A type of skeleton coil loading machine

Abstract

This invention discloses a bobbin coil loading machine. It utilizes an empty tray picking and placing device to transfer empty trays stored in an empty tray hopper to an empty tray conveyor. The empty tray conveyor moves the empty trays to a tray transfer device, which then transfers the trays from the empty tray conveyor to a tray unloading device. During this transfer, the bobbin coil picking and placing device works in conjunction with the bobbin coil picking and placing device to load the bobbin coils. The bobbin coil picking and placing device moves the bobbin coils to a vision inspection device for detection. Based on the detection results, the bobbin coils are transferred to the corresponding tray or a defective product storage device. The tray unloading device includes a tray hopper, a tray picking and placing device, and a tray conveyor. The tray conveyor moves the trays containing the bobbin coils to the tray picking and placing device, which then stacks the trays from the tray conveyor into the tray hopper. This invention improves loading efficiency by optimizing the tray movement path and shortening the loading waiting time.

Description

Technical Field

[0001] This invention relates to the field of bobbin coil loading equipment, and particularly to a bobbin coil loading machine. Background Technology

[0002] A bobbin coil consists of a coil bobbin, pins mounted on the bobbin, and copper wire wound around the bobbin. The production of bobbin coils generally includes processes such as feeding, winding, tinning, bending, and mounting. These processes are integrated to form an automated production line.

[0003] In the process of mounting the bobbin coils, a mounting machine is generally used to automate the mounting of the bobbin coils. Most existing mounting machines adopt a reciprocating transfer method. For example, Chinese utility model patent with announcement number CN221115929U discloses a feeding mechanism for a coil frame, including: a frame, a material transfer component and a clamping component. A pair of unloading racks are set at both ends of the frame, forming a waiting area between the pair of unloading racks. The unloading racks are used to store storage boxes (i.e., material trays), and first limit cylinders are set on both sides of the unloading racks. The first limit cylinders on both sides move and abut against the periphery of the storage box, so that the storage box is at a preset height inside the unloading rack. After multiple storage boxes are stacked in one of the unloading racks, the feeding tray of the material transfer component can drive the individual storage boxes to be conveyed to the other unloading rack in sequence. When the storage box moves to the waiting area, the gripper on the clamping component can place the gripped coil frame in the storage box in an orderly manner until the storage box is full of coil frame and then it is sent to the other unloading rack for stacking and storage. Finally, the feeding tray is reset and moved to the bottom of the starting unloading rack to start the next set of operations.

[0004] The feeding tray reset path of this type of reciprocating tray loading machine is long, and the feeding tray loading, unloading and resetting takes a certain amount of time. During this time period, the clamping component 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] To address the aforementioned problems, the present invention aims to provide a bobbin coil loading machine to solve the problems of long loading waiting time, resulting in long loading cycle time and low efficiency in existing reciprocating loading machines.

[0006] To achieve the above objectives, the technical solution proposed by this invention is as follows:

[0007] A bobbin coil loading machine includes: a frame, a tray loading device, a tray unloading device, a tray transfer device, a bobbin coil picking and placing device, a visual inspection device, and a defective product storage device mounted on the frame. The tray loading device includes: 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 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 trays from the empty tray conveying device to the tray unloading device, and during the tray transfer process, it cooperates with the bobbin coil picking and placing device to load the coils. The bobbin coil picking and placing device is used to move the bobbin coils to the visual inspection device for inspection, and to transfer bobbin coils that pass the inspection to the trays on the tray transfer device, while transferring bobbin coils that pass the inspection to the defective product storage device. The material tray unloading device includes: a material tray bin, a material tray pick-and-place device, and a material tray conveying device. The material tray conveying device moves the material tray containing the bobbin coil to the material tray pick-and-place device. The material tray pick-and-place device stacks the material trays from the material tray conveying device into the material tray bin.

[0008] Preferably, the empty tray compartment includes: an empty tray frame and two sets of empty tray support assemblies. The empty tray frame includes: two first front corner plates, two second front corner plates, two rear corner plates, a front support, a rear support, two side supports, two pins, and two pin seats. The front and rear supports are spaced apart. Each end of the rear support is connected to a rear corner plate, and each end of the front support is connected to a first front corner plate. A second front corner plate is located above each first front corner plate. The second front corner plate is hinged to the rear corner plate on the same side via a side support. Each second front corner plate is equipped with a pin, and each first front corner plate has a pin seat on its front side that mates with the pin. The empty tray support assembly includes: an empty tray support plate and an empty tray support plate telescopic cylinder. The empty tray support plate telescopic cylinder is fixed to the frame, and the empty tray support plate is fixed to the output end of the cylinder. The two empty tray support cylinders are used to drive the two empty tray support plates to move horizontally towards each other or backwards.

[0009] Preferably, the empty tray picking and placing device includes a tray picking mechanism and a tray placing mechanism. The tray picking mechanism is located below the empty tray compartment and includes an empty tray support 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 support plate is fixed to the output end of the empty tray lifting module. The empty tray lifting module drives the empty tray support plate to move up and down to cooperate with the empty tray compartment in lowering the bottom tray. The empty tray translation module drives the empty tray support plate to reciprocate between the empty tray compartment and the empty tray conveying device to transport the tray to below the tray placing mechanism. The tray placing mechanism is located above the empty tray conveying device and includes a suction cup lifting assembly, a suction cup assembly, and a vacuum generator. The suction cup assembly is fixed to the output end of the suction cup lifting assembly, and the vacuum generator is connected to the suction cup assembly to control the suction cup assembly to adsorb empty trays. The suction cup lifting assembly drives the suction cup assembly to transfer the empty tray from the tray picking mechanism to the empty tray conveying device.

[0010] Preferably, the empty tray conveying device and / or the material tray conveying device each include: a first belt drive assembly and two sets of first belt conveyor assemblies. The two sets of first belt conveyor assemblies are arranged parallel to each other on the frame and are used to support the material tray from opposite sides. The first belt drive assembly is used to drive the two sets of first belt conveyor assemblies to rotate synchronously to move the material tray.

[0011] Preferably, the tray transfer device is located below the empty tray conveying device and the tray conveying device, and includes: a tray translation module, a tray lifting module, and a tray clamping mechanism. The tray translation module is fixed to the frame, the tray lifting module is fixed to the output end of the tray translation module, and the tray clamping mechanism is fixed to 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 lift the tray clamping mechanism to lift the empty tray from the empty tray conveying device when the tray translation module moves the tray clamping mechanism to below the empty tray conveying device, and to lower the tray clamping mechanism to place the tray containing the skeleton coil onto the tray conveying device when the tray translation module moves the tray clamping mechanism to below the tray conveying device.

[0012] Preferably, the tray clamping mechanism includes: a base, a driver, a rotating seat, four latches, 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 slide rail is equipped with a latch. The four connecting rods correspond one-to-one with the four latches. One end of each connecting rod is hinged to a latch, and the other end is hinged to the rotating seat. The driver is used to drive the rotating seat to rotate clockwise or counterclockwise. The rotating seat simultaneously drives the four connecting rods to rotate clockwise or counterclockwise around the rotating seat, so that the four latches synchronously close towards the rotating seat or synchronously open away from the rotating seat along the slide rails, thereby clamping or releasing the tray from its four corners.

[0013] Preferably, the skeleton coil picking and placing device includes: a skeleton coil translation module and at least one set of skeleton coil gripping modules. The skeleton coil gripping modules are fixed to the output end of the skeleton coil translation module. The skeleton coil gripping module includes: a skeleton coil lifting module, a skeleton coil rotating module, and mechanical grippers. 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 grippers are fixed to the output end of the skeleton coil rotating module.

[0014] Preferably, the tray handling device is located above the tray conveying device and the tray hopper, and includes: a tray gripping assembly, a tray lifting assembly, and a tray translating assembly. The tray translating assembly includes: a second belt drive assembly and two sets of second belt conveyor assemblies. The two sets of second belt conveyor assemblies are arranged parallel to each other on the frame. The second belt drive assembly drives the two sets of second belt conveyor assemblies to rotate synchronously, thereby moving the tray gripping assembly horizontally. The tray gripping assembly includes: a tray basket and two sets of tray support assemblies. The tray basket has an inlet at its bottom, and a tray support assembly is connected to each of the opposite sides of the inlet. The tray support assembly includes: 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 drive the two tray support plates to move horizontally towards each other or backwards. The material tray lifting assembly includes: a support, a second lifting module, a second linear bearing, and a second guide shaft. The support is fixed to the output ends of the two sets of second belt conveyor assemblies. The second lifting module is fixed to the support, and its output end passes through the support and connects to the material tray basket. The second linear bearing is fixed to the support, and a second guide shaft is inserted within it. The lower end of the second guide shaft extends out of the support and connects to the material tray basket.

[0015] Preferably, the defective product storage device includes: a storage box, a transverse cylinder, a connector, a receiving plate, and a side-push cylinder. The transverse cylinder is fixed to the frame, the connector is fixed to the output end of the transverse cylinder, the storage box is inserted into the connector, and the storage box has at least two horizontally arranged T-shaped storage slots, one end of each T-shaped storage slot being the inlet end. The side-push cylinder is fixed to the frame, and its driving direction is perpendicular to the driving direction of the transverse cylinder. The receiving plate is fixed to the output end of the side-push cylinder. The side-push cylinder drives the receiving plate to push the bobbin coil placed on the receiving plate laterally from the inlet end of the T-shaped storage slot into the T-shaped storage slot. The transverse cylinder drives the storage box to move along the width direction of the T-shaped storage slot to switch the engagement between the T-shaped storage slot and the receiving plate.

[0016] Preferably, the receiving plate includes: a connecting portion, a side-pushing portion extending upward from the top of the connecting portion, and two supporting portions extending outward from the lower part of the side-pushing portion near the storage box. A clearance opening is formed between the two supporting portions to avoid the lead of the skeleton coil. The T-shaped storage trough includes: a limiting groove at the upper part and a clearance groove at the lower part. The width of the limiting groove is greater than the width of the clearance groove. Limiting steps are formed on both sides of the limiting groove and the limiting steps have a guide slope extending downward from the inside to the outside at the inlet end. 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.

[0017] The beneficial effects of the present invention by adopting the above technical solution are as follows: the material tray feeding device, material tray transfer device and material tray unloading device of the bobbin coil loading machine of the present invention are relatively independent, so that material tray feeding, bobbin coil loading and material tray unloading can be carried out simultaneously. The material tray transfer device only needs to move back and forth between the empty tray conveying device and the material tray conveying device, and the reciprocating path is short. At the same time, the empty tray conveying device and the material tray conveying device can transport the material tray in time, so that the material tray transfer device can be reset and the next loading action can be carried out, which shortens the loading waiting time and helps to improve loading efficiency. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a skeleton coil loading machine according to a preferred embodiment of the present invention.

[0019] Figure 2 for Figure 1 A top-down view.

[0020] Figure 3 for Figure 1 Front view diagram.

[0021] Figure 4 for Figure 1 A three-dimensional structural diagram of the feeding device for the medium-sized material tray.

[0022] Figure 5 for Figure 4 A three-dimensional structural diagram of the intermediate material storage silo.

[0023] Figure 6 for Figure 4 A three-dimensional structural diagram of the middle plate mechanism.

[0024] Figure 7 for Figure 1 A three-dimensional structural diagram of the material feeding device.

[0025] Figure 8 for Figure 7 A three-dimensional structural diagram of the material tray loading and unloading device.

[0026] Figure 9 for Figure 1 A three-dimensional structural diagram of the material tray loading and unloading device, the skeleton coil picking and placing device, and the vision inspection device.

[0027] Figure 10 for Figure 9 A three-dimensional structural diagram of the material tray transfer device.

[0028] Figure 11 for Figure 1 A three-dimensional structural diagram of the defective product storage device.

[0029] Figure 12 for Figure 11 A three-dimensional structural diagram of the intermediate receiving plate.

[0030] Figure 13 and Figure 14 for Figure 11 A schematic diagram showing the positional relationship between the storage box and the receiving plate.

[0031] Among them: 1. Rack;

[0032] 2. Material tray feeding device; 21. Empty tray bin; 211. Empty tray bin frame; 2111. First front corner plate; 2112. Second front corner plate; 2113. Rear corner plate; 2114. Front support; 2115. Rear support; 2116. Side support; 2117. Pin; 2118. Pin seat; 212. Empty tray support assembly; 2121. Empty tray support plate; 2122. Empty tray support plate telescopic cylinder; 22. Tray retrieval mechanism; 221. Empty tray support plate; 222. Empty tray translation module; 223. Empty tray lifting module; 23. Tray placement 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 drive assembly; 242. First belt conveyor assembly;

[0033] 3. Material tray unloading device; 31. Material tray bin; 311. Material tray base; 32. Material tray picking and placing device; 321. Material tray gripping assembly; 3211. Material tray basket; 3212. Material tray support plate; 3213. Material tray support plate telescopic cylinder; 322. Material tray lifting assembly; 3221. Support; 3222. Second lifting module; 3223. Second linear bearing; 3224. Second guide shaft; 323. Material tray translation assembly; 3231. Second belt drive assembly; 3232. Second belt conveyor assembly; 33. Material tray conveying device;

[0034] 4. Tray transfer device; 41. Tray translation module; 42. Tray lifting module; 43. Tray clamping mechanism; 431. Base; 432. Driver; 433. Rotary seat; 434. Card slot; 4341. V-shaped card slot; 435. Connecting rod; 436. Slide rail;

[0035] 5. Skeleton coil picking and placing device; 51. Skeleton coil translation module; 52. Skeleton coil gripping module; 521. Skeleton coil lifting module; 522. Skeleton coil rotation module; 523. Mechanical gripper;

[0036] 6. Visual inspection device;

[0037] 7. Defective product storage device; 71. Storage box; 711. T-shaped storage trough; 7111. Limiting groove; 7112. Clearance groove; 7113. Limiting step; 7114. Guide slope; 72. Lateral movement cylinder; 73. Insertion seat; 74. Receiving plate; 741. Connecting part; 742. Side push part; 743. Supporting part; 744. Clearance opening; 75. Side push cylinder;

[0038] 8. Bodiment coil. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] Combination Figures 1 to 14 The skeleton coil loading machine of the present invention includes: a frame 1, a material tray loading and unloading device mounted on the frame 1, a skeleton coil picking and placing device 5, a visual inspection device 6, and a defective product storage device 7.

[0041] The tray loading and unloading device includes: a tray loading device 2, a tray unloading device 3, and a tray transfer device 4 located between the two. The tray loading device 2 includes: an empty tray bin 21, an empty tray pick-and-place device, and an empty tray conveying device 24. The empty tray bin 21 is used to stack empty trays. The empty tray pick-and-place device is used to transfer 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 trays from the empty tray conveying device 24 to the tray unloading device 3, and during the tray transfer process, it cooperates with the skeleton coil pick-and-place device 5 to load the skeleton coils 8 onto the trays. The material tray unloading device 3 includes: a material tray hopper 31, a material tray picking and placing device 32, and a material tray conveying device 33. The material tray conveying device 33 is used to move the material tray containing the skeleton coil 8 to the material tray picking and placing device 32. The material tray picking and placing device 32 is used to stack the material trays on the material tray conveying device 33 into the material tray hopper 31.

[0042] The skeleton coil picking and placing device 5 is used to transfer the skeleton coil 8 to the vision inspection device 6 for inspection, and to transfer the skeleton coil 8 with good inspection results to the tray on the tray transfer device 4, and to transfer the skeleton coil 8 with defective inspection results to the defective product storage device 7.

[0043] The tray loading device 2, tray transfer device 4, and tray unloading device 3 of the bobbin coil loading machine of the present invention are relatively independent, so that tray loading, bobbin coil loading, and tray unloading can be carried out simultaneously. The tray transfer device 4 only needs to move back and forth between the empty tray conveying device 24 and the tray conveying device 33, and the reciprocating path is short. At the same time, the empty tray conveying device 24 and the tray conveying device 33 can transport the tray in time, so that the tray transfer device 4 can be reset and the next tray loading action can be carried out, which shortens the tray loading waiting time and helps to improve the tray loading efficiency.

[0044] Combination Figure 4 and Figure 5 In a preferred embodiment of the present invention, the empty tray hopper 21 includes an empty tray hopper frame 211 and two sets of empty tray support assemblies 212. The bottom of the empty tray hopper frame 211 has a discharge port, and the two sets of empty tray support assemblies 212 are respectively disposed on opposite sides of the discharge port, for supporting the trays stacked in the empty tray hopper frame 211 from both sides of the trays and for lowering the bottom tray.

[0045] Specifically, such as Figure 5As shown, the empty pallet rack 211 in this embodiment includes: two rear corner plates 2113, two first front corner plates 2111, two second front corner plates 2112, a front bracket 2114, a rear bracket 2115, two side brackets 2116, two pins 2117, and two pin seats 2118. The front bracket 2114 and the rear bracket 2115 are spaced apart. A rear corner plate 2113 is connected to each of the left and right ends of the rear bracket 2115, and a first front corner plate 2111 is connected to each of the left and right ends of the front bracket 2114. A second front corner plate 2112 is provided above each first front corner plate 2111. The second front corner plate 2112 is hinged to the rear corner plate 2113 on the same side through the side bracket 2116. A pin 2117 is installed on each second front corner plate 2112, and a pin seat 2118 that cooperates with the pin 2117 is provided on the front side of each first front corner plate 2111. The empty tray rack 211 in this embodiment can be opened and closed flexibly, facilitating the loading and unloading of trays and improving operational convenience. In use, unlock the latch 2117, rotate the two second front corner plates 2112 outwards to open the empty tray rack 211, allowing the tray to be placed sideways into the rack. After the tray placement operation is completed, rotate the two second front corner plates 2112 inwards to reset them, and insert the latch 2117 into the latch seat 2118 to close the empty tray rack 211. This allows the front and rear corner plates to horizontally limit the tray from its four corners, ensuring the stability of the tray placement.

[0046] The empty tray support assembly 212 in this embodiment includes an empty tray plate 2121 and an empty tray plate telescopic cylinder 2122. The empty tray plate telescopic cylinder 2122 is fixed on the frame 1, and the empty tray plate 2121 is fixed at the output end of the empty tray plate telescopic cylinder 2122. By controlling the two empty tray plate telescopic cylinders 2122 to drive the two empty tray plates 2121 to move horizontally towards each other or backwards, the material trays are lowered one by one.

[0047] Combination Figure 4 and Figure 6 In a preferred embodiment of the present invention, the empty tray picking and placing device includes: a tray picking mechanism 22 disposed below the empty tray bin 21 and a tray placing mechanism 23 disposed above the empty tray conveying device 24. The tray picking mechanism 22 is used to cooperate with the empty tray bin 21 to lower the bottom tray and to convey the tray to the tray placing mechanism 23, which is used to transfer the tray to the empty tray conveying device 24.

[0048] Specifically, such as Figure 4As shown, the tray-retrieving mechanism 22 includes: an empty tray support 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, and the empty tray support 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 support plate 221 to move up and down to cooperate with the empty tray bin 21 to lower the bottom tray. The empty tray translation module 222 is used to drive the empty tray support plate 221 to move back and forth between the empty tray bin 21 and the empty tray conveying device 24 to transport the tray to the area below the tray-releasing mechanism 23.

[0049] like Figure 6 As shown, the tray placement 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 tray below the tray placement mechanism 23, the vacuum generator controls the suction cup assembly to adsorb the tray. After the tray taking mechanism 22 resets, the suction cup lifting assembly drives the suction cup assembly to move down and place the tray on the empty tray conveying device 24.

[0050] The suction cup assembly includes a suction cup mounting plate 236 and several suction cups 237. Suction cups 237 are fixed to 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 to the frame 1, and the upper mounting plate 231 is positioned above it. 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 connects to the suction cup mounting plate 236. The first linear bearing 234, fixed to the lower mounting plate 232, is sleeved on the first guide shaft 235. The first lifting module 233 is fixed to the upper mounting plate 231, and its output end is connected to the lower mounting plate 232. The first lifting module 233 can be a pneumatic cylinder or an electric cylinder.

[0051] The material tray feeding device 2 in this embodiment is provided with two empty tray bins 21, which can accommodate more trays and reduce the number of times trays need to be added manually. The tray placement mechanism 23 is located between the two empty tray bins 21, which helps to shorten the tray retrieval path of the tray retrieval mechanism 22, reduce resource waste, and lower costs.

[0052] 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 drive assembly 241 and two sets of first belt conveying assemblies 242. The two sets of first belt conveying assemblies 242 are arranged parallel to each other on the frame 1 and are used to support the tray from opposite sides. The first belt drive assembly 241 is used to drive the two sets of first belt conveying assemblies 242 to rotate synchronously to move the tray.

[0053] 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 via a slide rail. The trays are stacked on the tray seat 311 and the tray seat 311 can be pulled out of the second tray bin 31 laterally via the slide rail in order to collect the trays.

[0054] Combination Figure 7 In a preferred embodiment of the present invention, a tray picking and placing device 32 is disposed above the tray conveying device 33 and the tray storage 31, and includes: a tray gripping component 321, a tray lifting component 322, and a tray translating component 323. The tray translating component 323 is fixed on the frame 1, the tray lifting component 322 is fixed at the output end of the tray translating component 323, and the tray gripping component 321 is fixed at the output end of the tray lifting component 322. The tray translating component 323 is used to drive the tray gripping component 321 to move between the tray conveying device 33 and the tray storage 31, and the tray lifting component 322 is used to drive the tray gripping component 321 to move up and down to grip the trays on the tray conveying device 33, and to stack the gripped trays in the tray storage 31.

[0055] Specifically, such as Figure 8 As shown, the material tray translation component 323 of this embodiment includes: a second belt drive component 3231 and two sets of second belt conveyor components 3232. The two sets of second belt conveyor components 3232 are arranged parallel to each other on the frame 1. The second belt drive component 3231 is used to drive the two sets of second belt conveyor components 3232 to rotate synchronously so as to drive the material tray gripping component 321 to move horizontally.

[0056] The tray gripping assembly 321 in this embodiment includes a tray basket 3211 and two sets of tray support assemblies. The tray basket 3211 has an inlet at its bottom, and a set of tray support assemblies is connected to each side of the inlet. Each tray support 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 towards each other or backwards to grip or lower trays from the inlet. In this embodiment, the tray basket 3211 performs a stacking operation after gripping multiple trays, which helps optimize the processing flow and improve production efficiency and resource utilization.

[0057] The material tray lifting assembly 322 in 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 material tray basket 3211. The second lifting module 3222 is selected from pneumatic cylinders or electric cylinders. The second linear bearing 3223 is fixed on the support 3221. The second guide shaft 3224 is inserted into the second linear bearing 3223. The lower end of the second guide shaft 3224 extends out of the support 3221 and is connected to the material tray basket 3211.

[0058] The material tray conveying device 33 and the empty tray conveying device 24 in this embodiment have the same structure, and will not be described again here. The loading status of the skeleton coil 8 can be detected by setting a CCD vision device above the material tray conveying device 33, so that the full material tray can be unloaded in a timely manner.

[0059] In this embodiment, the tray unloading device 3 is provided with two tray bins 31, and the tray conveying device 33 is disposed between the two tray bins 31. The tray picking and placing device 32 can move laterally between the tray conveying device 33 and the two tray bins 31. Providing two tray bins 31 allows for the holding of more trays, reduces the number of manual tray placement operations, and optimizes the movement path of the tray picking and placing device 32, thus reducing resource waste and lowering costs.

[0060] Combination Figure 9 and Figure 10In a preferred embodiment of the present invention, the tray transfer device 4 is disposed below the empty tray conveying device 24 and the tray conveying device 33, and includes: a tray translation module 41 fixed on the frame 1, a tray lifting module 42 fixed to the output end of the tray translation module 41, and a tray clamping mechanism 43 fixed to 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 during the movement from the empty tray conveying device 24 to the tray conveying device 33, it cooperates with the skeleton coil picking and placing device 5 to load the skeleton coil 8 onto the tray. The tray lifting module 42 is used to lift the tray clamping mechanism 43 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 lower the tray clamping mechanism 43 to place the tray 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.

[0061] Specifically, such as Figure 10 As shown, the tray clamping mechanism 43 includes: a base 431, a driver 432, a rotating seat 433, four card holders 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 equipped with a card holder 434. The top of the card holder 434 is provided with a V-shaped groove 4341 that matches the shape of the corner of the tray. The four connecting rods 435 correspond one-to-one with the four card holders 434. One end of the connecting rod 435 is hinged to the card holder 434, and the other end is hinged to the rotating seat 433. The actuator 432 is preferably a rotary cylinder. The actuator 432 drives the rotating seat 433 to rotate clockwise or counterclockwise. The rotating seat 433 simultaneously drives the four connecting rods 435 to rotate clockwise or counterclockwise around the rotating seat 433, so that the four clamping seats 434 synchronously retract towards the rotating seat 433 or synchronously open away from the rotating seat 433 along the slide rail 436, so as to clamp or release the material tray from the four corners. In this embodiment, the material tray clamping mechanism 43 can, on the one hand, adapt to a certain material tray position deviation, reduce the conveying accuracy requirements of the material tray feeding 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 material tray position error.

[0062] Combination Figure 9In a preferred embodiment of the present invention, the skeleton coil picking and placing device 5 includes: a skeleton coil translation module 51 and two sets of skeleton coil gripping modules 52. The skeleton coil gripping module 52 is fixed to the output end of the skeleton coil translation module 51, and includes: a skeleton coil lifting module 521 fixed to the output end of the skeleton coil translation module 51, a skeleton coil rotating module 522 fixed to the output end of the skeleton coil lifting module 521, and a mechanical gripper 523 fixed to the output end of the skeleton coil rotating module 522. When the skeleton coil translation module 51 translates the skeleton coil 8 to the vision inspection device 6, the vision inspection device 6 detects and determines the required rotation angle, and the skeleton coil rotating module 522 rotates the skeleton coil 8 to a uniform orientation for product appearance inspection. The number of bobbin coil gripping modules 52 can be adjusted according to actual needs. It is preferable to set multiple sets of mechanical grippers 523. On the one hand, multiple sets of mechanical grippers 523 can grip multiple bobbin coils 8 at the same time, which significantly improves production efficiency and shortens the production cycle. On the other hand, it provides redundancy. Even if a set of mechanical grippers 523 fails, other mechanical grippers 523 can still work normally, reducing downtime.

[0063] Combination Figures 11-14 In a preferred embodiment of the present invention, the defective product storage device 7 includes: a storage box 71, a transverse cylinder 72, a connector 73, a receiving plate 74, and a side-push cylinder 75. The transverse cylinder 72 is fixed on the frame 1, the connector 73 is fixed on the output end of the transverse cylinder 72, and the storage box 71 is inserted into the connector 73. After the storage box 71 is full, it is easy to remove and replace it with a new storage box 71. The storage box 71 has at least two horizontally arranged T-shaped storage slots 711, one end of which 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 transverse cylinder 72. The receiving plate 74 is fixed on the output end of the side-push cylinder 75. The side-push cylinder 75 drives the receiving plate 74 to push the skeleton coil 8 placed on the receiving plate 74 from the inlet end of the T-shaped storage trough 711 into the T-shaped storage trough 711. The transverse cylinder 72 drives the storage box 71 to move along the width direction of the T-shaped storage trough 711 to switch the engagement between the T-shaped storage trough 711 and the receiving plate 74. The defective product storage device 7 of this embodiment reduces the complexity of the defective product loading operation and simplifies the defective product transfer path. The skeleton coil picking and placing device 5 only needs to transfer the defective product to the receiving plate 74, which helps to shorten the defective product transfer time, reduce the idle travel time of the skeleton coil picking and placing device 5, and improve the overall transfer efficiency.

[0064] The receiving plate 74 includes: a connecting part 741 for connecting to the output end of the side-push cylinder 75; a side-push part 742 extending upward from the top of the connecting part 741; and two supporting parts 743 extending outward from the lower part of the side-push part 742 near the storage box 71. A clearance opening 744 for avoiding the pins of the skeleton coil 8 is formed between the two supporting parts 743. The T-shaped storage trough 711 includes: a limiting groove 7111 located at the upper part and a clearance groove 7112 located at the lower part. The groove width W1 of the limiting groove 7111 is greater than the groove width W2 of the clearance groove 7112. The limiting groove 7111 forms limiting steps 7113 on both sides of the clearance groove 7112. The limiting steps 7113 form a guide slope 7114 extending downward from the inside to the outside at the inlet end. Figure 14 The highest point of the guide slope 7114 is higher than the upper surface of the support portion 743, while the lowest point of the guide slope 7114 is not higher than the upper surface of the support portion 743. The guide slope 7114 guides the skeleton coil 8 to gradually detach from the support portion 743 and land on the limiting step 7113 during the process of the side push portion 742 pushing the skeleton coil 8 into the T-shaped storage groove 711. This ensures that the skeleton coil 8 smoothly transitions and remains stably in the T-shaped storage groove 711 during the boxing process, avoiding situations where the skeleton coil 8 gets stuck or cannot correctly enter the T-shaped storage groove 711 due to the restriction of the support portion 743, thereby improving the reliability and accuracy of boxing.

[0065] To improve the efficiency of boxing defective products, two defective product storage devices 7 can be configured. The driving direction of the transverse cylinder 72 is the same as that of the skeleton coil translation module 51, while the driving direction of the side-push cylinder 75 is perpendicular to that of the skeleton coil translation module 51. The two defective product storage devices 7 correspond to two mechanical grippers 523, allowing both grippers to box defective products simultaneously, thus reducing boxing time and improving the overall traying efficiency of the machine.

[0066] The visual inspection device 6 uses machine vision products (i.e., image acquisition devices, either CMOS or CCD) to convert the captured target into image signals, which are then transmitted to a dedicated image processing system. Based on pixel distribution and information such as brightness and color, these signals are converted into digital signals. The image system performs various calculations on these signals to extract the target's features, and then controls the on-site equipment actions based on the judgment results. The visual inspection device 6 inspects the appearance of the resistance welding between the pins of the bobbin coil 8 and the enameled wire. The inspection includes checking for defects such as melting, irregular shapes, dents, incomplete resistance welding (no discharge), collapsed ears, and floating end caps.

[0067] It is understood that all devices in this invention are uniformly controlled by a controller, and the action feedback of each device is realized by photoelectric sensors.

[0068] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail to the invention without departing from the spirit and scope of the invention as defined in the appended claims are within the scope of protection of the invention.

Claims

1. A bobbin coil loading machine, characterized in that, include: The machine frame, a tray loading device mounted on the machine frame, a tray unloading device, a tray transfer device, a bobbin coil picking and placing device, a visual inspection device, and a defective product storage device; The material tray feeding device includes: 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 trays stored in the empty tray bin to the empty tray conveying device; the empty tray conveying device is used to move trays to the material tray transfer device. The aforementioned tray transfer device is used to transfer the trays on the empty tray conveyor to the tray unloading device, and cooperates with the skeleton coil picking and placing device to load the skeleton coils during the tray transfer process. The skeleton coil picking and placing device is used to move the skeleton coil to the vision inspection device for inspection, and to transfer the skeleton coil with good inspection results to the tray on the tray transfer device, and to transfer the skeleton coil with defective inspection results to the defective product storage device. The material tray unloading device includes: a material tray hopper, a material tray picking and placing device, and a material tray conveying device; the material tray conveying device is used to move the material tray containing the skeleton coil to the material tray picking and placing device; the material tray picking and placing device is used to stack the material trays on the material tray conveying device into the material tray hopper.

2. The bobbin coil loading machine according to claim 1, characterized in that, The empty pallet bin includes: an empty pallet bin rack and two sets of empty pallet support components; The empty pallet rack includes: two first front corner plates, two second front corner plates, two rear corner plates, a front bracket, a rear bracket, two side brackets, two pins, and two pin seats; the front bracket and the rear bracket are spaced apart, each end of the rear bracket is connected to a rear corner plate, each end of the front bracket is connected to a first front corner plate, each first front corner plate has a second front corner plate above it, the second front corner plate is hinged to the rear corner plate on the same side through the side bracket, each second front corner plate is equipped with a pin, and each first front corner plate has a pin seat on its front side that cooperates with the pin. The empty tray support assembly includes: an empty tray plate and an empty tray plate telescopic cylinder; the empty tray plate telescopic cylinder is fixed on the frame, and the empty tray plate is fixed at the output end of the empty tray plate telescopic cylinder; the two empty tray plate telescopic cylinders are used to drive the two empty tray plates to move horizontally towards each other or backwards.

3. The bobbin coil loading machine according to claim 1, characterized in that, The empty disk retrieval and placement device includes: a disk retrieval mechanism and a disk placement mechanism; The tray-retrieving mechanism is located below the empty tray bin and includes: an empty tray support 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 support 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 support plate to move up and down to cooperate with the empty tray bin to lower the bottom tray; the empty tray translation module is used to drive the empty tray support plate to move back and forth between the empty tray bin and the empty tray conveying device to transport the tray to the area below the tray-discharging mechanism; The tray placement mechanism is located above the empty tray conveying device and includes: a suction cup lifting assembly, a suction cup assembly, and a vacuum generator; the suction cup assembly is fixed to the output end of the suction cup lifting assembly, and the vacuum generator is connected to the suction cup assembly to control the suction cup assembly to adsorb the material tray; the suction cup lifting assembly is used to drive the suction cup assembly to transfer the material tray on the tray removal mechanism to the empty tray conveying device.

4. The bobbin 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 sets of first belt conveying assemblies; the two sets of first belt conveying assemblies are arranged parallel to each other on the frame and are used to support the material tray from opposite sides of the material tray. The first belt drive assembly is used to drive the two sets of first belt conveying assemblies to rotate synchronously to move the material tray.

5. The bobbin coil loading machine according to claim 1, characterized in that, The tray transfer device is located below the empty tray conveying device and the tray conveying device, and includes: 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 during the movement, it cooperates with the skeleton coil picking and placing device to load the skeleton coil onto the tray; the tray lifting module is used to drive the tray clamping mechanism to rise from the empty tray conveying device to lift the tray when the tray translation module moves the tray clamping mechanism to below the empty tray conveying device, and to drive the tray clamping mechanism to fall to place the tray containing the skeleton coil onto the tray conveying device when the tray translation module moves the tray clamping mechanism to below the tray conveying device.

6. The bobbin coil loading machine according to claim 5, characterized in that, The tray clamping mechanism includes: a base, a driver, a rotating seat, four card holders, 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 slide rail is equipped with a card holder. The four connecting rods correspond one-to-one with the four card holders. One end of each connecting rod is hinged to a card holder, and the other end is hinged to the rotating seat. The driver is used to drive the rotating seat to rotate clockwise or counterclockwise. The rotating seat simultaneously drives the four connecting rods to rotate clockwise or counterclockwise around the rotating seat, so that the four card holders synchronously close towards the rotating seat or synchronously open away from the rotating seat along the slide rails, thereby clamping or releasing the tray from the four corners.

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

8. The bobbin coil loading machine according to claim 1, characterized in that, The tray picking and placing device is located above the tray conveying device and the tray bin, and includes: a tray gripping component, a tray lifting component, and a tray translating component; The material tray translation assembly includes: a second belt drive assembly and two sets of second belt conveyor assemblies; the two sets of second belt conveyor assemblies are arranged parallel to each other on the frame, and the second belt drive assembly is used to drive the two sets of second belt conveyor assemblies to rotate synchronously so as to drive the material tray gripping assembly to move horizontally; The material tray gripping assembly includes: a material tray basket and two sets of material tray support assemblies; the bottom of the material tray basket has a material inlet, and a material tray support assembly is connected to each of the opposite sides of the material tray basket at the material inlet; the material tray support assembly includes: a material tray plate and a material tray plate telescopic cylinder, the material tray plate telescopic cylinder is fixed to the bottom of the material tray basket, the material tray plate is fixed to the output end of the material tray plate telescopic cylinder, and the two material tray plate telescopic cylinders are used to drive the two material tray plates to move horizontally towards each other or backwards. The material 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 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 connects to the material tray basket, the second linear bearing is fixed on the support, the second guide shaft is inserted into the second linear bearing, and the lower end of the second guide shaft extends out of the support and connects to the material tray basket.

9. The bobbin coil loading machine according to claim 1, characterized in that, The defective product storage device includes: a storage box, a transverse cylinder, a connector, a receiving plate, and a side-push cylinder; The transverse cylinder is fixed on the frame, the plug-in seat is fixed on the output end of the transverse cylinder, the storage box is plugged into the plug-in seat, and the storage box has at least two horizontally arranged T-shaped storage slots, one end of the T-shaped storage slots being the inlet end. The side-push cylinder is fixed on the frame, and the driving direction of the side-push cylinder is perpendicular to the driving direction of the transverse cylinder. The receiving plate is fixed on the output end of the side-push cylinder. The side-push cylinder is used to drive the receiving plate to push the skeleton coil placed on the receiving plate from the inlet end of the T-shaped storage trough into the T-shaped storage trough. 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 and the receiving plate to cooperate.

10. The bobbin coil loading machine according to claim 9, characterized in that, The receiving plate includes: a connecting part, a side push part extending upward from the top of the connecting part, and two supporting parts extending outward from the lower part of the side push part near the storage box, with a clearance opening formed between the two supporting parts to avoid the skeleton coil pin. The T-shaped storage trough includes: a limiting groove at the upper part and a clearance groove at the lower part; the width of the limiting groove is greater than the width of the clearance groove, the limiting groove forms limiting steps on both sides of the clearance groove, the limiting steps form a guide slope extending downward from the inside to the outside at the inlet end, the highest point of the guide slope is higher than the upper surface of the support part, and the lowest point of the guide slope is not higher than the upper surface of the support part.

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