four clamping seats one by one, one end of the connecting rod is hinged to the clamping seat, and the other end is hinged to the rotating seat; the driver is used to drive the rotating seat to rotate forward or reverse, and the rotating seat simultaneously drives the four connecting rods to rotate forward or reverse around the rotating seat, so that the four clamping seats are synchronously retracted along the slide rails toward the rotating seat or synchronously opened toward the rotating seat, so as to clamp or release the tray from the four corners of the tray.

[0012] Preferably, the skeleton coil picking and placing device comprises: a skeleton coil translation module and at least one group of skeleton coil grabbing modules. The skeleton coil grabbing module is fixed at the output end of the skeleton coil translation module. The skeleton coil grabbing module comprises: a skeleton coil lifting module, a skeleton coil rotation module and a mechanical clamp. The skeleton coil lifting module is fixed at the output end of the skeleton coil translation module, the skeleton coil rotation module is fixed at the output end of the skeleton coil lifting module, and the mechanical clamp is fixed at the output end of the skeleton coil rotation module.

[0013] Preferably, the tray pick-up and placement device is arranged above the tray conveying device and the tray bin, and comprises: a tray grabbing assembly, a tray lifting assembly and a tray translation assembly. The tray translation assembly comprises: a second belt drive assembly and two groups of second belt conveying assemblies. The two groups of the second belt conveying assemblies are arranged on the frame in parallel and relative to each other, and the second belt drive assembly is used to drive the two groups of second belt conveying assemblies to rotate synchronously to drive the tray grabbing assembly to move horizontally. The tray grabbing assembly comprises: a tray basket and two groups of tray supporting assemblies. The tray basket has a feed inlet at the bottom, and the tray basket is connected to a tray supporting assembly on both sides of the feed inlet. The tray supporting assembly comprises: a tray support plate and a tray support plate telescopic cylinder. The tray support plate telescopic cylinder is fixed to the bottom of the tray basket, and the tray support plate is fixed to the output end of the tray support plate telescopic cylinder. The two tray support plate telescopic cylinders are used to drive the two tray support plates to move horizontally toward each other or back to back. The tray lifting assembly includes: a support, a second lifting module, a second linear bearing and a second guide shaft. The support is fixed on the output ends of the two sets of second belt conveyor assemblies, the second lifting module is fixed on the support, the output end of the second lifting module passes through the support and is connected to the tray basket, the second linear bearing is fixed on the support, a second guide shaft is inserted in the second linear bearing, and the lower end of the second guide shaft extends out of the support and is connected to the tray basket.

[0014] Preferably, the defective product storage device comprises: a material storage box, a shifting cylinder, a socket, a material receiving plate and a side-pushing cylinder. The lateral shifting cylinder is fixed on the frame, the socket is fixed on the output end of the lateral shifting cylinder, the material storage box is plugged on the socket, the material storage box has at least two horizontally arranged T-shaped material storage slots, and one end of the T-shaped material storage slot is the entrance end. The side-pushing cylinder is fixed on the frame, the driving direction of the side-pushing cylinder is perpendicular to the driving direction of the lateral shifting cylinder, and the material receiving plate is fixed on the output end of the side-pushing cylinder. The side-pushing cylinder is used to drive the material receiving plate to push the skeleton coil placed on the material receiving plate laterally from the entrance end of the T-shaped material storage slot into the T-shaped material storage slot, and the lateral shifting cylinder is used to drive the material storage box to move along the width direction of the T-shaped material storage slot to switch the T-shaped material storage slot to cooperate with the material receiving plate.

[0015] Preferably, the material receiving plate includes: a connecting portion, a side push portion extending upward from the top of the connecting portion, and two supporting portions extending outward from the lower portion of the side push portion close to one side of the material storage box, and a bypass opening for avoiding the pins of the skeleton coil is formed between the two supporting portions. The T-shaped material storage trough includes: a limiting groove located at the upper portion and a bypass groove located at the lower portion. The groove width of the limiting groove is greater than the groove width of the bypass groove, and the limiting groove forms limiting steps on both sides of the bypass groove. The limiting step forms a guide slope extending obliquely downward from the inside to the outside at the entrance end, and the highest point of the guide slope is higher than the upper surface of the supporting portion, and the lowest point of the guide slope is not higher than the upper surface of the supporting portion.

[0016] By adopting the above technical scheme, the beneficial effects of the present invention are as follows: the tray loading device, tray transferring device and tray unloading device of the skeleton coil loading machine of the present invention are relatively independent, so that the tray loading, skeleton coil loading and tray unloading can be carried out simultaneously, and the tray transferring device only needs to move back and forth between the empty tray conveying device and the tray conveying device, and the reciprocating path is short. At the same time, the empty tray conveying device and the tray conveying device can convey the tray in time, so that the tray transferring device can be reset to carry out the next assembly tray action, shortening the loading waiting time, which is beneficial to improving the loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of a skeleton coil loading machine according to a preferred embodiment of the present invention.

[0018] Figure 2 for Figure 1 Schematic top view of .

[0019] Figure 3 for Figure 1 Schematic diagram of the main view.

[0020] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the middle material tray loading device.

[0021] Figure 5 for Figure 4 Schematic diagram of the three-dimensional structure of the middle material bin.

[0022] Figure 6 for Figure 4 Schematic diagram of the three-dimensional structure of the middle plate mechanism.

[0023] Figure 7 for Figure 1 Schematic diagram of the three-dimensional structure of the middle material tray unloading device.

[0024] Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the medium material tray picking and placing device.

[0025] Fig. 9 for Figure 1 Schematic diagram of the three-dimensional structure of the middle material tray loading and unloading device, the skeleton coil picking and placing device and the visual inspection device.

[0026] Fig.10 for Fig. 9 Schematic diagram of the three-dimensional structure of the middle material tray transferring device.

[0027] Fig.11 for Figure 1 Schematic diagram of the three-dimensional structure of the defective product storage device.

[0028] Fig.12 for Fig.11 Schematic diagram of the three-dimensional structure of the center splicing plate.

[0029] Fig.13 and Fig.14 for Fig.11 Schematic diagram of the positional relationship between the middle material storage box and the material receiving plate.

[0030] Among them: 1. Rack; 2. Material tray loading device; 21. Empty tray bin; 211. Empty tray bin rack; 2111. First front angle plate; 2112. Second front angle plate; 2113. Rear angle plate; 2114. Front bracket; 2115. Rear bracket; 2116. Side bracket; 2117. Latch; 2118. Latch seat; 212. Empty tray supporting assembly; 2121. Empty tray support plate; 2122. Telescopic cylinder for empty tray support plate; 22. Tray taking mechanism; 221, empty tray carrying plate; 222, empty tray translation module; 223, empty tray lifting module; 23, tray placing mechanism; 231, upper mounting plate; 232, lower mounting plate; 233, first lifting module; 234, first linear bearing; 235, first guide shaft; 236, suction cup mounting plate; 237, suction cup; 24, empty tray conveying device; 241, first belt driving assembly; 242, first belt conveying assembly; 3. Tray unloading device; 31. Tray bin; 311. Tray seat; 32. Tray picking and placing device; 321. Tray grabbing assembly; 3211. Tray basket; 3212. Tray support plate; 3213. Tray support plate telescopic cylinder; 322. Tray lifting assembly; 3221. Support; 3222. Second lifting module; 3223. Second linear bearing; 3224. Second guide shaft; 323. Tray translation assembly; 3231. Second belt drive assembly; 3232. Second belt conveyor assembly; 33. Tray conveying device; 4. Tray transfer device; 41. Tray translation module; 42. Tray lifting module; 43. Tray clamping mechanism; 431. Base; 432. Driver; 433. Rotating seat; 434. Clamping seat; 4341. V-shaped clamping groove; 435. Connecting rod; 436. Slide rail; 5. Skeleton coil pick-and-place device; 51. Skeleton coil translation module; 52. Skeleton coil grabbing module; 521. Skeleton coil lifting module; 522. Skeleton coil rotating module; 523. Mechanical gripper; 6. Visual inspection device; 7. Defective product storage device; 71. Storage box; 711. T-type storage trough; 7111. Limiting groove; 7112. Avoidance groove; 7113. Limiting step; 7114. Guide slope; 72. Transverse cylinder; 73. Connecting seat; 74. Material receiving plate; 741. Connecting part; 742. Side push part; 743. Supporting part; 744. Avoidance port; 75. Side push cylinder; 8. Skeleton coil. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods.

[0032] Combination Figure 1 to Figure 14 The skeleton coil loading machine of the present invention comprises: a frame 1, a tray loading and unloading device installed on the frame 1, a skeleton coil picking and placing device 5, a visual inspection device 6 and a defective product storage device 7.

[0033] The tray loading and unloading device includes: a tray loading device 2, a tray unloading device 3 and a tray transfer device 4 arranged therebetween. The tray loading device 2 includes: an empty tray bin 21, an empty tray pick-up and placement device and an empty tray conveying device 24. The empty tray bin 21 is used to stack empty trays. The empty tray pick-up and placement device is used to transfer the trays stored in the empty tray bin 21 to the empty tray conveying device 24. The empty tray conveying device 24 is used to move the trays to the tray transfer device 4. The tray transfer device 4 is used to transfer the trays on the empty tray conveying device 24 to the tray unloading device 3, and cooperate with the skeleton coil pick-up and placement device 5 to load the skeleton coil 8 during the process of transferring the trays. The tray unloading device 3 includes: a tray bin 31, a tray picking and placing device 32 and a tray conveying device 33. The tray conveying device 33 is used to move the tray equipped with the skeleton coil 8 to the tray picking and placing device 32, and the tray picking and placing device 32 is used to stack the trays on the tray conveying device 33 into the tray bin 31.

[0034] The skeleton coil picking and placing device 5 is used to transfer the skeleton coil 8 to the visual inspection device 6 for inspection, and transfer the skeleton coil 8 with a good inspection result to the tray on the tray transfer device 4, and transfer the skeleton coil 8 with a defective inspection result to the defective product storage device 7.

[0035] The tray loading device 2, tray transferring device 4 and tray unloading device 3 of the skeleton coil loading machine of the present invention are relatively independent, so that tray loading, skeleton coil loading and tray unloading can be carried out simultaneously. The tray transferring device 4 only needs to move back and forth between the empty tray conveying device 24 and the tray conveying device 33. The reciprocating path is short. At the same time, the empty tray conveying device 24 and the tray conveying device 33 can convey the tray in time, so that the tray transferring device 4 can be reset to carry out the next assembly tray action, shortening the loading waiting time and helping to improve the loading efficiency.

[0036] Combination Figure 4 and Figure 5 In a preferred embodiment of the present invention, the above-mentioned empty tray bin 21 comprises: an empty tray bin frame 211 and two sets of empty tray supporting components 212. The bottom of the empty tray bin frame 211 has a material drop opening, and the two sets of empty tray supporting components 212 are respectively arranged on opposite sides of the material drop opening, and are used to support the material trays stacked in the empty tray bin frame 211 and the material trays dropped to the bottom layer from both sides of the material trays.

[0037] Specifically, if Figure 5As shown, the empty tray storage rack 211 of this embodiment includes: two rear angle plates 2113, two first front angle plates 2111, two second front angle plates 2112, a front bracket 2114, a rear bracket 2115, two side brackets 2116, two latches 2117 and two latch seats 2118. The front bracket 2114 and the rear bracket 2115 are arranged at intervals in front and back, and the left and right ends of the rear bracket 2115 are respectively connected to a rear angle plate 2113, and the left and right ends of the front bracket 2114 are respectively connected to a first front angle plate 2111, and each first front angle plate 2111 is provided with a second front angle plate 2112 above, and the second front angle plate 2112 is hinged to the rear angle plate 2113 on the same side through the side bracket 2116, and each second front angle plate 2112 is installed with a latch 2117, and the front side of each first front angle plate 2111 is provided with a latch seat 2118 matched with the latch 2117. The empty tray storage rack 211 of this embodiment can be flexibly opened and closed, which is convenient for loading and unloading trays and improves the convenience of operation. When in use, unlock the latch 2117, rotate the two second front angle plates 2112 outward to open the empty tray storage rack 211, and conveniently put the tray sideways into the empty tray storage rack 211. After the tray placement operation is completed, rotate the two second front angle plates 2112 inward to reset and insert the latch 2117 into the latch seat 2118 to close the empty tray storage rack 211, so that the front and rear angle plates can horizontally limit the tray from the four corners of the tray to ensure the stability of the tray placement.

[0038] The empty tray support assembly 212 of this embodiment includes: an empty tray support plate 2121 and an empty tray support plate telescopic cylinder 2122. The empty tray support plate telescopic cylinder 2122 is fixed on the frame 1, and the empty tray support plate 2121 is fixed to the output end of the empty tray support plate telescopic cylinder 2122. The two empty tray support plates 2121 are driven to move horizontally toward each other or back to back by controlling the two empty tray support plate telescopic cylinders 2122 to drop the material trays one by one.

[0039] Combination Figure 4 and Figure 6 In a preferred embodiment of the present invention, the empty tray pick-up and placement device includes: a tray pick-up mechanism 22 disposed below the empty tray bin 21 and a tray placement mechanism 23 disposed above the empty tray conveying device 24. The tray pick-up mechanism 22 is used to cooperate with the empty tray bin 21 to drop the tray at the bottom layer, and to convey the tray to the tray placement mechanism 23, and the tray placement mechanism 23 is used to transfer the tray to the empty tray conveying device 24.

[0040] Specifically, if Figure 4As shown, the tray taking mechanism 22 includes: an empty tray bearing plate 221, an empty tray translation module 222 and an empty tray lifting module 223. The empty tray translation module 222 is fixed on the frame 1, the empty tray lifting module 223 is fixed at the output end of the empty tray translation module 222, the empty tray bearing plate 221 is fixed at the output end of the empty tray lifting module 223, the empty tray lifting module 223 is used to drive the empty tray bearing plate 221 to rise and fall to cooperate with the empty tray bin 21 to drop the material tray at the bottom layer, and the empty tray translation module 222 is used to drive the empty tray bearing plate 221 to reciprocate between the empty tray bin 21 and the empty tray conveying device 24 to convey the material tray to the bottom of the tray placing mechanism 23.

[0041] like Figure 6 As shown, the tray placing mechanism 23 includes: a suction cup lifting assembly, a suction cup assembly and a vacuum generator (not shown in the figure). The suction cup lifting assembly is fixed on the frame 1, the suction cup assembly is fixed at the output end of the suction cup lifting assembly, and the vacuum generator is connected to the suction cup assembly. When the tray taking mechanism 22 moves the material tray to the bottom of the tray placing mechanism 23, the vacuum generator controls the suction cup assembly to absorb the material tray. After the tray taking mechanism 22 is reset, the suction cup lifting assembly drives the suction cup assembly to move downward to place the material tray on the empty tray conveying device 24.

[0042] The suction cup assembly includes: a suction cup mounting plate 236 and a plurality of suction cups 237. Suction cups 237 are fixed at the four corners of the suction cup mounting plate 236, and each suction cup 237 is connected to a vacuum generator. The suction cup lifting assembly includes an upper mounting plate 231, a lower mounting plate 232, a first lifting module 233, a first linear bearing 234 and a first guide shaft 235. The lower mounting plate 232 is fixed on the frame 1, the upper mounting plate 231 is arranged above the lower mounting plate 232, one end of the first guide shaft 235 is connected to the upper mounting plate 231, and the other end passes through the lower mounting plate 232 and is connected to the suction cup mounting plate 236. The first guide shaft 235 is sleeved with a first linear bearing 234 fixed on the lower mounting plate 232, the first lifting module 233 is fixed on the upper mounting plate 231, the output end of the first lifting module 233 is connected to the lower mounting plate 232, and the first lifting module 233 uses a cylinder or an electric cylinder.

[0043] The tray loading device 2 of the present embodiment is provided with two empty tray bins 21, which can accommodate more trays and reduce the number of manual additions of trays. The tray placing mechanism 23 is arranged between the two empty tray bins 21, which is conducive to shortening the tray taking path of the tray taking mechanism 22, reducing resource waste and reducing costs.

[0044] Combination Figure 4In a preferred embodiment of the present invention, the empty tray conveying device 24 is a belt conveyor, which includes a first belt driving component 241 and two groups of first belt conveying components 242. The two groups of first belt conveying components 242 are relatively parallelly arranged on the frame 1, and are used to support the tray from opposite sides of the tray. The first belt driving component 241 is used to drive the two groups of first belt conveying components 242 to rotate synchronously to drive the tray to move.

[0045] Combination Figure 7 In a preferred embodiment of the present invention, a tray seat 311 is provided in the tray bin 31 and is slidably disposed at the bottom of the tray bin 31 through a slide rail. The trays are stacked on the tray seat 311, and the tray seat 311 can be pulled laterally out of the second tray bin 31 through the slide rail to collect the trays.

[0046] Combination Figure 7 In a preferred embodiment of the present invention, the tray pick-up and placement device 32 is arranged above the tray conveying device 33 and the tray bin 31, and includes: a tray grabbing assembly 321, a tray lifting assembly 322, and a tray translation assembly 323. The tray translation assembly 323 is fixed on the frame 1, the tray lifting assembly 322 is fixed on the output end of the tray translation assembly 323, and the tray grabbing assembly 321 is fixed on the output end of the tray lifting assembly 322. The tray translation assembly 323 is used to drive the tray grabbing assembly 321 to move between the tray conveying device 33 and the tray bin 31, and the tray lifting assembly 322 is used to drive the tray grabbing assembly 321 to move up and down to grab the tray on the tray conveying device 33, and stack the grabbed trays in the tray bin 31.

[0047] Specifically, if Figure 8 As shown, the material tray translation assembly 323 of this embodiment includes: a second belt drive assembly 3231 and two groups of second belt conveyor assemblies 3232, the two groups of second belt conveyor assemblies 3232 are relatively parallelly arranged on the frame 1, and the second belt drive assembly 3231 is used to drive the two groups of second belt conveyor assemblies 3232 to rotate synchronously to drive the material tray grabbing assembly 321 to move horizontally.

[0048] The tray grabbing assembly 321 of the present embodiment includes: a tray basket 3211 and two sets of tray supporting assemblies. The tray basket 3211 has a feed inlet at the bottom, and the tray basket 3211 is connected to a set of tray supporting assemblies on opposite sides of the feed inlet. The tray supporting assembly includes: a tray support plate 3212 and a tray support plate telescopic cylinder 3213, the tray support plate telescopic cylinder 3213 is fixed to the bottom of the tray basket 3211, and the tray support plate 3212 is fixed to the output end of the tray support plate telescopic cylinder 3213. The two sets of tray support plate telescopic cylinders 3213 are used to drive the two tray support plates 3212 to move horizontally toward each other or back to back, so as to grab or drop the tray from the feed inlet. The tray basket 3211 of the present embodiment accumulates and grabs a plurality of trays and then performs a stacking, which is conducive to optimizing the processing flow and improving production efficiency and resource utilization.

[0049] The tray lifting assembly 322 of this embodiment includes: a support 3221, a second lifting module 3222, a second linear bearing 3223 and a second guide shaft 3224. The support 3221 is fixed to the output ends of the two sets of second belt conveyor assemblies 3232, the second lifting module 3222 is fixed on the support 3221, the output end of the second lifting module 3222 passes through the support 3221 and is connected to the tray basket 3211, the second lifting module 3222 uses a cylinder or an electric cylinder, the second linear bearing 3223 is fixed on the support 3221, the second linear bearing 3223 is inserted with a second guide shaft 3224, and the lower end of the second guide shaft 3224 extends out of the support 3221 and is connected to the tray basket 3211.

[0050] The tray conveyor 33 of this embodiment has the same structure as the empty tray conveyor 24, which will not be described in detail. The loading status of the skeleton coil 8 can be detected by setting a CCD visual device above the tray conveyor 33, so that the fully loaded tray can be unloaded in time.

[0051] The tray unloading device 3 of this embodiment is provided with two tray bins 31, the tray conveying device 33 is provided between the two tray bins 31, and the tray picking and placing device 32 can move laterally between the tray conveying device 33 and the two tray bins 31. The two tray bins 31 can accommodate more trays, reduce the number of manual tray placements, and optimize the moving path of the tray picking and placing device 32, which is conducive to reducing resource waste and reducing costs.

[0052] Combination Fig. 9 and Fig.10In a preferred embodiment of the present invention, the tray transfer device 4 is arranged below the empty tray conveying device 24 and the tray conveying device 33, and comprises: a tray translation module 41 fixed on the frame 1, a tray lifting module 42 fixed at the output end of the tray translation module 41, and a tray clamping mechanism 43 fixed at the output end of the tray lifting module 42. The tray clamping mechanism 43 is used to clamp the tray, and the tray translation module 41 is used to drive the tray clamping mechanism 43 to move between the empty tray conveying device 24 and the tray conveying device 33, and in the process of moving from the empty tray conveying device 24 to the tray conveying device 33, cooperate with the skeleton coil taking and placing device 5 to load the skeleton coil 8. The tray lifting module 42 is used to drive the tray clamping mechanism 43 to rise so as to lift the empty tray from the empty tray conveying device 24 when the tray translation module 41 moves the tray clamping mechanism 43 to below the empty tray conveying device 24, and to drive the tray clamping mechanism 43 to descend so as to place the tray equipped with the skeleton coil 8 on the tray conveying device 33 when the tray translation module 41 moves the tray clamping mechanism 43 to below the tray conveying device 33.

[0053] Specifically, if Fig.10 As shown, the tray clamping mechanism 43 includes: a base 431, a driver 432, a rotating seat 433, four clamping seats 434, four connecting rods 435 and four slide rails 436. The base 431 is fixed to the output end of the tray lifting module 42, the driver 432 is fixed to the base 431, the rotating seat 433 is fixed to the output end of the driver 432, and the four slide rails 436 are fixed to the base 431 at intervals along the circumference of the rotating seat 433. Each slide rail 436 is installed with a clamping seat 434, and the top of the clamping seat 434 is provided with a V-shaped clamping groove 4341 that matches the shape of the corner of the tray. The four connecting rods 435 correspond to the four clamping seats 434 one by one, and one end of the connecting rod 435 is hinged to the clamping seat 434, and the other end is hinged to the rotating seat 433. The driver 432 preferably adopts a rotary cylinder, and the driver 432 is used to drive the rotating seat 433 to rotate forward or reverse. The rotating seat 433 simultaneously drives the four connecting rods 435 to rotate forward or reverse around the rotating seat 433, so that the four clamping seats 434 are synchronously retracted along the slide rails 436 toward the rotating seat 433 or synchronously opened toward the rotating seat 433, so as to clamp or release the material tray from the four corners of the material tray. On the one hand, the material tray clamping mechanism 43 of this embodiment can adapt to a certain material tray position deviation, reduce the conveying accuracy requirements for the material tray loading device 2, and be compatible with the position deviation of the material tray caused by vibration and other reasons during the conveying process. On the other hand, it can position the material tray, eliminate the material tray position deviation, and ensure that the skeleton coil picking and placing device 5 can accurately place the skeleton coil 8 in place, avoiding product damage caused by the position error of the material tray.

[0054] Combination Fig. 9In a preferred embodiment of the present invention, the skeleton coil placement device 5 includes: a skeleton coil translation module 51 and two sets of skeleton coil grabbing modules 52. The skeleton coil grabbing module 52 is fixed at the output end of the skeleton coil translation module 51, and includes: a skeleton coil lifting module 521 fixed at the output end of the skeleton coil translation module 51, a skeleton coil rotation module 522 fixed at the output end of the skeleton coil lifting module 521, and a mechanical clamp 523 fixed at the output end of the skeleton coil rotation module 522. When the skeleton coil translation module 51 translates the skeleton coil 8 to the visual inspection device 6, the visual inspection device 6 detects and determines the required rotation angle, and the skeleton coil rotation module 522 rotates the skeleton coil 8 to a uniform orientation so as to inspect the product appearance. The number of skeleton coil grabbing modules 52 can be adjusted according to actual needs. It is preferred to set up multiple groups of mechanical clamps 523. On the one hand, multiple groups of mechanical clamps 523 can clamp multiple skeleton coils 8 at the same time, significantly improving production efficiency and shortening production cycle. On the other hand, they provide redundancy function. Even if a group of mechanical clamps 523 fails, other mechanical clamps 523 can still work normally, reducing downtime.

[0055] Combination Figure 11 to Figure 14 In a preferred embodiment of the present invention, the defective product storage device 7 includes: a storage box 71, a traverse cylinder 72, a socket 73, a material receiving plate 74 and a side push cylinder 75. The traverse cylinder 72 is fixed on the frame 1, the socket 73 is fixed on the output end of the traverse cylinder 72, the storage box 71 is plugged into the socket 73, and when the storage box 71 is full, it is convenient to remove and replace a new storage box 71. The storage box 71 has at least two T-shaped storage grooves 711 arranged horizontally in parallel, and one end of the T-shaped storage groove 711 is the inlet end. The side push cylinder 75 is fixed on the frame 1, and the driving direction of the side push cylinder 75 is perpendicular to the driving direction of the traverse cylinder 72, and the material receiving plate 74 is fixed on the output end of the side push cylinder 75. The side push cylinder 75 is used to drive the receiving plate 74 to push the skeleton coil 8 placed on the receiving plate 74 from the entrance end of the T-shaped storage groove 711 into the T-shaped storage groove 711, and the lateral movement cylinder 72 is used to drive the storage box 71 to move along the width direction of the T-shaped storage groove 711 to switch the T-shaped storage groove 711 to cooperate with the receiving plate 74. The defective product storage device 7 of this embodiment reduces the complexity of the defective product loading action and simplifies the defective product transportation path. The skeleton coil picking and placing device 5 only needs to transfer the defective product to the receiving plate 74, which is conducive to shortening the defective product transportation time, reducing the skeleton coil picking and placing device 5 transportation empty travel time, and improving the overall transportation efficiency.

[0056] The receiving plate 74 includes: a connecting portion 741 for connecting to the output end of the side-thrust cylinder 75, a side-thrust portion 742 extending upward from the top of the connecting portion 741, and two supporting portions 743 extending outward from the lower portion of the side-thrust portion 742 close to one side of the storage box 71, and a evacuation opening 744 for evading the pins of the skeleton coil 8 is formed between the two supporting portions 743. The T-shaped storage trough 711 includes: a limiting groove 7111 located at the upper portion and an evacuation groove 7112 located at the lower portion, the groove width W1 of the limiting groove 7111 is greater than the groove width W2 of the evacuation groove 7112, the limiting groove 7111 forms limiting steps 7113 on both sides of the evacuation groove 7112, and the limiting step 7113 forms a guide inclined surface 7114 extending obliquely downward from the inside to the outside at the entrance end, referring to Fig.14 The middle dotted line shows that the highest point of the guide slope 7114 is higher than the upper surface of the supporting portion 743, and the lowest point of the guide slope 7114 is not higher than the upper surface of the supporting portion 743. The guide slope 7114 can guide the skeleton coil 8 to gradually separate from the supporting portion 743 and fall on the limiting step 7113 during the process of the side push portion 742 pushing the skeleton coil 8 into the T-shaped storage slot 711, ensuring that the skeleton coil 8 smoothly transitions during the boxing process and stays stably in the T-shaped storage slot 711, avoiding the situation where the skeleton coil 8 is stuck or cannot correctly enter the T-shaped storage slot 711 due to the limitation of the supporting portion 743, thereby improving the reliability and accuracy of boxing.

[0057] In order to improve the efficiency of boxing defective products, two defective product storage devices 7 can be configured, and the driving direction of the lateral cylinder 72 is the same as the driving direction of the skeleton coil translation module 51, and the driving direction of the side push cylinder 75 is perpendicular to the driving direction of the skeleton coil translation module 51. The two defective product storage devices 7 correspond to the two mechanical grippers 523 respectively, and the two mechanical grippers can box defective products at the same time to reduce the boxing time of defective products and improve the loading efficiency of the whole machine.

[0058] The visual inspection device 6 converts the captured target into an image signal through a machine vision product (i.e., an image capture device, which is divided into two types: CMOS and CCD), and transmits it to a dedicated image processing system. According to pixel distribution, brightness, color and other information, it is converted into a digital signal. The image system performs various operations on these signals to extract the characteristics of the target, and then controls the operation of the equipment on site according to the results of the judgment. The visual inspection device 6 is used to detect the appearance of the resistance welding between the pins of the skeleton coil 8 and the enameled wire. The inspection content includes: whether there is melting, abnormal shape, depression, leakage resistance welding (no discharge), ear collapse, end cover floating and other appearance defects on the pin welding surface.

[0059] It can be understood that each device of the present invention is uniformly controlled by a controller, and the action feedback of each device is realized by a photoelectric sensor.

[0060] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A skeleton coil loading machine, characterized in that: include: A frame, a tray loading device installed on the frame, a tray unloading device, a tray transfer device, a skeleton coil picking and placing device, a visual inspection device and a defective product storage device; The tray loading device comprises: an empty tray bin, an empty tray picking and placing device and an empty tray conveying device; the empty tray bin is used to stack empty trays; the empty tray picking and placing device is used to transfer the trays stored in the empty tray bin to the empty tray conveying device; the empty tray conveying device is used to move the trays to the tray transfer device; The tray transfer device is used to transfer the tray on the empty tray conveying device to the tray unloading device, and cooperate with the skeleton coil picking and placing device to load the skeleton coil into the tray during the process of transferring the tray; The skeleton coil picking and placing device is used to move the skeleton coil to the visual inspection device for inspection, and to transfer the skeleton coil with a good inspection result to the tray on the tray transfer device, and to transfer the skeleton coil with a defective inspection result to the defective product storage device; The tray unloading device includes: a tray bin, a tray picking and placing device and a tray conveying device; the tray conveying device is used to move the tray equipped with the skeleton coil to the tray picking and placing device; the tray picking and placing device is used to stack the trays on the tray conveying device into the tray bin.

2. The skeleton coil loading machine according to claim 1, characterized in that: The empty tray bin comprises: an empty tray bin frame and two sets of empty tray supporting components; The empty tray storage rack comprises: two first front angle plates, two second front angle plates, two rear angle plates, a front bracket, a rear bracket, two side brackets, two latches and two latch seats; the front brackets and the rear brackets are arranged at intervals in front and back, the two ends of the rear brackets are respectively connected to a rear angle plate, the two ends of the front brackets are respectively connected to a first front angle plate, each of the first front angle plates is provided with a second front angle plate above, the second front angle plate is hinged to the rear angle plate on the same side through the side bracket, each of the second front angle plates is installed with a latch, and the front side of each of the first front angle plates is provided with a latch seat matched with the latch; The empty plate supporting assembly comprises: an empty plate supporting plate and an empty plate supporting plate telescopic cylinder; the empty plate supporting plate telescopic cylinder is fixed on a frame, and the empty plate supporting plate is fixed on an output end of the empty plate supporting plate telescopic cylinder; the two empty plate supporting plate telescopic cylinders are used to drive the two empty plate supporting plates to move horizontally toward each other or away from each other.

3. The skeleton coil loading machine according to claim 1, characterized in that: The empty tray taking and placing device comprises: a tray taking mechanism and a tray placing mechanism; The tray-taking mechanism is arranged below the empty tray bin, and comprises: an empty tray carrying plate, an empty tray translation module and an empty tray lifting module; the empty tray lifting module is fixed to the output end of the empty tray translation module, and the empty tray carrying plate is fixed to the output end of the empty tray lifting module; the empty tray lifting module is used to drive the empty tray carrying plate to move up and down to cooperate with the empty tray bin to drop the material tray at the bottom layer, and the empty tray translation module is used to drive the empty tray carrying plate to move back and forth between the empty tray bin and the empty tray conveying device to convey the material tray to the bottom of the tray placing mechanism; The disc placing mechanism is arranged above the empty disc conveying device, and comprises: a suction cup lifting assembly, a suction cup assembly and a vacuum generator; the suction cup assembly is fixed at the output end of the suction cup lifting assembly, the vacuum generator is connected to the suction cup assembly, and is used to control the suction cup assembly to adsorb the material disc, and the suction cup lifting assembly is used to drive the suction cup assembly to transfer the material disc on the disc taking mechanism to the empty disc conveying device.

4. The skeleton coil loading machine according to claim 1, characterized in that: The empty tray conveying device and / or the material tray conveying device both include: a first belt drive assembly and two groups of first belt conveying assemblies; the two groups of first belt conveying assemblies are relatively parallelly arranged on the frame, and are used to support the material tray from opposite sides of the material tray, and the first belt drive assembly is used to drive the two groups of first belt conveying assemblies to rotate synchronously to drive the material tray to move.

5. The skeleton coil loading machine according to claim 1, characterized in that: The tray transfer device is arranged below the empty tray conveying device and the tray conveying device, and comprises: a tray translation module, a tray lifting module and a tray clamping mechanism; the tray translation module is fixed on the frame, the tray lifting module is fixed at the output end of the tray translation module, and the tray clamping mechanism is fixed at the output end of the tray lifting module; the tray clamping mechanism is used to clamp the tray, the tray translation module is used to drive the tray clamping mechanism to move between the empty tray conveying device and the tray conveying device, and cooperate with the skeleton coil taking and placing device to load the skeleton coil on the tray during the movement, the tray lifting module is used to drive the tray clamping mechanism to rise to lift the tray from the empty tray conveying device when the tray translation module moves the tray clamping mechanism to the bottom of the empty tray conveying device, and drive the tray clamping mechanism to descend to place the tray equipped with the skeleton coil on the tray conveying device when the tray translation module moves the tray clamping mechanism to the bottom of the tray conveying device.

6. The skeleton coil loading machine according to claim 5, characterized in that: The tray clamping mechanism includes: a base, a driver, a rotating seat, four clamping seats, four connecting rods and four slide rails; the base is fixed to the output end of the tray lifting module, the driver is fixed to the base, the rotating seat is fixed to the output end of the driver, and the four slide rails are fixed to the base at intervals along the circumference of the rotating seat, each of the slide rails is equipped with a clamping seat, and the four connecting rods correspond to the four clamping seats one by one, one end of the connecting rod is hinged to the clamping seat, and the other end is hinged to the rotating seat; the driver is used to drive the rotating seat to rotate forward or reverse, and the rotating seat simultaneously drives the four connecting rods to rotate forward or reverse around the rotating seat, so that the four clamping seats are synchronously retracted along the slide rails toward the rotating seat or synchronously opened toward the rotating seat, so as to clamp or release the tray from the four corners of the tray.

7. The skeleton coil loading machine according to claim 1, characterized in that: The skeleton coil picking and placing device comprises: a skeleton coil translation module and at least one set of skeleton coil grabbing modules; the skeleton coil grabbing module is fixed at the output end of the skeleton coil translation module; The skeleton coil grabbing module includes: a skeleton coil lifting module, a skeleton coil rotating module and a mechanical clamp; the skeleton coil lifting module is fixed to the output end of the skeleton coil translation module, the skeleton coil rotating module is fixed to the output end of the skeleton coil lifting module, and the mechanical clamp is fixed to the output end of the skeleton coil rotating module.

8. The skeleton coil loading machine according to claim 1, characterized in that: The tray picking and placing device is arranged above the tray conveying device and the tray bin, and comprises: a tray grabbing assembly, a tray lifting assembly and a tray translation assembly; The tray translation assembly includes: a second belt driving assembly and two groups of second belt conveying assemblies; the two groups of second belt conveying assemblies are arranged relatively parallel on the frame, and the second belt driving assembly is used to drive the two groups of second belt conveying assemblies to rotate synchronously to drive the tray grabbing assembly to move horizontally; The tray grabbing assembly comprises: a tray basket and two sets of tray supporting assemblies; the tray basket has a feed inlet at the bottom, and the tray basket is connected to a tray supporting assembly on both sides of the feed inlet; the tray supporting assembly comprises: a tray support plate and a tray support plate telescopic cylinder, the tray support plate telescopic cylinder is fixed to the bottom of the tray basket, the tray support plate is fixed to the output end of the tray support plate telescopic cylinder, and the two tray support plate telescopic cylinders are used to drive the two tray support plates to move horizontally toward each other or back to back; The tray lifting assembly includes: a support, a second lifting module, a second linear bearing and a second guide shaft; the support is fixed on the output ends of the two groups of second belt conveyor assemblies, the second lifting module is fixed on the support, the output end of the second lifting module passes through the support and is connected to the tray basket, the second linear bearing is fixed on the support, a second guide shaft is inserted in the second linear bearing, and the lower end of the second guide shaft extends out of the support and is connected to the tray basket.

9. The skeleton coil loading machine according to claim 1, characterized in that: The defective product storage device comprises: a material storage box, a transverse cylinder, a socket, a material receiving plate and a side push cylinder; The transverse cylinder is fixed on the frame, the socket is fixed on the output end of the transverse cylinder, the material storage box is plugged into the socket, and the material storage box has at least two T-shaped material storage grooves arranged horizontally in parallel, and one end of the T-shaped material storage groove is an inlet end; The side-thrust cylinder is fixed on the frame, the driving direction of the side-thrust cylinder is perpendicular to the driving direction of the traverse cylinder, and the receiving plate is fixed on the output end of the side-thrust cylinder; The side push cylinder is used to drive the receiving plate to push the skeleton coil placed on the receiving plate laterally into the T-shaped storage trough from the entrance end of the T-shaped storage trough, and the transverse cylinder is used to drive the storage box to move along the width direction of the T-shaped storage trough to switch the T-shaped storage trough to cooperate with the receiving plate.

10. The skeleton coil loading machine according to claim 9, characterized in that: The material receiving plate comprises: a connecting portion, a side push portion extending upward from the top of the connecting portion, and two supporting portions extending outward from the lower portion of the side push portion close to the side of the material storage box, and a relief opening for avoiding the pins of the skeleton coil is formed between the two supporting portions; The T-shaped material storage trough includes: a limiting groove located at the upper part and an avoidance groove located at the lower part; the groove width of the limiting groove is greater than the groove width of the avoidance groove, and the limiting groove forms limiting steps on both sides of the avoidance groove, and the limiting step forms a guide inclined surface extending obliquely downward from the inside to the outside at the entrance end, the highest point of the guide inclined surface is higher than the upper surface of the supporting part, and the lowest point of the guide inclined surface is not higher than the upper surface of the supporting part.

Images