AI common mode inductor coil bending material planting machine

Abstract

This invention discloses an AI common-mode inductor coil bending and feeding machine, comprising: a first conveyor line, with a first unloading module disposed below the discharge end of the first conveyor line; a first transfer platform, where m inductor coils ejected are grasped by a first coil picking and placing robot and transferred to m bending fixture slots; a second conveyor line, where bending fixtures on the first transfer platform are pushed to the inlet end of the second conveyor line by a first fixtures pusher assembly; a T-core feeding device; two lead bending machines; a second transfer platform, with a second unloading module disposed below the second transfer platform; and a feeding robot, including a flipping robot and a rotating robot. The flipping robot is used to grasp m finished materials and flip them 180°, and the rotating robot is used to grasp the m finished materials that have been flipped 180° and rotate them 90° before placing them onto a material tray. This invention integrates T-core magnetic core feeding, lead bending, finished material flipping, and material tray placement into one unit, improving the processing efficiency of inductor coils.

Description

Technical Field

[0001] This invention relates to the field of inductor coil processing, and more particularly to an AI common mode inductor coil folding wire embedding machine. Background Technology

[0002] AI common-mode inductors consist of coils and T-core magnetic cores, such as Figure 1 As shown, the two leads of the coil need to be bent vertically, the T-core magnetic core is inserted into the coil, and then the leads are bent horizontally and vertically to form the finished product. During the bending process, since the leads of the coil are all facing upwards, the material tray needs to be rotated 180° before storage. Currently, each process is carried out independently by one machine. After the previous process is completed, it is manually transferred to the machine corresponding to the next process. This processing method is inefficient. Therefore, there is an urgent need to produce a material loading machine that can load T-core magnetic cores into the coil, complete bending, rotation, and placement of the material. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the purpose of this invention is to provide an AI common mode inductor coil bending and planting machine that integrates T-core magnetic core feeding, lead bending, finished product flipping, and material tray placement, thereby improving the processing efficiency of inductor coils.

[0004] To achieve the above objectives, the technical solution adopted by this invention is: an AI common-mode inductor coil zigzag embedding machine, comprising:

[0005] Conveyor line one is used to convey winding fixture trays. Each winding fixture tray is provided with m coil fixture slots, where m is a natural number ≥ 2. Each coil fixture slot is provided with a coil post, and each coil post is fitted with an inductor coil with its pin bent once. A first unloading module is provided below the discharge end of conveyor line one. The first unloading module is used to push the m inductor coils out of the winding fixture tray.

[0006] The first transfer station is used to store the bending fixture tray. The bending fixture tray is provided with m bending fixture slots. Each bending fixture slot is provided with clearance slots on the front, back, left and right sides. The bottom of each bending fixture slot is provided with a hollow. The m inductor coils that are pushed out are picked up by the first coil picking and unloading robot and transferred to the m bending fixture slots.

[0007] Conveyor line two is used to receive and transfer the bending jig tray transferred from the first transfer station. The bending jig tray on the first transfer station is pushed to the feed end of conveyor line two by the first jig tray push rod assembly.

[0008] The T-core feeding device is used to place m T-core materials into m inductor coils on the bending fixture plate on the second conveyor line to form m semi-finished products.

[0009] Two pin bending machines are installed sequentially above the second conveyor line to perform secondary bending on the pins of the semi-finished products, forming m finished products;

[0010] The second transfer station is used to receive the bending jig tray containing finished materials transferred by the second conveyor line (300). A second unloading module is provided below the second transfer station. The second unloading module is used to push m finished materials out of the bending jig tray of the second transfer station.

[0011] The unloading robot includes a flipping robot and a rotating robot. The flipping robot is used to grab m finished products on the second transfer platform and flip them 180°. The rotating robot is used to grab m finished products that have been flipped 180° and rotate them 90° before placing them into a material tray. The material tray is provided with a finished product trough for storing finished products.

[0012] As a further improvement of the present invention, an optical fiber detection probe is provided above the first conveyor line to detect whether there are m inductor coils in the winding fixture.

[0013] A waste material collection box is provided between the first unloading module and the first transfer station;

[0014] When the fiber optic detection probe detects that there are fewer than m inductor coils in the winding fixture, all the inductor coils that are synchronously ejected are picked up by the first coil handling robot and transferred to the waste collection box.

[0015] Preferably, the first coil pick-and-place robot is driven by a first two-axis moving module and can move back and forth in the X-axis and Z-axis directions. The first coil pick-and-place robot includes:

[0016] A first support frame is fixedly installed at the free end of the first two-axis moving module. A first mounting plate is provided at the bottom of the first support frame. The first mounting plate has 2m first mounting slots and m limiting sleeves fixed at the bottom. Each limiting sleeve is located between each pair of two first mounting slots.

[0017] m pairs of first grippers, each pair of first grippers includes two first grippers, each pair of two first grippers is rotatably disposed in two corresponding first mounting slots, and the top of the outer side wall of each pair of two first grippers is provided with a mirror-set first gripper guide slope.

[0018] m return springs are respectively installed laterally between the upper ends of the two first grippers of m pairs;

[0019] (m+1) first wedge blocks, each of which has at least one sidewall at the bottom of its first wedge block provided with a first wedge guide slope that matches the first gripper guide slope;

[0020] The first gripping cylinder is mounted on the first support frame and drives (m+1) of the first wedge blocks to rise and fall, thereby forcing the first wedge guide slope to move toward the first gripper guide slope;

[0021] m guide rods pass through the limiting sleeve and extend out of the limiting sleeve at the bottom;

[0022] The material discharge cylinder is installed on the first support frame and is connected and fixed to the top of m guide rods, driving the m guide rods to rise and fall.

[0023] 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 sets of first stripping rods. Each set of first stripping rods includes multiple first stripping rods. The bottom of the coil fixture slot is provided with multiple top-feeding holes. The first stripping cylinder can drive the first stripping module to rise and fall. The tops of the multiple first stripping rods can pass through the multiple top-feeding holes respectively.

[0024] 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.

[0025] Preferably, the first fixture plate pusher assembly includes a pusher block and a pusher cylinder. The pusher cylinder is arranged horizontally, and its telescopic shaft end is fixedly connected to the pusher block. The first transfer platform is at the same height as the second conveyor line and is connected to it. The upper end surface of the second conveyor line connected to the first transfer platform is provided with a guide transition slope. The pusher block is located on one side of the bending fixture plate on the first transfer platform. The pusher block can push the bending fixture plate on the first transfer platform onto the second conveyor line through the driving power of the pusher cylinder.

[0026] Preferably, the first conveyor line is a loop.

[0027] Preferably, the second conveyor line is divided into an irregular shape by a separator strip 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 second conveyor line. A positioning assembly is provided below each right-angle corner, below the first transfer platform, and below the second transfer platform.

[0028] Preferably, the second fixture disk pusher assembly includes a translation cylinder and a pusher component. The translation cylinder drives the pusher component to translate, and the direction of movement of the pusher component is perpendicular to the original running direction of the bending fixture disk.

[0029] Preferably, the pusher is located on one side of the bending fixture disk, and the surface in contact with the side wall of the bending fixture disk is a plane; or the pusher is a pusher column inserted into the positioning hole of the bending fixture disk, the pusher column is driven to rise and fall by the fixture vertical cylinder, and the fixture vertical cylinder is driven to move horizontally by the translation cylinder.

[0030] Preferably, the positioning component includes multiple positioning posts and a positioning cylinder for driving the multiple positioning posts to rise and fall. The positioning posts can be inserted into the central positioning hole of the bending fixture disk, or can be inserted into the side positioning hole of the bending fixture disk.

[0031] Preferably, the T-core feeding device includes:

[0032] Vibratory feeder, wherein the vibratory feeder has a linear vibration section;

[0033] A transverse receiving platform is installed at the outlet of the linear vibrating section and docked with it. The transverse receiving platform is provided with a receiving trough for storing one T-core material.

[0034] The lateral manipulator is driven by the second two-axis motion module and moves back and forth in the X and Z axes. The lateral manipulator is equipped with m independently controlled lateral suction cups.

[0035] A primary positioning transfer module includes a slide table, a Y-axis slide rail, and a transfer cylinder. The slide table 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 table is provided with m primary positioning slots. The transverse manipulator can transfer m T-core materials from the receiving slot to the m primary positioning slots.

[0036] A secondary positioning platform, wherein m secondary positioning slots are provided on the secondary positioning platform;

[0037] m vacuum nozzles are installed on the cylinder floating joint, which is installed on the rotary table. The rotary table is installed on the third two-axis moving module and can move back and forth in the Y-axis and Z-axis directions. The m vacuum nozzles can respectively transfer m T-core materials from the primary positioning groove to the secondary positioning groove, and then from the secondary positioning groove to m bending fixture grooves.

[0038] Preferably, the primary positioning groove is L-shaped, and an inclined push cylinder is installed on the upper surface of the slide. The end of the inclined push cylinder is equipped with m positioning blocks. The shape of the m positioning blocks matches a right angle shape of m T-core materials. The inclined push cylinder can drive the m positioning blocks to move horizontally in the direction of the m primary positioning grooves.

[0039] Preferably, each of the secondary positioning slots has a positioning guide slope at its upper end.

[0040] Preferably, the flipping manipulator includes:

[0041] The tilting shaft is horizontally mounted above the second turntable and can rotate around its central axis via a speed reducer.

[0042] Two sets of clamps, each set including m clamps, are installed on the upper and lower end faces of the flip shaft respectively. The bottom of each clamp is provided with a vacuum adsorption hole for adsorbing the top surface of the T-core material, and the periphery of the vacuum adsorption hole is provided with a limiting member for limiting the T-core material.

[0043] Preferably, the rotary manipulator includes a three-axis moving module, a harmonic reducer, and a second coil picking and placing manipulator. The second coil picking and placing manipulator is mounted on the harmonic reducer and is driven by the harmonic reducer to rotate 90° in the horizontal direction. The harmonic reducer is mounted on the three-axis moving module and is driven by the three-axis moving module to move back and forth in the X, Y, and Z axis directions.

[0044] Preferably, the second coil handling robot includes:

[0045] The second support frame is fixedly installed on the harmonic reducer, and the bottom of the second support frame is provided with a second mounting plate.

[0046] m pairs of second grippers, each pair of second grippers is provided with two second grippers, each pair of two second grippers penetrates through the second mounting plate and is rotatably connected to the second mounting plate, and each pair of two second grippers is provided with a mirror-set second gripper guide slope on the top of the outer side wall of the upper end of the outer side of the outer side of the outer side of the upper end of the outer side of the outer side of the second gripper;

[0047] m limiting posts are installed at the bottom of the second mounting plate and located between each pair of second grippers;

[0048] m return springs are respectively installed laterally between the upper ends of the two second grippers of m pairs;

[0049] (m+1) second wedge blocks, each second wedge block having at least one sidewall at its bottom with a second wedge guide ramp that matches the second gripper guide ramp;

[0050] The second clamping cylinder is mounted on the second support frame and drives the m second wedge blocks to rise and fall, thereby forcing the second wedge guide slope to move towards the second gripper guide slope.

[0051] The beneficial effects of the AI ​​common mode inductor coil zigzag planting machine of the present invention are:

[0052] Firstly, conveyor line one is used to transport the winding fixture, which contains an inductor coil with m pins that will be bent once. The first coil pick-and-place robot grabs the m inductor coils in the winding fixture and places them into the bending fixture tray on the first transfer platform. The first fixture tray push rod assembly pushes them to conveyor line two. The T-core feeding device puts m T-core materials into the bending fixture tray on conveyor line two, respectively, and then conveys them to two pin bending machines for two bends. Finally, they are transferred to the second transfer platform, where a flipping robot rotates them 180° and then a rotating robot transfers the m finished materials into the finished material slot of the tray to complete the implantation processing operation, thus improving the work efficiency.

[0053] Secondly, the fiber optic detection probe is used to detect whether the winding fixture tray is full. If it is not full, the first coil picking and unloading robot will discard all the inductor coils in the winding fixture tray into the receiving frame to ensure that there will be no empty material in the final tray.

[0054] Thirdly, both the first and second coil pick-and-place manipulators utilize the descent of the wedge block to control the opening of the gripper and the return spring to drive the gripper to close, which is convenient and quick.

[0055] Fourth, the setting of the first stripping module and the second stripping module can ensure that the m inductor coils in the winding jig and the m finished products in the bending jig can be smoothly separated from their corresponding jigs, which is beneficial for the first coil picking and unloading robot and the flipping robot to grasp them.

[0056] Fifth, conveyor line one is used to realize the feeding of inductor coils, bending of the pin side and winding, and conveyor line two is used to realize the feeding of T-core material, secondary bending of pins and flipping and arranging of finished material. Conveyor line two is connected to the discharge end of conveyor line one, and the two conveyor lines are connected by the first transfer table and the first coil picking and unloading robot.

[0057] 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. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the molding process of the finished material in this embodiment;

[0059] Figure 2 This is a top view of this embodiment;

[0060] Figure 3 This is a perspective view of this embodiment;

[0061] Figure 4 This is a perspective view of the winding fixture disc in this embodiment;

[0062] Figure 5This is a perspective view of the bending fixture disc in this embodiment;

[0063] Figure 6 This is a perspective view of conveyor line one in this embodiment;

[0064] Figure 7 This is a perspective view of the first coil pick-and-place robot in this embodiment;

[0065] Figure 8 This is an exploded view of the first coil pick-and-place robot in this embodiment;

[0066] Figure 9 This is a perspective view showing the coordination of conveyor line one, the second transfer station, and conveyor line two in this embodiment.

[0067] Figure 10 This is a perspective view of conveyor line two in this embodiment;

[0068] Figure 11 This is a perspective view of the T-core feeding device in this embodiment;

[0069] Figure 12 This is a partial perspective view of the T-core feeding device in this embodiment;

[0070] Figure 13 This is a perspective view of the primary positioning transfer module in this embodiment;

[0071] Figure 14 This is a first perspective view of the flipping robot arm in this embodiment;

[0072] Figure 15 This is a second perspective view of the flipping robot arm in this embodiment;

[0073] Figure 16 This is a perspective view of the rotating robotic arm and the material receiving template in this embodiment;

[0074] Figure 17 This is a perspective view of the second coil loading and unloading robot in this embodiment.

[0075] The labels in the attached diagram:

[0076] 100. Conveyor Line 1; 110. First Unloading Module; 111. First Unloading Cylinder; 112. First Unloading Module; 113. First Unloading Rod; 120. Fiber Optic Detection Probe;

[0077] 200. First transfer station; 210. First coil pick-and-place robot; 211. First support frame; 212. First mounting plate; 212a. First mounting groove; 213. Limiting sleeve; 214. First gripper; 214a. First gripper guide ramp; 215. First wedge block; 215a. First wedge guide ramp; 216. First gripping cylinder; 217. Guide rod; 218. Unloading cylinder; 219. First two-axis moving module; 220. First fixture disk push rod assembly; 221. Pushing block; 222. Pushing cylinder;

[0078] 300. Conveyor Line Two; 300a. Right Angle Corner; 310. Second Fixture Disc Push Rod Assembly; 311. Translation Cylinder; 312. Pushing Component; 312a. Pushing Column; 313. Vertical Cylinder; 320. Positioning Assembly; 321. Positioning Column; 322. Positioning Cylinder; 330. Separator Strip; 331. Separator Groove; 340. Guide Transition Sloping Surface;

[0079] 400. T-core feeding device; 410. Vibratory feeder; 411. Straight vibration section; 420. Lateral receiving platform; 421. Receiving groove; 430. Lateral manipulator; 431. Secondary two-axis moving module; 432. Lateral suction cup; 440. Primary positioning transfer module; 441. Slide table; 442. Y-axis slide rail; 443. Transfer cylinder; 444. Primary positioning groove; 445. Inclined push cylinder; 446. Positioning block; 450. Secondary positioning platform; 451. Secondary positioning groove; 452. Positioning guide slope; 460. Vacuum nozzle; 461. Cylinder floating joint; 462. Rotary table; 463. Third two-axis moving module;

[0080] 500. Pin bending machine;

[0081] 600. Second transfer station; 610. Second stripping module; 611. Second demolding cylinder; 612. Second stripping module; 613. Second stripping rod;

[0082] 700. Unloading robot; 710. Tilting robot; 711. Tilting shaft; 712. Reducer; 713. Material clamp; 714. Vacuum suction hole; 715. Limiting component; 720. Rotating robot; 721. Three-axis moving module; 722. Harmonic reducer; 723. Second support frame; 724. Second mounting plate; 725. Second gripper; 725a. Second gripper guide ramp; 726. Second wedge block; 726a. Second wedge guide ramp; 727. Second gripping cylinder; 728. Limiting post;

[0083] 800. Material tray; 810. Finished product trough;

[0084] 910. Winding jig tray; 911. Coil jig slot; 912. Coil post; 913. Top material hole; 920. Bending jig tray; 921. Bending jig slot; 922. Relief slot; 923. Hollowed-out; 924. Central positioning hole; 925. Side positioning hole; 930. Inductor coil; 940. T-core material; 950. Semi-finished product; 960. Finished product. Detailed Implementation

[0085] The preferred embodiments of the present invention will now be described in detail 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 providing a clearer and more explicit definition of the scope of protection of the present invention.

[0086] See Figures 2 to 5 As shown, this embodiment discloses the reference Figures 2 to 5 As shown, this embodiment discloses an AI common-mode inductor coil zigzag embedding machine, comprising:

[0087] Conveyor line 100 is used to convey winding fixture disk 910. Each winding fixture disk 910 is provided with m coil fixture slots 911, where m is a natural number ≥ 2. Each coil fixture slot 911 is provided with a coil post 912. Each coil post 912 is fitted with an inductor coil 930 with its pin bent once. A first unloading module 110 is provided below the discharge end of conveyor line 100. The first unloading module 110 is used to push the m inductor coils 930 out of the winding fixture disk 910.

[0088] The first transfer station 200 is used to store the bending fixture tray 920. The bending fixture tray 920 is provided with m bending fixture slots 921. The bending fixture slots 921 are provided with clearance slots 922 on the front, back, left and right sides. The bottom of each bending fixture slot 921 is provided with a hollow 923. The m inductor coils 930 that are pushed out are grasped by the first coil loading and unloading robot 210 and transferred into the m bending fixture slots 921. The bending fixture tray 920 on the first transfer station 200 is continuously fed to the first transfer station 200 by the feeding component. A side positioning hole 925 is provided on one side of the bending fixture tray 920.

[0089] Conveyor line 2 300 is used to receive and transfer the bending jig plate 920 transferred from the first transfer station 200. The bending jig plate 920 on the first transfer station 200 is pushed to the feed end of conveyor line 2 300 by the first jig plate push rod assembly 220.

[0090] T-core feeding device 400 is used to place m T-core materials 940 into m inductor coils 930 on the bending jig disk 920 on the second conveyor line 300 respectively to form m semi-finished products 950.

[0091] Two pin bending machines 500 are installed sequentially 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.

[0092] The second transfer station 600 is used to receive the bending jig tray 920 containing finished materials 960 transferred from the second conveyor line 300. A second unloading module 610 is provided below the second transfer station 600. The second unloading module 610 is used to push m finished materials 960 out from the bending jig tray 920 of the second transfer station 600.

[0093] The unloading robot 700 includes a flipping robot 710 and a rotating robot 720. The flipping robot 710 is used to grab m finished products 960 from the second transfer table 600 and flip them 180°. The rotating robot 720 is used to grab the m finished products 960 that have been flipped 180°, rotate them 90°, and then place them into the finished product trough 810 of the material tray 800. Figure 16 As shown, the material tray 800 is provided with a finished product trough 810 for storing finished product material 960.

[0094] like Figure 6 , Figure 9 As shown, an optical fiber detection probe 120 is installed above the conveyor line 100 to detect whether there are m inductor coils 930 inside the winding fixture disk 910.

[0095] A waste material collection frame is provided between the first stripping module 110 and the first transfer station 200;

[0096] When the fiber optic detection probe 120 detects that there are fewer than m inductor coils 930 in the winding jig disk 910, all (all means fewer than m) inductor coils 930 that are synchronously ejected are picked up by the first coil picking and unloading robot 210 and transferred to the waste material collection box.

[0097] like Figures 6 to 8 As shown, the first coil pick-and-place robot 210 is driven by the first two-axis moving module 219 and can move back and forth in the X-axis and Z-axis directions. The first coil pick-and-place robot 210 includes:

[0098] The first support frame 211 is fixedly installed at the free end of the first two-axis moving module 219. The bottom of the first support frame 211 is provided with a first mounting plate 212. The first mounting plate 212 is provided with 2m first mounting slots 212a and m limiting sleeves 213 are fixed at the bottom. Each limiting sleeve 213 is located between each pair of two first mounting slots 212a.

[0099] m pairs of first grippers 214, each pair of first grippers 214 includes two first grippers 214, each pair of two first grippers 214 is rotatably disposed in two corresponding first mounting slots 212a, and each pair of two first grippers 214 is provided with a mirror-displayed first gripper guide slope 214a on the top of the outer side wall of the upper end of the upper part of the first grippers 214.

[0100] m return springs are respectively installed laterally between the upper ends of the two first grippers 214 of m pairs;

[0101] m+1 first wedge blocks 215, each first wedge block 215 having a first wedge guide slope 215a that matches the first gripper guide slope 214a on at least one side wall at the bottom;

[0102] The first gripping cylinder 216 is mounted on the first support frame 211 and drives m+1 first wedge blocks 215 to rise and fall, thereby forcing the first wedge guide slope 215a to move toward the first gripper guide slope 214a.

[0103] m guide rods 217, penetrating the limiting sleeve 213, with the bottom extending out of the limiting sleeve 213;

[0104] The unloading cylinder 218 is installed on the first support frame 211 and is connected and fixed to the top of the m guide rods 217, driving the m guide rods 217 to rise and fall.

[0105] 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 sets of first stripping rods 113. Each set of first stripping rods 113 includes multiple first stripping rods 113. The bottom of the coil fixture slot 911 is provided with multiple ejector holes 913. The first stripping cylinder 111 can drive the first stripping module 112 to rise and fall. The tops of the multiple first stripping rods 113 can pass through the multiple ejector holes 913 respectively.

[0106] like Figure 15 As shown, 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 pass through m hollows 923 respectively.

[0107] like Figure 9As shown, the first fixture plate push rod assembly 220 includes a pusher block 221 and a pusher cylinder 222. The pusher cylinder 222 is arranged horizontally, and its telescopic shaft end is fixedly connected to the pusher block 221. The first transfer platform 200 is at the same height as the second conveyor line 300 and is connected to it. The upper end surface of the second conveyor line 300 connected to the first transfer platform 200 is provided with a guide transition slope 340. The pusher block 221 is located on one side of the bending fixture plate 920 on the first transfer platform 200. The pusher block 221 pushes the bending fixture plate 920 on the first transfer platform 200 onto the second conveyor line 300 through the driving power of the pusher cylinder 222.

[0108] Conveyor line 100 is a loop. Figure 9 Only the right angle at the end of conveyor line 100 is shown.

[0109] like Figure 10 As shown, the second conveyor line 300 is divided into an irregular shape by the partition strip 330. The partition strip 330 has partition grooves 331 on both sides to limit the bending fixture disk 920 and has multiple right angle corners 300a. A second fixture disk push rod assembly 310 is provided above each right angle corner 300a and above the end of the second conveyor line 300. A positioning assembly 320 is provided below each right angle corner 300a, below the first transfer platform 200 and below the second transfer platform 600.

[0110] like Figure 10 As shown, the second fixture disk 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 direction of movement of the pusher 312 is perpendicular to the original running direction of the bending fixture disk 920.

[0111] The pusher component 312 is located on one side of the bending fixture disc 920, such as... Figure 10 As shown, the structures of the pusher 312 in different parts are different. Some pushers 312 have a flat surface that contacts the side wall of the bending fixture disk 920. Some pushers 312 are pusher columns 312a that are inserted into the positioning holes of the bending fixture disk 920. The pusher columns 312a are driven to rise and fall by the fixture vertical cylinder 313, and the fixture vertical cylinder 313 is driven to move by the translation cylinder 311.

[0112] The positioning assembly 320 includes multiple positioning posts 321 and a positioning cylinder 322 that drives the multiple positioning posts 321 to rise and fall. The positioning posts 321 can be inserted into the central positioning hole 924 of the bending fixture disk 920 or into the side positioning hole 925 of the bending fixture disk 920.

[0113] like Figures 11 to 13 As shown, the T-core feeding device 400 includes:

[0114] Vibratory plate 410, vibratory plate 410 having a direct vibration section 411;

[0115] A transverse receiving platform 420 is installed at the outlet of the linear vibrating section 411 and is connected to it. The transverse receiving platform 420 is provided with a receiving trough 421 for storing a T-core material 940.

[0116] The 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 equipped with m independently controlled transverse suction cups 432.

[0117] like Figure 13 As shown, the primary positioning transfer module 440 includes a slide table 441, a Y-axis slide rail 442, and a transfer cylinder 443. The slide table 441 is slidably mounted 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 table 441 is provided with m primary positioning slots 444. The transverse manipulator 430 can transfer m T-core materials 940 from the receiving slot 421 to the m primary positioning slots 444.

[0118] A secondary positioning platform 450 is provided with m secondary positioning slots 451.

[0119] m vacuum nozzles 460 are mounted on cylinder floating joints 461, which are mounted on rotary table 462. Rotary table 462 is mounted on the third two-axis moving module 463, which can move back and forth in the Y and Z axes. The m vacuum nozzles 460 can respectively transfer m T-core materials 940 from the primary positioning groove 444 to the secondary positioning groove 451, and then from the secondary positioning groove 451 to m bending fixture grooves 921.

[0120] like Figure 13 As shown, the primary positioning groove 444 is L-shaped, and a slanted push cylinder 445 is installed on the upper surface of the slide table 441. The end of the slanted push cylinder 445 is equipped 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 slanted push cylinder 445 can drive the m positioning blocks 446 to move horizontally in the direction of the m primary positioning grooves 444 respectively.

[0121] like Figure 12 As shown, each secondary positioning groove 451 has a positioning guide slope 452 at its upper end.

[0122] like Figure 14 , Figure 15 As shown, the flipping robot 710 includes:

[0123] The tilting shaft 711 is horizontally mounted above the second turntable 600 and can rotate around its central axis by being driven by the reducer 712.

[0124] Two sets of clamps 713, each set of clamps 713 includes m clamps 713. The two sets of clamps 713 are respectively installed on the upper and lower end faces of the flip shaft 711. The bottom of each clamp 713 is provided with a vacuum adsorption hole 714 for adsorbing the top surface of T-core material 940. The vacuum adsorption hole 714 is surrounded by a limiting member 715 for limiting the T-core material 940.

[0125] like Figure 16 , Figure 17 As shown, the rotary manipulator 720 includes a three-axis motion module 721, a harmonic reducer 722, and a second coil pick-and-place manipulator. The second coil pick-and-place manipulator is mounted 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 mounted on the three-axis motion module 721 and is driven by the three-axis motion module 721 to move back and forth in the X-axis, Y-axis, and Z-axis directions.

[0126] The second coil loading and unloading robot includes:

[0127] The second support frame 723 is fixedly installed on the harmonic reducer 722, and the bottom of the second support frame 723 is provided with a second mounting plate 724.

[0128] m pairs of second grippers 725, each pair of second grippers 725 is provided with two, each pair of two second grippers 725 penetrates the second mounting plate 724 and is rotatably connected to the second mounting plate 724, and each pair of two second grippers 725 is provided with a mirror-set second gripper guide slope 725a on the top of the outer side wall of the upper end of the upper part of the second gripper 725.

[0129] m limiting posts 728 are installed at the bottom of the second mounting plate 724 and located between each pair of second grippers 725;

[0130] m return springs are respectively installed laterally between the upper ends of the two second grippers 725 of m pairs;

[0131] m+1 second wedge blocks 726, each second wedge block 726 having a second wedge guide ramp 726a that matches the second gripper guide ramp 725a on at least one side wall at the bottom;

[0132] The second clamping cylinder 727 is mounted on the second support frame 723 and drives the m second wedge blocks 726 to rise and fall, thereby forcing the second wedge guide ramp 726a to move toward the second gripper guide ramp 725a.

[0133] The working principle of this embodiment is as follows:

[0134] The working principle of conveyor line 100: After the pins of the inductor coil 930 are bent once and the winding is completed, it is conveyed to the end via conveyor line 100. First, the fiber optic detection probe 120 detects whether there are m inductor coils 930 in the winding fixture disk 910. If the disk is full, the first coil pick-and-place robot 210 grabs it and places it into the bending fixture disk 920 on the first transfer table 200. If the disk is not full, the first coil pick-and-place robot 210 grabs it and places it into the waste collection box for recycling. When the first coil pick-and-place robot 210 grabs the coils, the first unloading module 110 first pushes out the inductor coils 930 from the winding fixture disk 910, facilitating the grabbing by the first coil pick-and-place robot 210.

[0135] The working principle of the first stripping module 110 is as follows: 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 pass through multiple ejection holes 913 respectively, ejecting m inductor coils 930 from the m coil fixture slots 911 respectively.

[0136] The working principle of the first coil picking and unloading robot 210 is as follows: After 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 unloading robot 210 to move to the position of the m inductor coils 930. The first gripping cylinder 216 drives m+1 first wedge blocks 215 to move downward. Through the cooperation of the first wedge guide slope 215a and the first gripper guide slope 214a, the upper ends of each pair of first grippers 214 are forced to move towards each other, causing the lower ends of each pair of first grippers 214 to move in the opposite direction, thereby opening the first grippers 214. After the opened first grippers 214 move to the predetermined position of the inductor coils 930, the first gripping cylinder 216 returns to its original position. The return spring forces the upper ends of a pair of first grippers 214 to move in the opposite direction, causing the lower ends of each pair of first grippers 214 to move towards each other, clamping the opposite two side walls of the m inductor coils 930.

[0137] The working principle of the first transfer station 200: When m inductor coils 930 are picked up and placed into the m bending fixture slots 921 of the bending fixture disk 920 on the first transfer station 200, the pusher cylinder 222 drives the pusher block 221 to extend, moving the bending fixture disk 920 on the first transfer station 200 along the guide transition slope 340 towards the entrance end of the second conveyor line 300. After the bending fixture disk 920 moves to the second conveyor line 300, the pusher cylinder 222 drives the pusher block 221 to retract and reset.

[0138] The working principle of conveyor line 2 300 is as follows: the translation cylinder 311 of the second fixture disk pusher assembly 310 at the entrance end of conveyor line 2 300 drives the pusher 312 to move. The bending fixture disk 920 moves along the irregular conveyor line 2 300 separated by the separator 330. At each right angle 300a, it is pushed by the corresponding second fixture disk pusher assembly 310 until the bending fixture disk 920 carrying m inductor coils 930 moves to the loading station corresponding to the T-core feeding device 400.

[0139] The working principle of the T-core feeding device 400 is as follows: The vibratory plate 410 vibrates the T-core materials 940 one by one from the vertical vibration section 411 to the transverse receiving platform 420. The second two-axis moving module 431 drives the m transverse suction cups 432 of the transverse manipulator 430 to pick up the T-core materials 940 one by one until the m T-core materials 940 are full. The second two-axis moving module 431 transfers the m T-core materials 940 to the m primary positioning slots 444 on the slide table 441 of the primary positioning transfer module 440. Then, the inclined push cylinder 445 drives the m positioning blocks 446 to perform primary positioning in the L-shaped primary positioning slots 444 with an inclined movement trajectory. The transfer cylinder 443 drives the slide table 441 to move towards the secondary positioning platform 450. Once in position, the third two-axis moving module 463 drives m vacuum nozzles 460 to pick up m T-core materials 940 from the primary positioning slot 444 and rotate them to the m secondary positioning slots 451 of the secondary positioning platform 450. The secondary positioning slots 451 are positioned by the positioning guide slope 452. After positioning, the third two-axis moving module 463 drives the m vacuum nozzles 460 to move into the m secondary positioning slots 451, pick up the m T-core materials 940 and transfer them to the bending fixture disk 920 on the second conveyor line 300. At this time, the bending fixture disk 920 is equipped with m inductor coils 930. The m vacuum nozzles 460 can insert the m T-core materials 940 into the m inductor coils 930 respectively, completing the loading of the T-core materials 940.

[0140] After the T-core material 940 is fed, the second fixture plate pusher assembly 310 continues to drive the bending fixture plate 920 forward until it moves to the two pin bending machines 500. The two pin bending machines 500 are existing technology, which perform horizontal and vertical bending on the pins, and then bend them into finished material 960. The second fixture plate pusher assembly 310 then drives the bending fixture plate 920 forward until it moves to the end of the second conveyor line 300. The bending fixture plate 920 at the end is then... The second fixture disk push rod assembly 310 pushes the second transfer table 600. The bending fixture disk 920 on the second transfer table 600 contains m finished products 960. Then, the flipping robot 710 flips the m finished products 960 by 180°, so that one end of the inductor coil 930 faces upward and one end of the T-core material 940 faces downward. Then, the rotating robot 720 rotates the m finished products 960 by 90° and transfers them into the finished product slot 810 of the material tray 800.

[0141] The working principle of the flipping robot 710 is as follows: the second demolding cylinder 611 of the second demolding module 610 drives m second demolding rods 613 to move upward, pushing m finished materials 960 out from m hollows 923. The vacuum adsorption holes 714 of the m material clamps 713 adsorb the top surface of the T-core material 940 (which is a plane). After adsorption, the reducer 712 drives the flipping shaft 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.

[0142] The working principle of the rotary manipulator 720 is as follows: the three-axis moving module 721 drives the second coil picking and placing manipulator to move towards the flipping manipulator 710. Similarly, when the second gripping cylinder 727 drives the second wedge block 726 to move downward, the second gripper 725 is opened. The second gripping cylinder 727 then drives the second wedge block 726 to move upward, and the return spring forces the second gripper 725 to clamp one end of the inductor coil 930 of the finished product 960. During gripping, the inductor coil 930 of the finished product 960 is sleeved on the limiting post 728. The second gripper 725 clamps the finished product 960, and then the three-axis moving module 721 moves m finished products 960 into the finished product slot 810. After they are in place, the second gripper 725 is opened, and the three-axis moving module 721 resets.

[0143] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An AI common mode inductor coil zigzag embedding machine, characterized in that: include: Conveyor line one (100) is used to convey winding fixture trays (910). Each winding fixture tray (910) is provided with m coil fixture slots (911), where m is a natural number ≥ 2. Each coil fixture slot (911) is provided with a coil post (912). Each coil post (912) is fitted with an inductor coil (930) with its pin bent once. A first unloading module (110) is provided below the discharge end of conveyor line one (100). The first transfer station (200) is used to store the bending fixture tray (920). The bending fixture tray (920) is provided with m bending fixture slots (921). Each bending fixture slot (921) is provided with a clearance slot (922) around its perimeter. Each bending fixture slot (921) has a cutout (923) at its bottom. The m inductor coils (930) are picked up by the first coil loading and unloading robot (210) and transferred to the m bending fixture slots (921). Conveyor line two (300) is used to receive and transfer bending jig disc (920), the bending jig disc (920) on the first transfer station (200) is pushed to the feed end of conveyor line two (300) by the first jig disc push rod assembly (220); T-core feeding device (400) is used to place m T-core materials (940) into m inductor coils (930) on the bending jig disk (920) on the second conveyor line (300) respectively, forming m semi-finished products (950). Two pin bending machines (500) are installed sequentially 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 station (600) is used to receive the bending fixture tray (920) transferred by the second conveyor line (300), and a second unloading module (610) is provided below the second transfer station (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 products (960) on the second transfer station (600) and flip them 180°. The rotating robot (720) is used to rotate the m finished products (960) 90° and then put them into the material tray (800).

2. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: An optical fiber detection probe (120) is provided above the first conveyor line (100) to detect whether there are m inductor coils (930) inside the winding fixture disk (910). A waste collection box is provided between the first unloading module (110) and the first transfer station (200); When the fiber optic detection probe (120) detects that there are fewer than m inductor coils (930) in the winding jig disk (910), all the inductor coils (930) that are synchronously ejected are picked up by the first coil picking and unloading robot (210) and transferred to the waste material collection box.

3. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The first coil pick-and-place robot (210) is driven by the first two-axis moving module (219) and can move back and forth in the X-axis and Z-axis directions. The first coil pick-and-place robot (210) includes: The first support frame (211) is fixedly installed at the free end of the first two-axis moving module (219). The bottom of the first support frame (211) is provided with a first mounting plate (212). The first mounting plate (212) has 2m first mounting slots (212a) and m limiting sleeves (213) fixed at the bottom. Each limiting sleeve (213) is located between each pair of two first mounting slots (212a). m pairs of first grippers (214), each pair of first grippers (214) includes two first grippers (214), each pair of two first grippers (214) is rotatably disposed in two corresponding first mounting slots (212a), and the top of the outer side wall of each pair of two first grippers (214) is provided with a mirror-displayed first gripper guide slope (214a). m return springs are respectively installed laterally between the upper ends of the two first grippers (214) of m pairs; (m+1) first wedge blocks (215), each of the first wedge blocks (215) has at least one side wall at the bottom of its bottom provided with a first wedge guide slope (215a) that matches the first gripper guide slope (214a). The first gripping cylinder (216) is mounted on the first support frame (211) and drives (m+1) of the first wedge blocks (215) to rise and fall, thereby forcing the first wedge guide ramp (215a) to move toward the first gripper guide ramp (214a); m guide rods (217) pass through the limiting sleeve (213) and extend out of the limiting sleeve (213) at the bottom. The unloading cylinder (218) is installed on the first support frame (211) and is connected and fixed to the top of the m guide rods (217), driving the m guide rods (217) to rise and fall.

4. The AI ​​common mode inductor coil zigzag embedding 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 sets of first stripping rods (113). Each set of first stripping rods (113) includes multiple first stripping rods (113). The bottom of the coil fixture slot (911) is provided with multiple top-feeding holes (913). The first stripping cylinder (111) can drive the first stripping module (112) to rise and fall. The tops of the multiple first stripping rods (113) can pass through the multiple top-feeding holes (913) respectively. 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 pass through m hollows (923) respectively.

5. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The first fixture plate push rod assembly (220) includes a pusher block (221) and a pusher cylinder (222). The pusher cylinder (222) is arranged horizontally, and its telescopic shaft end is fixedly connected to the pusher block (221). The first transfer platform (200) is at the same height as the second conveyor line (300) and is connected to it. The upper end face of the second conveyor line (300) connected to the first transfer platform (200) is provided with a guide transition slope (340). The pusher block (221) is located on one side of the bending fixture plate (920) on the first transfer platform (200). The pusher block (221) pushes the bending fixture plate (920) on the first transfer platform (200) onto the second conveyor line (300) through the driving power of the pusher cylinder (222).

6. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The first (100) conveyor line is a loop; The second conveyor line (300) is divided into an irregular shape by a separator (330) and has multiple right-angle corners (300a). A second fixture disk push rod assembly (310) is provided above each right-angle corner (300a) and above the end of the second conveyor line (300). A positioning assembly (320) is provided below each right-angle corner (300a), below the first transfer platform (200), and below the second transfer platform (600).

7. The AI ​​common mode inductor coil zigzag embedding machine according to claim 6, characterized in that: The second fixture disk push rod assembly (310) includes a translation cylinder (311) and a pusher (312). The translation cylinder (311) drives the pusher (312) to translate. The direction of movement of the pusher (312) is perpendicular to the original running direction of the bending fixture disk (920).

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

9. The AI ​​common mode inductor coil zigzag embedding machine according to claim 6, characterized in that: The positioning component (320) includes multiple positioning posts (321) and a positioning cylinder (322) for driving the multiple positioning posts (321) to rise and fall. The positioning posts (321) can be inserted into the central positioning hole (924) of the bending fixture disk (920) or into the side positioning hole (925) of the bending fixture disk (920).

10. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The T-core feeding device (400) includes: Vibratory plate (410), the vibratory plate (410) having a straight vibration section (411); A transverse receiving platform (420) is installed at the outlet of the linear vibrating section (411) and docked with it. The transverse receiving platform (420) is provided with a receiving trough (421) for storing a T-core material (940). The 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 equipped with m independently controlled transverse suction cups (432). The primary positioning transfer module (440) includes a slide table (441), a Y-axis slide rail (442), and a transfer cylinder (443). The slide table (441) is slidably mounted 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 table (441) is provided with m primary positioning slots (444). The transverse manipulator (430) can transfer m T-core materials (940) from the receiving slot (421) to the m primary positioning slots (444). A secondary positioning platform (450) is provided with m secondary positioning slots (451). m vacuum nozzles (460) are installed on a cylinder floating joint (461), which is installed on a rotary table (462). The rotary 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 nozzles (460) can respectively transfer m T-core materials (940) from the primary positioning groove (444) to the secondary positioning groove (451), and then from the secondary positioning groove (451) to m bending fixture grooves (921).

11. The AI ​​common mode inductor coil zigzag embedding machine according to claim 10, characterized in that: The primary positioning groove (444) is L-shaped. An inclined push cylinder (445) is installed on the upper surface of the slide (441). The end of the inclined push cylinder (445) is equipped 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 inclined push cylinder (445) can drive the m positioning blocks (446) to move horizontally and tilted towards the m primary positioning grooves (444).

12. The AI ​​common mode inductor coil zigzag embedding machine according to claim 10, characterized in that: Each of the secondary positioning slots (451) has a positioning guide slope (452) at its upper end.

13. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The flipping manipulator (710) includes: A tilting shaft (711) is horizontally mounted above the second turntable (600) and is driven by a reducer (712) to rotate around its central axis; Two sets of clamps (713), each set of clamps (713) includes m clamps (713), the two sets of clamps (713) are respectively installed on the upper and lower end faces of the flip shaft (711), each clamp (713) has a vacuum adsorption hole (714) at the bottom for adsorbing the top surface of T-core material (940), and a limiting member (715) for limiting the T-core material (940) is provided around the vacuum adsorption hole (714).

14. The AI ​​common mode inductor coil zigzag embedding machine according to claim 1, characterized in that: The rotary manipulator (720) includes a three-axis motion module (721), a harmonic reducer (722), and a second coil pick-and-place manipulator. The second coil pick-and-place manipulator is mounted 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 mounted on the three-axis motion module (721) and is driven by the three-axis motion module (721) to move back and forth in the X-axis, Y-axis, and Z-axis directions.

15. The AI ​​common mode inductor coil zigzag embedding machine according to claim 14, characterized in that: The second coil handling robot includes: The second support frame (723) is fixedly installed on the harmonic reducer (722), and the bottom of the second support frame (723) is provided with a second mounting plate (724). m pairs of second grippers (725), each pair of second grippers (725) is provided with two, each pair of two second grippers (725) penetrates through the second mounting plate (724) and is rotatably connected to the second mounting plate (724), and each pair of two second grippers (725) has a mirror-set second gripper guide slope (725a) on the top of the outer side wall of the upper end of the upper end of the second gripper (725). m limiting posts (728) are installed at the bottom of the second mounting plate (724) and located between each pair of second grippers (725); m return springs are respectively installed laterally between the upper ends of the two second grippers (725) of m pairs; (m+1) second wedge blocks (726), each second wedge block (726) has at least one side wall at the bottom of its bottom provided with a second wedge guide ramp (726a) that matches the second gripper guide ramp (725a); The second gripping cylinder (727) is mounted on the second support frame (723) and drives the m second wedge blocks (726) to rise and fall, thereby forcing the second wedge guide ramp (726a) to move toward the second gripper guide ramp (725a).

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