AI common mode inductance coil folding and material planting machine

Abstract

The invention discloses an AI common mode inductance coil broken line material planting machine which comprises a first conveying line. A first material stripping module is arranged below the discharging end of the first conveying line. The m ejected inductance coils are grabbed by the first coil taking and placing manipulator and are transferred into the m bending jig grooves; the bending jig disc on the first transfer table is pushed to the feeding end of the second conveying line through a first jig disc push rod assembly; a T-core feeding device is arranged on the T-core feeding device; two pin bending machines; a second material stripping module is arranged below the second transfer table; and the discharging manipulator comprises an overturning manipulator and a rotating manipulator, the overturning manipulator is used for grabbing the m finished product materials and overturning the m finished product materials by 180 degrees, and the rotating manipulator is used for grabbing the m finished product materials overturned by 180 degrees, rotating the m finished product materials by 90 degrees and then discharging the m finished product materials to the material disc. According to the automatic feeding device, T-core magnetic core feeding, pin bending, finished product material overturning and material placing are integrated, and the inductance coil machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of inductor coil processing, and in particular to an AI common-mode inductor coil folding line implanting machine. Background Art

[0002] AI common mode inductor consists of coil and T-core magnetic core, such as Figure 1 As shown, the two pins of the coil need to be bent into a vertical state, the T-core magnetic core is inserted into the coil, and then the pins are bent horizontally and vertically to form the finished material. During the bending process, since the pins of the coil are all facing upwards, when storing the material tray, it needs to be flipped 180° before storage. At present, each process is carried out independently by a device. After the previous process is completed, it is manually transferred to the equipment corresponding to the next process. This processing method is inefficient. Therefore, there is an urgent need to produce a material planting machine that can load the T-core magnetic material into the coil, complete the bending, flip and then swing the material. Summary of the Invention

[0003] In order to overcome the above shortcomings, the purpose of the present invention is to provide an AI common-mode inductor coil folding and planting machine that integrates T-core magnetic core loading, pin bending, finished material flipping, and material tray swinging, thereby improving the processing efficiency of the inductor coil.

[0004] In order to achieve the above objectives, the technical solution adopted by the present invention is: an AI common mode inductor coil folding line planting machine, comprising: Conveyor line 1 is used to convey the winding jig disk, each of the winding jig disks is provided with m coil jig slots, m is a natural number ≥ 2, each of the coil jig slots is provided with a coil post, each of the coil posts is sleeved with an inductor coil with a single-bent pin, and a first stripping module is provided below the discharge end of the conveyor line 1, and the first stripping module is used to eject the m inductor coils from the winding jig disk; The first transfer table is used to store the bending jig tray, and the bending jig tray is provided with m bending jig slots. The front, back, left and right sides of the bending jig slots are provided with clearance slots. The bottom of each bending jig slot is provided with a hollow. The m inductor coils ejected are grasped by the first coil picking and unloading robot and transferred to the m bending jig slots; Conveyor line 2 is used to receive and transfer the bending jig tray transferred by the first transfer table. The bending jig tray on the first transfer table is pushed to the feeding end of conveyor line 2 by the first jig tray push rod assembly. A T-core feeding device is used to place m T-core materials into the m inductor coils on the bending jig disk on the second conveyor line to form m semi-finished products; Two pin bending machines are sequentially installed above the second conveyor line to perform secondary bending on the pins of the semi-finished products to form m finished products; The second transfer table is used to receive the bending jig tray storing the finished materials transferred by the second conveyor line (300), and a second stripping module is provided below the second transfer table, and the second stripping module is used to eject m finished materials from the bending jig tray of the second transfer table; The unloading robot includes a flipping robot and a rotating robot. The flipping robot is used to grab m finished materials on the second turntable and flip them 180°. The rotating robot is used to grab the m finished materials flipped 180° and rotate them 90° before placing them on the material tray. The material tray is provided with a finished product trough for storing the finished materials.

[0005] As a further improvement of the present invention, an optical fiber detection probe is provided above the conveyor line 1 to detect whether there are m inductor coils in the winding fixture disk; A waste material receiving frame is provided between the first stripping module and the first transfer table; When the optical fiber detection probe detects that there are less than m inductor coils in the winding fixture disk, all the inductor coils that are ejected synchronously are grabbed by the first coil picking and placing robot and transferred to the waste material receiving frame.

[0006] Preferably, the first coil pick-up and place robot is driven by a first two-axis moving module and can move back and forth in the X-axis direction and the Z-axis direction. The first coil pick-up and place robot includes: a first support frame, fixedly mounted on the free end of the first two-axis movable module, a first mounting plate being provided at the bottom of the first support frame, 2m first mounting slots being formed on the first mounting plate, and m limiting sleeves being fixed at the bottom, each limiting sleeve being located between each pair of two first mounting slots; m pairs of first clamping jaws, each pair of first clamping jaws comprising two first clamping jaws, each pair of two first clamping jaws being rotatably mounted in two corresponding first mounting slots, and each pair of two first clamping jaws having a mirror-imaged first clamping jaw guide inclined surface disposed on the top of an outer side wall of an upper end thereof; m return springs, each transversely mounted between the upper ends of the m pairs of first clamping jaws; (m+1) first wedge-shaped blocks, each of the first wedge-shaped blocks having at least one side wall at the bottom thereof provided with a first wedge-shaped guiding inclined surface matching the first clamping jaw guiding inclined surface; a first gripping cylinder, mounted on the first support frame, driving the (m+1) first wedge blocks to move upward and downward, thereby forcing the first wedge-shaped guide inclined surface to move toward the first clamping jaw guide inclined surface; m guide rods, passing through the limiting sleeve and with their bottoms extending out of the limiting sleeve; The stripping cylinder is installed on the first supporting frame and is fixedly connected to the top of the m guide rods to drive the m guide rods to rise and fall.

[0007] Preferably, the first stripping module includes a first stripping cylinder and a first stripping module. The top of the first stripping module is provided with m groups of first stripping rods, each group of the first stripping rods includes multiple first stripping rods, and the bottom of the coil fixture slot is provided with multiple ejection holes. The first stripping cylinder can drive the first stripping module to rise and fall, and the tops of the multiple first stripping rods can respectively pass through the multiple ejection holes. The second stripping module includes a second stripping cylinder and a second stripping module. The top of the second stripping module is provided with m second stripping rods. The second stripping cylinder can drive the second stripping module to rise and fall. The tops of the m second stripping rods can pass through m hollows respectively.

[0008] Preferably, the first jig disk push rod assembly includes a pushing block and a pushing cylinder. The pushing cylinder is arranged horizontally, and the end of its telescopic shaft is fixedly connected to the pushing block. The first turntable is at the same height as the second conveyor line and is connected to the first turntable. The upper end surface where the second conveyor line is connected to the first turntable is provided with a guide transition slope. The pushing block is located on one side of the bending jig disk on the first turntable. The pushing block can push the bending jig disk on the first turntable to the second conveyor line through the driving energy of the pushing cylinder.

[0009] Preferably, the conveying line 1 is annular.

[0010] Preferably, the conveyor line 2 is separated by a dividing bar and is of an irregular shape, and has multiple right-angle corners. A second fixture disk push rod assembly is provided above each right-angle corner and above the end of the conveyor line 2, and a positioning assembly is provided below each right-angle corner, below the first transfer table, and below the second transfer table.

[0011] Preferably, the second fixture disk push rod assembly includes a translation cylinder and a push piece, the translation cylinder drives the push piece to translate, and the moving direction of the push piece is perpendicular to the original running direction of the bending fixture disk.

[0012] Preferably, the pusher is located on one side of the bending jig disk, and the surface in contact with the side wall of the bending jig disk is a plane; or the pusher is a pusher column inserted into the positioning hole of the bending jig disk, and the pusher column is driven to rise and fall by the jig vertical cylinder, and the jig vertical cylinder is driven to translate by the translation cylinder.

[0013] Preferably, the positioning assembly includes a plurality of positioning columns and a positioning cylinder for driving the plurality of positioning columns to rise and fall, and the positioning columns can be inserted into the central positioning holes of the bending jig disk, or can be inserted into the side positioning holes of the bending jig disk.

[0014] Preferably, the T-core feeding device comprises: A vibration plate having a straight vibration portion; A transverse material receiving platform is installed at the outlet of the straight vibration part and docked with it. The transverse material receiving platform is provided with a material receiving trough for storing a T-core material; The traverse robot is driven by the second two-axis moving module and moves back and forth in the X-axis and Z-axis directions. The traverse robot is provided with m independently controlled traverse suction cups; The first-level positioning transfer module includes a slide, a Y-axis slide rail, and a transfer cylinder. The slide is slidably mounted on the Y-axis slide rail and is driven by the transfer cylinder to move back and forth in the Y-axis direction. The slide is provided with m first-level positioning slots. The transverse robot can transfer m T-core materials from the receiving trough to the m first-level positioning slots. A secondary positioning material platform, wherein the secondary positioning material platform is provided with m secondary positioning slots; m vacuum suction nozzles are installed on the cylinder floating joint, the cylinder floating joint is installed on the rotating table, and the rotating table is installed on the third two-axis moving module, which can move back and forth in the Y-axis and Z-axis directions. The m vacuum suction nozzles can transfer m T-core materials from the first-level positioning groove to the second-level positioning groove, and then transfer them from the second-level positioning groove to the m bending jig grooves.

[0015] Preferably, the first-level positioning groove is L-shaped, and an oblique thrust cylinder is installed on the upper end surface of the slide, and m positioning blocks are installed on the end of the oblique thrust cylinder. The shape of the m positioning blocks matches the right-angle shape of m T-core materials, and the oblique thrust cylinder can drive the m positioning blocks to move obliquely and horizontally in the direction of the m first-level positioning grooves respectively.

[0016] Preferably, a positioning guide slope is provided at the upper end of each of the secondary positioning grooves.

[0017] Preferably, the flipping robot comprises: A tilting shaft is horizontally mounted above the second turntable and is driven by a reducer to rotate around its central axis; There are two groups of material clamps, each group of material clamps includes m material clamps, and the two groups of material clamps are respectively installed on the upper and lower end surfaces of the flip axis. The bottom of each material clamp is provided with a vacuum adsorption hole for adsorbing the top surface of the T-core material, and the vacuum adsorption hole is surrounded by limiting parts for limiting the T-core material.

[0018] Preferably, the rotary manipulator includes a three-axis mobile module, a harmonic reducer and a second coil picking and placing manipulator. The second coil picking and placing manipulator is installed on the harmonic reducer and is driven by the harmonic reducer to rotate 90° in the horizontal direction. The harmonic reducer is installed on the three-axis mobile module and is driven by the three-axis mobile module to move back and forth in the X-axis, Y-axis and Z-axis directions.

[0019] Preferably, the second coil picking and placing robot comprises: A second support frame is fixedly mounted on the harmonic reducer, and a second mounting plate is provided at the bottom of the second support frame; m pairs of second clamping jaws, each pair having two second clamping jaws, each pair of two second clamping jaws extending through the second mounting plate and rotatably connected to the second mounting plate, and each pair of two second clamping jaws having a mirror-image second clamping jaw guide inclined surface disposed on the top of an outer side wall of an upper end thereof; m limiting columns, installed at the bottom of the second mounting plate and located between each pair of second clamping jaws; m return springs, each laterally mounted between the upper ends of the m pairs of second clamping jaws; (m+1) second wedge-shaped blocks, each of the second wedge-shaped blocks having at least one side wall at the bottom thereof provided with a second wedge-shaped guiding inclined surface matching the second clamping jaw guiding inclined surface; The second clamping cylinder is installed on the second support frame and drives the m second wedge blocks to move up and down, thereby forcing the second wedge-shaped guide inclined surface to move toward the second clamping jaw guide inclined surface.

[0020] The beneficial effects of the AI common mode inductor coil folding line planting machine of the present invention are: First, conveyor line 1 is used to convey the winding jig, on which m pins of inductor coils for one bending are stored. The first coil picking and unloading robot grabs the m inductor coils in the winding jig and puts them into the bending jig tray on the first transfer table. The first jig tray push rod assembly pushes them to conveyor line 2. The T-core feeding device puts m T-core materials into the m inductor coils in the bending jig tray on conveyor line 2 respectively. The materials are transported by conveyor line 2 to two pin bending machines for two bendings, and finally transferred to the second transfer table. After being flipped 180° by the flipping robot, the rotating robot transfers the m finished materials to the finished product trough of the material tray, completing the implantation processing operation and improving the operation efficiency. Secondly, the optical fiber detection probe is used to detect whether the winding jig tray is full of material. If it is not full, the first coil picking and unloading robot will discard all the inductor coils in the winding jig tray into the receiving frame to ensure that there is no empty material in the material trough in the final material tray; Third, both the first coil pick-up and put-out robot and the second coil pick-up and put-out robot use the descending wedge block to control the opening of the clamping jaws and the return spring to drive the closing of the clamping jaws, which is convenient and fast. Fourthly, the setting of the first stripping module and the second stripping module can ensure that the m inductor coils in the winding jig disk and the m finished materials in the bending jig disk are smoothly separated from the corresponding jig disks, which is conducive to the first coil picking and placing robot and the flipping robot to grab; Fifth, conveyor line 1 is used to load the inductor coil, bend the pins on one side, and wind the coils. Conveyor line 2 is used to load the T-core material, perform secondary bending of the pins, and flip and swing the finished product. Conveyor line 2 is connected to the discharge end of conveyor line 1. The two conveyor lines are connected by the first transfer table and the first coil pick-up and unloading robot. Sixth, the T-core feeding device adopts two-stage positioning to ensure that the T-core material can be accurately loaded into the inductor coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the molding process of the finished product of this embodiment; Figure 2 is a top view of this embodiment; Figure 3 is a perspective view of this embodiment; Figure 4 A three-dimensional diagram of the winding jig disk of this embodiment; Figure 5 This is a three-dimensional diagram of the bending jig plate of this embodiment; Figure 6 This is a three-dimensional diagram of the conveyor line 1 of this embodiment; Figure 7 This is a three-dimensional diagram of the first coil picking and placing robot of this embodiment; Figure 8 This is an exploded view of the first coil picking and placing robot of this embodiment; Figure 9 This is a three-dimensional diagram of the coordination of conveyor line 1, the second transfer table, and conveyor line 2 in this embodiment; Figure 10 This is a three-dimensional diagram of the conveyor line 2 of this embodiment; Figure 11 This is a three-dimensional diagram of the T-core feeding device of this embodiment; Figure 12 This is a partial three-dimensional diagram of the T-core feeding device of this embodiment; Figure 13 This is a three-dimensional diagram of the first-level positioning transfer module of this embodiment; Figure 14 This is a first stereoscopic view of the flip robot in this embodiment; Figure 15This is a second stereoscopic view of the flipping robot in this embodiment; Figure 16 This is a three-dimensional diagram of the rotating manipulator and the receiving template of this embodiment; Figure 17 This is a three-dimensional diagram of the second coil picking and placing robot in this embodiment. Reference numerals in the accompanying drawings:

[0022] 100, conveyor line 1; 110, first stripping module; 111, first stripping cylinder; 112, first stripping module; 113, first stripping rod; 120, optical fiber detection probe; 200, first transfer table; 210, first coil pick-up and unplacing robot; 211, first support frame; 212, first mounting plate; 212a, first mounting slot; 213, limit sleeve; 214, first clamping jaw; 214a, first clamping jaw guide slope; 215, first wedge block; 215a, first wedge guide slope; 216, first clamping cylinder; 217, guide rod; 218, stripping cylinder; 219, first two-axis moving module; 220, first fixture tray push rod assembly; 221, pusher block; 222, pusher cylinder; 300, conveyor line 2; 300a, right-angle corner; 310, second fixture plate push rod assembly; 311, translation cylinder; 312, pusher; 312a, pusher column; 313, vertical cylinder; 320, positioning assembly; 321, positioning column; 322, positioning cylinder; 330, separator bar; 331, separator groove; 340, guide transition slope; 400, T-core feeding device; 410, vibration plate; 411, straight vibration part; 420, transverse material receiving platform; 421, material receiving trough; 430, transverse robot; 431, second two-axis moving module; 432, transverse suction cup; 440, first-level positioning transfer module; 441, slide; 442, Y-axis slide; 443, transfer cylinder; 444, first-level positioning groove; 445, oblique push cylinder; 446, positioning block; 450, second-level positioning platform; 451, second-level positioning groove; 452, positioning guide slope; 460, vacuum nozzle; 461, cylinder floating joint; 462, rotary table; 463, third two-axis moving module; 500, pin bending machine; 600, second transfer table; 610, second stripping module; 611, second stripping cylinder; 612, second stripping module; 613, second stripping rod; 700, unloading robot; 710, flip robot; 711, flip axis; 712, reducer; 713, material clamp; 714, vacuum adsorption hole; 715, limiter; 720, rotary robot; 721, three-axis moving module; 722, harmonic reducer; 723, second support frame; 724, second mounting plate; 725, second clamping jaw; 725a, second clamping jaw guide slope; 726, second wedge block; 726a, second wedge guide slope; 727, second clamping cylinder; 728, limiter column; 800, material tray; 810, finished product trough; 910, winding jig plate; 911, coil jig slot; 912, coil column; 913, ejection hole; 920, bending jig plate; 921, bending jig slot; 922, clearance slot; 923, hollowing; 924, middle positioning hole; 925, side positioning hole; 930, inductor coil; 940, T-core material; 950, semi-finished product; 960, finished product. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0024] See Figures 2 to 5 As shown, this embodiment discloses Figures 2 to 5 As shown, this embodiment discloses an AI common mode inductor coil folding line planting machine, comprising: Conveyor line 100 is used to convey winding jig disks 910. Each winding jig disk 910 is provided with m coil jig slots 911, where m is a natural number ≥ 2. Each coil jig slot 911 is provided with a coil post 912. Each coil post 912 is sleeved with an inductor coil 930 with a single-bent pin. A first stripping module 110 is provided below the discharge end of conveyor line 100. The first stripping module 110 is used to eject the m inductor coils 930 from the winding jig disk 910. The first transfer table 200 is used to store the bending jig tray 920. The bending jig tray 920 is provided with m bending jig slots 921. The front, back, left and right sides of the bending jig slots 921 are provided with clearance slots 922. The bottom of each bending jig slot 921 is provided with a hollow 923. The m ejected inductor coils 930 are grasped by the first coil picking and unloading robot 210 and transferred to the m bending jig slots 921. The bending jig tray 920 on the first transfer table 200 is continuously fed to the first transfer table 200 by the feeding assembly. A side positioning hole 925 is provided on one side of the bending jig tray 920. The second conveyor line 300 is used to receive and transfer the bending jig tray 920 transferred from the first transfer station 200. The bending jig tray 920 on the first transfer station 200 is pushed to the feeding end of the second conveyor line 300 by the first jig tray push rod assembly 220. The T-core feeding device 400 is used to place m T-core materials 940 into the m inductor coils 930 on the bending jig plate 920 on the conveyor line 2 300 to form m semi-finished products 950; Two pin bending machines 500 are sequentially installed above the second conveyor line 300 to perform secondary bending on the pins of the semi-finished product 950 to form m finished products 960; The second transfer table 600 is used to receive the bending jig tray 920 storing the finished materials 960 transferred by the second conveyor line 300. A second stripping module 610 is provided below the second transfer table 600. The second stripping module 610 is used to eject m finished materials 960 from the bending jig tray 920 of the second transfer table 600. The unloading robot 700 includes a flipping robot 710 and a rotating robot 720. The flipping robot 710 is used to grab the m finished materials 960 on the second turntable 600 and flip them 180°. The rotating robot 720 is used to grab the m finished materials 960 that have been flipped 180° and rotate them 90° before placing them into the finished material trough 810 of the material tray 800. Figure 16 As shown, a finished product trough 810 for storing finished products 960 is provided on the material tray 800 .

[0025] like Figure 6 、 Figure 9 As shown, an optical fiber detection probe 120 is provided above the conveyor line 100 to detect whether there are m inductor coils 930 in the winding fixture disk 910; A waste material receiving frame is provided between the first stripping module 110 and the first transfer table 200; When the optical fiber detection probe 120 detects that there are less than m inductor coils 930 in the winding jig disk 910, all (all means less than m) inductor coils 930 that are ejected synchronously are grabbed by the first coil picking and unloading robot 210 and transferred to the waste material receiving frame.

[0026] like Figures 6 to 8 As shown, the first coil pick-up and place robot 210 is driven by the first two-axis moving module 219 and can move back and forth in the X-axis direction and the Z-axis direction. The first coil pick-up and place robot 210 includes: A first support frame 211 is fixedly mounted on the free end of the first two-axis movable module 219. A first mounting plate 212 is provided at the bottom of the first support frame 211. The first mounting plate 212 is provided with 2m first mounting grooves 212a and m limiting sleeves 213 are fixed to the bottom. Each limiting sleeve 213 is located between each pair of two first mounting grooves 212a. m pairs of first clamping jaws 214, each pair of first clamping jaws 214 comprising two first clamping jaws 214, each pair of two first clamping jaws 214 being rotatably mounted in two corresponding first mounting slots 212a, and each pair of two first clamping jaws 214 having a mirror-image first clamping jaw guide inclined surface 214a disposed on the top of the outer sidewall of the upper end thereof; m return springs, each transversely mounted between the upper ends of m pairs of first clamping jaws 214; m+1 first wedge blocks 215 , each first wedge block 215 having at least one side wall at its bottom provided with a first wedge guide inclined surface 215 a matching the first clamping jaw guide inclined surface 214 a; The first clamping cylinder 216 is mounted on the first support frame 211 and drives the m+1 first wedge blocks 215 to move up and down, thereby forcing the first wedge guide slope 215a to move toward the first clamping jaw guide slope 214a; m guide rods 217, passing through the limiting sleeve 213, with the bottom extending out of the limiting sleeve 213; The stripping cylinder 218 is installed on the first support frame 211 and is fixedly connected to the top of the m guide rods 217 to drive the m guide rods 217 to rise and fall.

[0027] like Figure 7 、 Figure 8 As shown, the first stripping module 110 includes a first stripping cylinder 111 and a first stripping module 112. The top of the first stripping module 112 is provided with m groups of first stripping rods 113. Each group of first stripping rods 113 includes multiple first stripping rods 113. The bottom of the coil fixture slot 911 is provided with multiple ejection holes 913. The first stripping cylinder 111 can drive the first stripping module 112 to rise and fall, and the tops of the multiple first stripping rods 113 can respectively pass through the multiple ejection holes 913. like Figure 15 As shown, the second stripping module 610 includes a second stripping cylinder 611 and a second stripping module 612. m second stripping rods 613 are arranged on the top of the second stripping module 612. The second stripping cylinder 611 can drive the second stripping module 612 to rise and fall. The tops of the m second stripping rods 613 can pass through m hollows 923 respectively.

[0028] like Figure 9As shown, the first jig disk push rod assembly 220 includes a pushing block 221 and a pushing cylinder 222. The pushing cylinder 222 is arranged horizontally, and the end of its telescopic shaft is fixedly connected to the pushing block 221. The first turntable 200 is at the same height as the conveyor line 2 300 and is connected to the first turntable 200. The upper end surface where the conveyor line 2 300 is connected to the first turntable 200 is provided with a guide transition slope 340. The pushing block 221 is located on one side of the bending jig disk 920 on the first turntable 200. The pushing block 221 can push the bending jig disk 920 on the first turntable 200 to the conveyor line 2 300 through the driving energy of the pushing cylinder 222.

[0029] Conveyor line 100 is ring-shaped. Figure 9 Only the right angle at the end of the conveyor line 100 is shown.

[0030] like Figure 10 As shown, conveyor line 2 300 is divided into a special shape by a dividing bar 330, and dividing grooves 331 are provided on both sides of the dividing bar 330 to limit the bending jig disk 920, and it has multiple right-angle corners 300a, and a second jig disk push rod assembly 310 is provided above each right-angle corner 300a and above the end of conveyor line 2 300, and a positioning assembly 320 is provided below each right-angle corner 300a, below the first transfer table 200, and below the second transfer table 600.

[0031] like Figure 10 As shown, the second fixture plate push rod assembly 310 includes a translation cylinder 311 and a pusher 312 . The translation cylinder 311 drives the pusher 312 to translate, and the moving direction of the pusher 312 is perpendicular to the original running direction of the bending fixture plate 920 .

[0032] The pusher 312 is located on one side of the bending fixture plate 920. Figure 10 As shown, the structures of the pushers 312 in different parts are different. The surfaces of some pushers 312 that contact the side walls of the bending jig disk 920 are flat. Some pushers 312 are pusher columns 312a that are inserted into the positioning holes of the bending jig disk 920. The pusher columns 312a are driven to rise and fall by the jig vertical cylinder 313, and the jig vertical cylinder 313 is driven to translate by the translation cylinder 311.

[0033] The positioning assembly 320 includes a plurality of positioning posts 321 and a positioning cylinder 322 for driving the plurality of positioning posts 321 to move up and down. The positioning posts 321 can be inserted into the middle positioning holes 924 of the bending jig plate 920 or the side positioning holes 925 of the bending jig plate 920 .

[0034] like Figures 11 to 13 As shown, the T-core feeding device 400 includes: A vibration plate 410 , the vibration plate 410 having a straight vibration portion 411 ; The transverse material receiving platform 420 is installed at the outlet of the straight vibration part 411 and docked therewith. The transverse material receiving platform 420 is provided with a material receiving trough 421 for storing a T-core material 940; The traverse robot 430 is driven by the second two-axis moving module 431 and moves back and forth in the X-axis and Z-axis directions. The traverse robot 430 is provided with m independently controlled traverse suction cups 432; like Figure 13 As shown, the first-level positioning transfer module 440 includes a slide 441, a Y-axis slide rail 442, and a transfer cylinder 443. The slide 441 is slidably set on the Y-axis slide rail 442 and is driven by the transfer cylinder 443 to move back and forth in the Y-axis direction. The slide 441 is provided with m first-level positioning slots 444. The transverse robot 430 can transfer m T-core materials 940 from the receiving trough 421 to the m first-level positioning slots 444. A secondary positioning material platform 450 is provided with m secondary positioning slots 451; m vacuum suction nozzles 460 are installed on the cylinder floating joint 461, the cylinder floating joint 461 is installed on the rotating table 462, and the rotating table 462 is installed on the third two-axis moving module 463, which can move back and forth in the Y-axis and Z-axis directions. The m vacuum suction nozzles 460 can transfer m T-core materials 940 from the first-level positioning groove 444 to the second-level positioning groove 451, and then transfer them from the second-level positioning groove 451 to the m bending fixture grooves 921.

[0035] like Figure 13 As shown, the first-level positioning groove 444 is L-shaped, and an oblique thrust cylinder 445 is installed on the upper end surface of the slide 441. The end of the oblique thrust cylinder 445 is installed with m positioning blocks 446. The shape of the m positioning blocks 446 matches the right-angle shape of the m T-core materials 940. The oblique thrust cylinder 445 can drive the m positioning blocks 446 to move obliquely and horizontally toward the directions of the m first-level positioning grooves 444 respectively.

[0036] like Figure 12 As shown, a positioning guide inclined surface 452 is provided at the upper end of each secondary positioning groove 451 .

[0037] like Figure 14 、 Figure 15 As shown, the flip robot 710 includes: The turning shaft 711 is horizontally mounted above the second turntable 600 and is driven by a speed reducer 712 to rotate around its central axis; There are two groups of material clamps 713, each group of material clamps 713 includes m material clamps 713, and the two groups of material clamps 713 are respectively installed on the upper and lower end surfaces of the flip shaft 711. The bottom of each material clamp 713 is provided with a vacuum adsorption hole 714 for adsorbing the top surface of the T-core material 940, and the vacuum adsorption hole 714 is surrounded by a limiting part 715 for limiting the T-core material 940.

[0038] like Figure 16 、 Figure 17 As shown, the rotating manipulator 720 includes a three-axis moving module 721, a harmonic reducer 722 and a second coil picking and placing manipulator. The second coil picking and placing manipulator is installed on the harmonic reducer 722 and is driven by the harmonic reducer 722 to rotate 90° in the horizontal direction. The harmonic reducer 722 is installed on the three-axis moving module 721 and is driven by the three-axis moving module 721 to move back and forth in the X-axis, Y-axis and Z-axis directions.

[0039] The second coil pick-up and unloading robot includes: The second support frame 723 is fixedly mounted on the harmonic reducer 722, and a second mounting plate 724 is provided at the bottom of the second support frame 723; m pairs of second clamping jaws 725, each pair of second clamping jaws 725 is provided with two, each pair of two second clamping jaws 725 passes through the second mounting plate 724 and is rotatably connected to the second mounting plate 724, and each pair of two second clamping jaws 725 has a mirror-image second clamping jaw guide inclined surface 725a provided on the top of the outer side wall of the upper end thereof; m limiting posts 728 , mounted on the bottom of the second mounting plate 724 and located between each pair of second clamping jaws 725 ; m return springs, each laterally mounted between the upper ends of m pairs of second clamping jaws 725; m+1 second wedge blocks 726 , each second wedge block 726 having at least one sidewall at its bottom provided with a second wedge guide inclined surface 726 a matching the second clamping jaw guide inclined surface 725 a ; The second clamping cylinder 727 is installed on the second support frame 723 and drives the m second wedge blocks 726 to move up and down, thereby forcing the second wedge-shaped guiding inclined surfaces 726a to move toward the second clamping jaw guiding inclined surfaces 725a.

[0040] The working principle of this embodiment is: Conveyor Line 100 operates as follows: After the pins of the inductor coil 930 are bent once and the winding is complete, it is transported to the end of the conveyor line 100. A fiber optic detection probe 120 first detects whether there are m inductor coils 930 in the winding jig tray 910. If the tray is full, the first coil pick-up and discharge robot 210 grabs the inductor coil 930 and places it in the bending jig tray 920 on the first transfer station 200. If the tray is not full, the first coil pick-up and discharge robot 210 grabs the inductor coil 930 and places it in the waste collection frame for recycling. When the first coil pick-up and discharge robot 210 grabs the inductor coil 930, the first stripping module 110 first ejects the inductor coil 930 from the winding jig tray 910, making it easier for the first coil pick-up and discharge robot 210 to grab it.

[0041] The working principle of the first stripping module 110 is: the first stripping cylinder 111 drives the first stripping module 112 to move upward, and the tops of the multiple first stripping rods 113 can respectively pass through the multiple ejection holes 913 to eject the m inductor coils 930 from the m coil fixture slots 911 respectively.

[0042] The working principle of the first coil picking and placing robot 210 is as follows: after the m inductor coils 930 are ejected from the coil fixture slot 911, the first two-axis moving module 219 drives the first coil picking and placing robot 210 to move to the m inductor coils 930, and the first clamping cylinder 216 drives the m+1 first wedge blocks 215 to move downward. Through the cooperation of the first wedge guide slope 215a and the first clamping jaw guide slope 214a, the upper ends of each pair of first clamping jaws 214 are forced to move toward each other, causing the lower ends of each pair of first clamping jaws 214 to move in the opposite direction, and then the first clamping jaws 214 are opened; after the first clamping jaws 214 to be opened move to the predetermined position of the inductor coil 930, the first clamping cylinder 216 resets upward, and the reset spring forces the upper ends of the pair of first clamping jaws 214 to move in the opposite direction, causing the lower ends of each pair of first clamping jaws 214 to move toward each other, clamping the two opposite side walls of the m inductor coils 930.

[0043] The working principle of the first transfer table 200: After the m inductor coils 930 are grabbed into the m bending jig slots 921 of the bending jig disk 920 on the first transfer table 200, the pushing cylinder 222 drives the pushing block 221 to extend, and moves the bending jig disk 920 on the first transfer table 200 along the guide transition slope 340 toward the entrance end of the conveyor line 2 300. After the bending jig disk 920 moves to the conveyor line 2 300, the pushing cylinder 222 drives the pushing block 221 to retreat and reset.

[0044] The working principle of conveyor line 2 300 is: the translation cylinder 311 of the second jig tray push rod assembly 310 at the entrance end of conveyor line 2 300 drives the pusher 312 to move, and the bending jig tray 920 moves along the special-shaped conveyor line 2 300 separated by the dividing strip 330. Every time it reaches a right-angle corner 300a, it is pushed by the corresponding second jig tray push rod assembly 310 until the bending jig tray 920 carries m inductor coils 930 and moves to the loading station corresponding to the T-core feeding device 400.

[0045] The working principle of the T-core feeding device 400 is as follows: the vibration plate 410 vibrates the T-core materials 940 one by one from the straight vibration part 411 to the transverse material receiving platform 420, and the second two-axis moving module 431 drives the m transverse suction cups 432 of the transverse manipulator 430 to absorb the T-core materials 940 one by one until the m T-core materials 940 are fully absorbed, and the second two-axis moving module 431 transfers the m T-core materials 940 to the m first-level positioning grooves 444 on the slide 441 of the first-level positioning transfer module 440, and then the oblique push cylinder 445 drives the m positioning blocks 446 to perform the first-level positioning toward the L-shaped first-level positioning groove 444 with an inclined moving trajectory; the transfer cylinder 443 drives the slide 441 to move toward the second-level positioning material platform 450, and moves After being in place, the third two-axis moving module 463 drives m vacuum suction nozzles 460 to absorb m T-core materials 940 from the first-level positioning groove 444 and rotate and transfer them to the m second-level positioning grooves 451 of the second-level positioning material platform 450. The second-level positioning groove 451 is positioned by the positioning guide slope 452. After positioning, the third two-axis moving module 463 drives m vacuum suction nozzles 460 to move to the m second-level positioning grooves 451, absorbs the m T-core materials 940 and transfers them to the bending jig disk 920 on the conveyor line 2 300. At this time, the bending jig disk 920 is equipped with m inductor coils 930. The m vacuum suction nozzles 460 can insert the m T-core materials 940 into the m inductor coils 930 respectively to complete the loading of the T-core materials 940.

[0046] After the T-core material 940 is loaded, the second jig tray push rod assembly 310 continues to drive the bending jig tray 920 forward until it moves to the two pin bending machines 500. The two pin bending machines 500 are existing technologies that bend the pins horizontally and vertically, and then bend them into finished materials 960. The second jig tray push rod assembly 310 then drives the bending jig tray 920 to continue moving forward until it moves to the end of the conveyor line 2 300. The bending jig tray 920 at the end is driven by the second jig tray push rod assembly 310. The second jig tray push rod assembly 310 is pushed onto the second turntable 600. The bending jig tray 920 on the second turntable 600 contains m finished materials 960. Then the flip robot 710 flips the m finished materials 960 180°, so that one end of the inductor coil 930 faces upward and one end of the T-core material 940 faces downward. The rotating robot 720 then rotates the m finished materials 960 90° and transfers them to the finished material trough 810 of the material tray 800.

[0047] The working principle of the flipping robot 710 is: the second demolding cylinder 611 of the second demolding module 610 drives m second demolding rods 613 to move upward, and pushes m finished materials 960 out from the m hollows 923. The vacuum adsorption holes 714 of the m material clamps 713 adsorb the top surface of the T-core material 940 (the top surface is a plane). After adsorption, the reducer 712 drives the flipping axis 711 to flip 180°, so that one end of the inductor coil 930 faces upward and one end of the T-core material 940 faces downward.

[0048] The working principle of the rotary manipulator 720 is as follows: the three-axis mobile module 721 drives the second coil pick-up and place robot to move toward the flipping manipulator 710. Similarly, when the second clamping cylinder 727 drives the second wedge block 726 downward, opening the second clamping jaw 725, the second clamping cylinder 727 drives the second wedge block 726 upward, and the return spring forces the second clamping jaw 725 to clamp one end of the inductor coil 930 of the finished material 960. During clamping, the inductor coil 930 of the finished material 960 is mounted on the limiting column 728, and the finished material 960 is clamped by the second clamping jaw 725. The three-axis mobile module 721 then drives m finished materials 960 to move into the finished material trough 810. Once in place, the second clamping jaw 725 is opened again, and the three-axis mobile module 721 is reset.

[0049] The above embodiments are only for illustrating the technical concept and features of the present invention. Its purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. It cannot be used to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An AI common mode inductor coil folding line planting machine, characterized by: include: Conveyor line 1 (100) is used to convey a winding jig disk (910), each of the winding jig disks (910) is provided with m coil jig slots (911), m is a natural number ≥ 2, each of the coil jig slots (911) is provided with a coil post (912), each of the coil posts (912) is provided with an inductor coil (930) with a single-bend pin, and a first stripping module (110) is provided below the discharge end of the conveyor line 1 (100); The first transfer table (200) is used to store a bending jig plate (920), wherein the bending jig plate (920) is provided with m bending jig slots (921), each of the bending jig slots (921) is provided with a clearance slot (922) on all four sides, and each bending jig slot (921) is provided with a hollow (923) at the bottom. The m inductor coils (930) are grabbed by the first coil picking and unloading robot (210) and transferred to the m bending jig slots (921); Conveyor line 2 (300) is used to receive and transfer the bending jig tray (920), wherein the bending jig tray (920) on the first transfer table (200) is pushed to the feeding end of conveyor line 2 (300) by the first jig tray push rod assembly (220); A T-core feeding device (400) is used to place m T-core materials (940) into m inductor coils (930) on the bending jig plate (920) on the second conveyor line (300) to form m semi-finished products (950); Two pin bending machines (500) are sequentially installed above the second conveyor line (300) to perform secondary bending on the pins of the semi-finished product (950) to form m finished products (960); A second transfer table (600) is used to receive the bending jig plate (920) transferred by the second conveyor line (300), and a second stripping module (610) is provided below the second transfer table (600); The unloading robot (700) includes a flipping robot (710) and a rotating robot (720). The flipping robot (710) is used to grab m finished materials (960) on the second turntable (600) and flip them 180 degrees. The rotating robot (720) is used to rotate the m finished materials (960) by 90 degrees and then place them on the material tray (800).

2. The AI common mode inductor coil folding line implanting machine according to claim 1 is characterized in that: An optical fiber detection probe (120) is provided above the conveyor line 1 (100) to detect whether there are m inductance coils (930) in the winding fixture disk (910); A waste material receiving frame is provided between the first stripping module (110) and the first transfer table (200); When the optical fiber detection probe (120) detects that there are less than m inductor coils (930) in the winding fixture disk (910), all the inductor coils (930) that are synchronously ejected are grabbed by the first coil picking and unloading robot (210) and transferred to the waste material receiving frame.

3. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The first coil material taking and placing robot (210) is driven by a first two-axis moving module (219) and can move back and forth in the X-axis direction and the Z-axis direction. The first coil material taking and placing robot (210) includes: A first support frame (211) is fixedly mounted on the free end of the first two-axis movable module (219); a first mounting plate (212) is provided at the bottom of the first support frame (211); 2m first mounting grooves (212a) are provided on the first mounting plate (212); and m limiting sleeves (213) are fixed at the bottom; each limiting sleeve (213) is located between each pair of two first mounting grooves (212a); m pairs of first clamping jaws (214), each pair of the first clamping jaws (214) comprising two first clamping jaws (214), each pair of the two first clamping jaws (214) being rotatably disposed in two first mounting grooves (212a) corresponding thereto, and a mirror-image first clamping jaw guide inclined surface (214a) being disposed on the top of the outer sidewall of the upper end of each pair of the two first clamping jaws (214); m return springs, respectively installed transversely between the upper ends of m pairs of two first clamping jaws (214); (m+1) first wedge blocks (215), each of the first wedge blocks (215) having at least one side wall at the bottom thereof provided with a first wedge guide inclined surface (215a) matching the first clamping jaw guide inclined surface (214a); A first clamping cylinder (216) is installed on the first support frame (211) and drives (m+1) first wedge blocks (215) to move up and down, thereby forcing the first wedge guide inclined surface (215a) to move toward the first clamping jaw guide inclined surface (214a); m guide rods (217), passing through the limiting sleeve (213) and extending out of the limiting sleeve (213) at the bottom; The stripping cylinder (218) is installed on the first support frame (211) and is fixedly connected to the tops of the m guide rods (217), driving the m guide rods (217) to move up and down.

4. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The first stripping module (110) includes a first stripping cylinder (111) and a first stripping module (112). The top of the first stripping module (112) is provided with m groups of first stripping rods (113). Each group of the first stripping rods (113) includes a plurality of first stripping rods (113). The bottom of the coil fixture groove (911) is provided with a plurality of ejecting holes (913). The first stripping cylinder (111) can drive the first stripping module (112) to rise and fall, and the tops of the plurality of first stripping rods (113) can respectively pass through the plurality of ejecting holes (913). The second stripping module (610) includes a second stripping cylinder (611) and a second stripping module (612). The top of the second stripping module (612) is provided with m second stripping rods (613). The second stripping cylinder (611) can drive the second stripping module (612) to rise and fall. The tops of the m second stripping rods (613) can respectively pass through m hollows (923).

5. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The first jig disk push rod assembly (220) includes a push block (221) and a push cylinder (222). The push cylinder (222) is arranged horizontally, and the end of its telescopic shaft is fixedly connected to the push block (221). The first turntable (200) and the conveyor line 2 (300) are at the same height and connected. The upper end surface of the conveyor line 2 (300) connected to the first turntable (200) is provided with a guide transition slope (340). The push block (221) is located on one side of the bending jig disk (920) on the first turntable (200). The push block (221) can push the bending jig disk (920) on the first turntable (200) to the conveyor line 2 (300) through the driving energy of the push cylinder (222).

6. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The conveying line 1 (100) is annular; The conveyor line 2 (300) is divided into a special shape by a dividing strip (330) and has a plurality of right-angled corners (300a). A second fixture tray push rod assembly (310) is provided above each right-angled corner (300a) and above the end of the conveyor line 2 (300). A positioning assembly (320) is provided below each right-angled corner (300a), below the first transfer platform (200) and below the second transfer platform (600).

7. The AI common mode inductor coil folding line implanting machine according to claim 6, characterized in that: The second fixture plate push rod assembly (310) comprises a translation cylinder (311) and a push piece (312). The translation cylinder (311) drives the push piece (312) to translate, and the moving direction of the push piece (312) is perpendicular to the original running direction of the bending fixture plate (920).

8. The AI common mode inductor coil folding line implanting machine according to claim 7, characterized in that: The pusher (312) is located on one side of the bending jig plate (920), and the surface in contact with the side wall of the bending jig plate (920) is a plane; or The pushing member (312) is a pushing column (312a) inserted into a positioning hole of the bending jig plate (920), and the pushing column (312a) is driven to rise and fall by a jig vertical cylinder (313), and the jig vertical cylinder (313) is driven to translate by the translation cylinder (311).

9. The AI common mode inductor coil folding line implanting machine according to claim 6, characterized in that: The positioning assembly (320) comprises a plurality of positioning columns (321) and a positioning cylinder (322) for driving the plurality of positioning columns (321) to rise and fall. The positioning columns (321) can be inserted into the middle positioning holes (924) of the bending jig plate (920), or can be inserted into the side positioning holes (925) of the bending jig plate (920).

10. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The T-core feeding device (400) comprises: A vibration plate (410), wherein the vibration plate (410) has a straight vibration portion (411); A transverse material receiving platform (420) is installed at the outlet of the straight vibration part (411) and docked therewith, and a material receiving trough (421) for storing a T-core material (940) is provided on the transverse material receiving platform (420); A transverse manipulator (430) is driven by the second two-axis moving module (431) and moves back and forth in the X-axis and Z-axis directions. The transverse manipulator (430) is provided with m independently controlled transverse suction cups (432); A first-level positioning transfer module (440) includes a slide (441), a Y-axis slide rail (442) and a transfer cylinder (443). The slide (441) is slidably arranged on the Y-axis slide rail (442) and is driven by the transfer cylinder (443) to move back and forth in the Y-axis direction. The slide (441) is provided with m first-level positioning slots (444). The transverse manipulator (430) can transfer m T-core materials (940) from the receiving slot (421) to the m first-level positioning slots (444). A secondary positioning material platform (450), wherein m secondary positioning grooves (451) are provided on the secondary positioning material platform (450); m vacuum suction nozzles (460) are installed on a cylinder floating joint (461), and the cylinder floating joint (461) is installed on a rotating table (462). The rotating table (462) is installed on a third two-axis moving module (463) and can move back and forth in the Y-axis and Z-axis directions. The m vacuum suction nozzles (460) can respectively transfer m T-core materials (940) from the first-level positioning groove (444) to the second-level positioning groove (451), and then transfer them from the second-level positioning groove (451) to the m bending fixture grooves (921).

11. The AI common mode inductor coil folding line implanting machine according to claim 10, characterized in that: The primary positioning groove (444) is L-shaped, and an oblique thrust cylinder (445) is installed on the upper end surface of the slide (441). The end of the oblique thrust cylinder (445) is installed with m positioning blocks (446). The shape of the m positioning blocks (446) matches a right-angle shape of the m T-core materials (940). The oblique thrust cylinder (445) can drive the m positioning blocks (446) to move obliquely and horizontally toward the m primary positioning grooves (444).

12. The AI common mode inductor coil folding line implanting machine according to claim 10, characterized in that: A positioning guide inclined surface (452) is provided at the upper end of each secondary positioning groove (451).

13. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The flipping robot (710) comprises: A turning shaft (711) is horizontally mounted above the second turntable (600) and is driven by a speed reducer (712) to rotate around its central axis; Two groups of material clamps (713), each group of material clamps (713) includes m material clamps (713), and the two groups of material clamps (713) are respectively installed on the upper and lower end surfaces of the flip shaft (711), and the bottom of each material clamp (713) is provided with a vacuum adsorption hole (714) for adsorbing the top surface of the T-core material (940), and the vacuum adsorption hole (714) is surrounded by a limiting member (715) for limiting the T-core material (940).

14. The AI common mode inductor coil folding line implanting machine according to claim 1, characterized in that: The rotary manipulator (720) includes a three-axis moving module (721), a harmonic reducer (722), and a second coil picking and placing manipulator. The second coil picking and placing manipulator is mounted on the harmonic reducer (722) and driven by the harmonic reducer (722) to rotate 90° in the horizontal direction. The harmonic reducer (722) is mounted on the three-axis moving module (721) and driven by the three-axis moving module (721) to move back and forth in the X-axis, Y-axis, and Z-axis directions.

15. The AI common mode inductor coil folding line implanting machine according to claim 14, characterized in that: The second coil pick-up and place robot comprises: A second support frame (723) is fixedly mounted on the harmonic reducer (722), and a second mounting plate (724) is provided at the bottom of the second support frame (723); m pairs of second clamping jaws (725), each pair of second clamping jaws (725) is provided with two, each pair of two second clamping jaws (725) passes through the second mounting plate (724) and is rotatably connected to the second mounting plate (724), and each pair of two second clamping jaws (725) is provided with a mirror-image second clamping jaw guide inclined surface (725a) at the top of the outer side wall of the upper end; m limiting columns (728), mounted on the bottom of the second mounting plate (724) and located between each pair of second clamping jaws (725); m return springs, each laterally mounted between the upper ends of m pairs of second clamping jaws (725); (m+1) second wedge blocks (726), each second wedge block (726) having at least one side wall at the bottom thereof provided with a second wedge guide inclined surface (726a) matching the second clamping jaw guide inclined surface (725a); The second clamping cylinder (727) is installed on the second support frame (723) and drives the m second wedge blocks (726) to move up and down, thereby forcing the second wedge guide slope (726a) to move toward the second clamping jaw guide slope (725a).

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