Magnetic core turnover device and assembly machine

Abstract

The invention discloses a magnetic core turnover device and an assembling machine. The magnetic core turnover device comprises a turnover module, a first material taking manipulator and a second material taking manipulator. The first material taking manipulator clamps the two magnetic cores in the vertical posture to the two clamping assemblies in the vertical state, the two clamping assemblies replace the first material taking manipulator to clamp the two magnetic cores, then the two clamping assemblies rotate towards the material receiving platform in the middle, the clamping assemblies rotate from the vertical state to the horizontal state, and the two magnetic cores are clamped by the clamping assemblies in the vertical state. The magnetic cores are rotated from the vertical posture to the horizontal posture so that follow-up assembling can be carried out conveniently, due to the fact that the rotating directions of the two clamping assemblies are opposite, the assembling faces of the two magnetic cores rotating to the horizontal posture are opposite, the relative positions and orientations of the two magnetic cores do not need to be further adjusted in the follow-up assembling process, and follow-up assembling can be further carried out conveniently. Meanwhile, the material receiving platform in the middle can abut against the magnetic core in the horizontal posture, so that the orientation of the magnetic core is further adjusted, and the levelness of the magnetic core in the horizontal posture is guaranteed.

Description

Technical Field

[0001] This application relates to the field of inductor manufacturing technology, and in particular to a magnetic core flipping device and assembly machine. Background Technology

[0002] During the assembly of an inductor, two magnetic cores need to be assembled with a frame. In related technologies, the assembly surfaces of the two magnetic cores need to be bonded together. This requires applying adhesive to the assembly surfaces of the magnetic cores using a dispensing device. To facilitate dispensing, the magnetic cores need to be stood upright with their assembly surfaces facing upwards, allowing the dispensing device to apply adhesive from top to bottom. During the assembly of the frame and the two magnetic cores, the magnetic cores need to be placed horizontally on both sides of the frame, with the mating surfaces of the two magnetic cores facing horizontally and opposite each other, so that the assembly surfaces of the two magnetic cores can be pushed together to bond them. Therefore, developing a flipping device that automatically rotates the magnetic cores from an upright position to a horizontal position is a technical challenge that manufacturers urgently need to address. Summary of the Invention

[0003] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a magnetic core flipping device capable of flipping a magnetic core in an upright position to a horizontal position.

[0004] This application also proposes an assembly machine having the above-mentioned magnetic core flipping device.

[0005] A magnetic core flipping device according to a first aspect of this application includes: a flipping module, a first picking robot, and a second picking robot.

[0006] The flipping module includes a receiving platform, a flipping driver, and two clamping assemblies. The two clamping assemblies are rotatably disposed on opposite sides of the receiving platform. The two clamping assemblies can rotate toward the receiving platform to rotate from a vertical state to a horizontal state. The flipping driver is connected to the clamping assemblies and is used to drive the clamping assemblies to rotate. The first material handling robot is used to place the magnetic core at the magnetic core conveying device at the clamping assembly in a vertical position; The second robotic arm is used to place the magnetic core at the horizontally positioned clamping assembly into the assembly device.

[0007] The magnetic core flipping device according to the first aspect of this application has at least the following beneficial effects: a first picking robot grips two magnetic cores that have been glued and are in an upright position to two clamping components in a vertical position. The two clamping components take over from the first picking robot gripping the two magnetic cores. Subsequently, the two clamping components rotate toward the central receiving platform, rotating from a vertical position to a horizontal position, so that the magnetic cores rotate from an upright position to a horizontal position to facilitate subsequent assembly. Since the rotation directions of the two clamping components are opposite, the assembly surfaces of the two magnetic cores that have rotated to a horizontal position are opposite, and there is no need to further adjust the relative position and orientation of the two magnetic cores during subsequent assembly, further facilitating subsequent assembly. At the same time, the central receiving platform can abut against the horizontally positioned magnetic cores to further adjust the orientation of the magnetic cores and ensure the horizontality of the magnetic cores.

[0008] According to some embodiments of this application, the first picking robot further includes two sets of first grippers, the first grippers being used to grip the magnetic core, and the distance between the two first grippers being the same as the distance between the two gripping components in a vertical state.

[0009] According to some embodiments of this application, the first picking robot further includes a translation drive component, which drives the first gripper.

[0010] According to some embodiments of this application, the second picking robot further includes two sets of second grippers for gripping the magnetic core, and the distance between the two second grippers is the same as the distance between the two gripping components in a horizontal state.

[0011] According to some embodiments of this application, the two clamping components are distributed along a first direction, the clamping direction of the first gripper of the first picking robot is along the first direction, and the clamping direction of the second gripper of the second picking robot is along a second direction, wherein the first direction and the second direction are perpendicular.

[0012] According to some embodiments of this application, a first mobile module is also included, which drives and connects the first picking robot and the second picking robot.

[0013] According to some embodiments of this application, the first material handling robot includes a first limiting post, which is used to abut against the magnetic core conveying device.

[0014] According to some embodiments of this application, the flipping module further includes a second limiting post, which is used to abut against the second material handling robot.

[0015] According to some embodiments of this application, the receiving platform is provided with an abutting protrusion on the side that abuts against the magnetic core. The abutting protrusion is used to abut against the magnetic core. The receiving platform has clearance positions on both sides corresponding to the abutting protrusion. The clearance positions are used to insert the second material handling robot.

[0016] An assembly machine according to a second aspect of this application includes a magnetic core flipping device according to a first aspect of this application.

[0017] The assembly machine according to the second aspect embodiment of this application has at least the following beneficial effects: including all the beneficial effects of the magnetic core flipping device of the first aspect embodiment, which will not be repeated here.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the assembly machine according to a second aspect embodiment of this application; Figure 2 for Figure 1 A schematic diagram of the structure of the flip module; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 1 A schematic diagram showing the connection between the first material handling robot, the second material handling robot, and the first moving module; Figure 5 for Figure 4 Enlarged view of point B in the middle; Figure 6 for Figure 1 Schematic diagram of the structure of the intermediate assembly device; Figure 7 for Figure 6 Enlarged view of point C in the middle; Figure 8 for Figure 6 A schematic diagram showing the connection between the positioning module and the rotation module; Figure 9 for Figure 8 A schematic diagram of the positioning module; Figure 10 for Figure 9 Exploded view of the positioning module; Figure 11 for Figure 1 Schematic diagram of the magnetic core conveying device; Figure 12This is a schematic diagram of the structure of a magnetic field; Figure 13 for Figure 12 Schematic diagram of the central skeleton; Figure 14 for Figure 12 A schematic diagram of the structure of the magnetic core.

[0020] Figure label: Magnetic core flipping device 1000; The components include: a flipping module 100, a receiving platform 110, an abutment protrusion 111, and a clearance position 112; a flipping driver 120, a clamping assembly 130, and a second limiting post 140. First material handling robot 200, first gripper 210, translation drive assembly 220, first limiting post 230; The second material handling robot 300, the second gripper 310, the pressing assembly 320, the pressing driver 321, and the pressing head 322; First mobile module 400; Assembly unit 2000; Positioning module 500, first positioning component 510, support plate 511, support block 5111, through hole 5112, first positioning driver 512, first clamping plate 513, first guide structure 5131; second positioning component 520, second positioning driver 521, second clamping plate 522, second guide structure 5221, limiting protrusion 5222, abutting part 5223, clearance part 5224, clearance channel 5225; Assembly module 600, assembly gripper 610, first assembly driver 620, second assembly driver 630, probe 640; Rotation module 700; Frame 810, through hole 811, magnetic core 820, yoke 821, central post 822, first clamping surface 8221, side post 823, second clamping surface 8231, assembly surface 824; Magnetic core conveying device 3000, conveying module 900, first drive assembly 910, fixture 920, limiting groove 921; 4000 dispensing device. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0022] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0025] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0026] Reference Figures 2 to 5 According to a first aspect embodiment of the present application, a magnetic core flipping device 1000 includes: a flipping module 100, a first picking robot 200, and a second picking robot 300.

[0027] The flipping module 100 includes a receiving platform 110, a flipping driver 120, and two clamping assemblies 130. The two clamping assemblies 130 are rotatably disposed on opposite sides of the receiving platform 110. The two clamping assemblies 130 can rotate toward the receiving platform 110 to rotate from a vertical state to a horizontal state. The flipping driver 120 drives the clamping assemblies 130 to rotate. The first material handling robot 200 is used to place the magnetic core 820 at the magnetic core conveying device 3000 at the vertical clamping assembly 130. The second material taking manipulator 300 is used to place the magnetic core 820 at the clamping component 130 in the horizontal state into the assembly device 2000.

[0028] It should be noted that, referring to Figures 12 to 14 , during the assembly process of the inductor, the bobbin 810 and two magnetic cores 820 need to be assembled together. Among them, the magnetic core 820 includes a yoke portion 821, a middle column 822 and two side columns 823. The middle column 822 is arranged in the middle of the yoke portion 821, and the side columns 823 are arranged at both ends of the yoke portion 821. The magnetic core 820 is generally in a mountain shape. A through hole 811 is arranged in the middle of the bobbin 810. Before assembly, glue is applied to the end faces of the middle column 822 and the side columns 823 of the magnetic core 820 away from the yoke portion 821. The two magnetic cores 820 are located on opposite sides of the bobbin 810. The middle columns 822 of the two magnetic cores 820 penetrate into the through hole 811, and the two middle columns 822 are abutted and bonded by glue. The four side columns 823 of the two magnetic cores 820 are abutted on the outside of the bobbin 810 and bonded by glue. Specifically, the end faces of the middle column 822 and the side columns 823 with glue applied and used for bonding are defined as the assembly surface 824.

[0029] During the production process of the inductor: First, referring to Figure 1 and Figure 11 , the magnetic core conveying device 3000 is used to convey the magnetic core 820 in a vertical posture, and the dispensing device 4000 is arranged beside the magnetic core conveying device 3000 to apply glue to the assembly surface 824 of the magnetic core 820 on the magnetic core conveying device 3000. Among them, the magnetic core 820 in the vertical posture means that the yoke portion 821 of the magnetic core 820 is at the bottom, the middle column 822 and the side columns 823 are at the top, and the assembly surface 824 of the middle column 822 and the side columns 823 faces upward, so that the dispensing device 4000 can apply glue to the assembly surface 824 from top to bottom, which is convenient for glue application. And because the columns and the side columns 823 face upward, the glue is not easy to slide off.

[0030] Then, the magnetic core conveying device 3000 transports the magnetic core 820, which has been glued and is in an upright position, to the side of the first picking robot 200. The first picking robot 200 clamps the upper end of the magnetic core 820 and moves the magnetic core 820 to the vertically positioned clamping assembly 130, with the lower end of the magnetic core 820 within the clamping range of the clamping assembly 130. Subsequently, the clamping assembly 130 clamps the lower end of the magnetic core 820. After the clamping assembly 130 stabilizes the clamp, the first picking robot 200 releases its grip on the magnetic core 820, allowing the clamping assembly 130 to take over clamping the magnetic core 820. After both clamping components 130 clamp the magnetic core 820, the flipping driver 120 drives the two clamping components 130 to rotate relative to the receiving platform 110. The two clamping components 130 rotate toward the receiving platform 110, that is, one clamping component 130 rotates counterclockwise and the other clamping component 130 rotates clockwise. The clamping components 130 rotate 90°, so that the upright magnetic core 820 rotates to a horizontal position. When the two magnetic cores 820 rotate to a horizontal position, the assembly surfaces 824 of the magnetic cores 820 on the two clamping components 130 are opposite each other. After being transported to the assembly device 2000, it is not necessary to readjust the relative position and orientation of the two magnetic cores 820. Meanwhile, the horizontally positioned magnetic core 820 can abut against the receiving platform 110. The side of the receiving platform 110 that contacts the magnetic core 820 is a plane. The receiving platform 110 adjusts the posture of the magnetic core 820 to ensure the horizontality of the magnetic core 820 in a horizontal position. For example, during the rotation of the magnetic core 820, the end that is not clamped may tilt downwards. When the magnetic core 820 rotates to abut against the receiving platform 110, the receiving platform 110 pushes both ends of the magnetic core 820 back to the horizontal position.

[0031] Next, the second picking robot 300 moves to the horizontally positioned clamping assembly 130. One end of the horizontally positioned magnetic core 820 held by the clamping assembly 130 is within the clamping range of the second picking robot 300, which then clamps the magnetic core 820. After the second picking robot 300 stabilizes the magnetic core 820, the clamping assembly 130 releases it, allowing the second picking robot 300 to take over clamping the magnetic core 820. The second picking robot 300 places the two horizontally positioned magnetic cores 820 at the assembly device 2000 for subsequent assembly with the skeleton 810. Specifically, the second picking robot 300 places the magnetic cores 820 at the positioning module 500 of the assembly device 2000.

[0032] In summary, the first robotic arm 200 picks up two magnetic cores 820, which are in an upright position after being glued, and places them into two vertically positioned clamping components 130. The two clamping components 130 then take over from the first robotic arm 200 in clamping the two magnetic cores 820. Subsequently, the two clamping components 130 rotate toward the central receiving platform 110, changing from a vertical to a horizontal position, thus facilitating the subsequent assembly of the magnetic cores 820. Since the rotation directions of the two clamping components 130 are opposite, the assembly surfaces 824 of the two horizontally positioned magnetic cores 820 face each other, eliminating the need for further adjustment of the relative position and orientation of the two magnetic cores 820 during subsequent assembly, further facilitating assembly. Simultaneously, the central receiving platform 110 can abut against the horizontally positioned magnetic cores 820 to further adjust their orientation and ensure the horizontality of the magnetic cores 820.

[0033] Specifically, the flip drive 120 is a motor, and there are two flip drives 120, each flip drive 120 is connected to a clamping assembly 130.

[0034] Reference Figure 3 and Figure 5 According to some embodiments of this application, the first material handling robot 200 further includes two sets of first grippers 210, which are used to grip the magnetic core 820. The distance between the two first grippers 210 is the same as the distance between the two gripping components 130 in a vertical state.

[0035] Understandably, each first gripper 210 can hold one magnetic core 820. Two magnetic cores 820 are simultaneously gripped from the magnetic core conveying device 3000 by the two first grippers 210, and then the two first grippers 210 deliver the two magnetic cores 820 to the two gripping assemblies 130. Since the distance between the two first grippers 210 is the same as the distance between the two gripping assemblies 130 in a vertical position, the two first grippers 210 can simultaneously deliver the two magnetic cores 820 to the gripping assembly 130, thus improving the transfer efficiency of the magnetic cores 820.

[0036] It is also understood that the magnetic core conveying device 3000 includes a conveying module 900, which includes a first drive component 910 and a fixture 920. The first drive component 910 is used to drive the fixture 920 to translate so that the fixture 920 passes under the dispensing device 4000 and is conveyed to the first picking robot 200. The fixture 920 has a limiting groove 921, which is used to place and limit the magnetic core 820 in an upright position. Two limiting grooves 921 on the fixture 920 form a group, and the distance between the two limiting grooves 921 is the same as the distance between the two first grippers 210. Thus, the two first grippers 210 can simultaneously pick up the magnetic core 820 from the fixture 920, so that two magnetic cores 820 can be picked up from the fixture 920 at one time.

[0037] Reference Figure 4 According to some embodiments of this application, the first material handling robot 200 further includes a translation drive assembly 220, which drives the first gripper 210.

[0038] Understandably, the magnetic core conveying device 3000 includes multiple conveying modules 900. The translation drive assembly 220 can drive two first grippers 210 to translate horizontally. The driving direction of the translation drive assembly 220 is the same as the distribution direction of the multiple conveying modules 900, so that the first grippers 210 can pick up materials from the jigs 920 on the multiple conveying modules 900. For example, the multiple conveying modules 900 are distributed along a first direction, and the translation drive assembly 220 drives the first grippers 210 to translate along the first direction.

[0039] Reference Figure 3 and Figure 5 According to some embodiments of this application, the second picking robot 300 further includes two sets of second grippers 310, which are used to grip the magnetic core 820. The distance between the two second grippers 310 is the same as the distance between the two gripping components 130 in a horizontal state.

[0040] Understandably, each second gripper 310 can hold one magnetic core 820. Two magnetic cores 820 are simultaneously gripped from the two gripping assemblies 130 by the two second grippers 310, and then the two second grippers 310 place the two magnetic cores 820 into the assembly device 2000. Since the distance between the two second grippers 310 is the same as the distance between the two horizontally positioned gripping assemblies 130, the two second grippers 310 can simultaneously remove the two magnetic cores 820 from the two gripping assemblies 130, improving the transfer efficiency of the magnetic cores 820.

[0041] It is also understandable that the distance between the two second grippers 310 is greater than the dimension of the skeleton 810 in the first direction. Therefore, the second grippers 310 can directly place the two magnetic cores 820 on both sides of the skeleton 810 in the first direction without further adjusting the horizontal position of the two magnetic cores 820.

[0042] Reference Figure 4 and Figure 5 According to some embodiments of this application, two gripping components 130 are distributed along a first direction, the gripping direction of the first gripper 210 of the first picking robot 200 is along the first direction, and the gripping direction of the second gripper 310 of the second picking robot 300 is along the second direction, and the first direction and the second direction are perpendicular to each other.

[0043] Understandably, to ensure the limiting effect of the limiting groove 921 of the fixture 920 on the magnetic core 820, the limiting groove 921 is relatively deep, and the upper part of the magnetic core 820 protrudes less. Meanwhile, the areas on both sides of the central post 822 of the magnetic core 820 in the first direction are relatively large when it is in an upright position. Specifically, the opposite sides of the central post 822 in the first direction are defined as the first clamping surface 8221. Simultaneously, when the two magnetic cores 820 are in an upright position, the distance between them is relatively large. Therefore, one of the claws of the first gripper 210 can move between the two magnetic cores 820, allowing the first gripper 210 to clamp along the first direction and abut against the first clamping surface 8221 of the magnetic core 820, thus ensuring the clamping area of ​​the first gripper 210 and improving clamping stability.

[0044] It is also understandable that after the clamping assembly 130 drives the two magnetic cores 820 to flip to a horizontal position, the first clamping surface 8221 on one side of the magnetic core 820 flips downward, and the second gripper 310 can no longer clamp the first clamping surface 8221. In addition, the area on both sides of the middle post 822 in the second direction is small, and the distance between the middle post 822 and the side post 823 is also small. At this time, the two sides of the middle post 822 in the second direction are not conducive to the second gripper 310 clamping. On the other hand, the side dimension of the side post 823 in the second direction is larger. Specifically, the side of the side post 823 that is opposite to the other side post 823 in the second direction is defined as the second clamping surface 8231. Thus, the second gripper 310 is set to clamp along the second direction. The second gripper 310 can abut against the second clamping surface 8231 of the two side posts 823 to clamp the magnetic core 820 from the second direction, so as to ensure the clamping area of ​​the second gripper 310 and improve the clamping stability.

[0045] Specifically, the two first grippers 210 are distributed along the first direction, and the two second grippers 310 are also distributed along the first direction, so as to be consistent with the distribution direction of the two gripping components 130.

[0046] Reference Figure 4According to some embodiments of this application, the magnetic core flipping device 1000 further includes a first moving module 400, which drives and connects a first picking robot 200 and a second picking robot 300.

[0047] Understandably, the first moving module 400 can simultaneously drive the first picking robot 200 and the second picking robot 300 to move vertically and horizontally, so that the first picking robot 200 can move between the magnetic core conveying device 3000 and the flipping module 100, and the second picking robot 300 can move between the flipping module 100 and the assembly device 2000, so as to facilitate the transfer of the magnetic core 820 by the first picking robot 200 and the second picking robot 300. Furthermore, using a single first moving module 400 to simultaneously drive the first picking robot 200 and the second picking robot 300 can reduce production costs. Furthermore, in one embodiment, the spacing between the magnetic core conveying device 3000 and the flipping module 100, and the spacing between the assembly device 2000 and the flipping module 100 are the same. The first picking robot 200 and the second picking robot 300 can transfer the magnetic core 820 simultaneously. That is, when the first picking robot 200 picks up the magnetic core 820 from the magnetic core conveying device 3000, the second picking robot 300 picks up the magnetic core 820 from the flipping module 100. When the first picking robot 200 places the magnetic core 820 in the flipping module 100, the second picking robot 300 places the magnetic core 820 in the assembly device 2000.

[0048] Reference Figure 5 According to some embodiments of this application, the first material handling robot 200 includes a first limiting post 230, which is used to abut against the magnetic core conveying device 3000.

[0049] Understandably, the first limiting post 230 is fixed to the side of the first gripper 210. When the first material handling robot 200 approaches the magnetic core conveying device 3000 to pick up materials, the first gripper 210 can descend to approach the fixture 920 of the magnetic core conveying device 3000. The first limiting post 230 can abut against the end face of the fixture 920 to control the downward movement height of the first gripper 210, thereby limiting the picking height of the first gripper 210 to ensure that the picking height of the first gripper 210 is consistent each time.

[0050] Specifically, the first limiting post 230 can also abut against the upper surface of the clamping assembly 130 in a vertical state to limit the feeding height of the first gripper 210, so as to ensure that the feeding height of the first gripper 210 is consistent each time.

[0051] Reference Figure 2 and Figure 3According to some embodiments of this application, the flipping module 100 further includes a second limiting post 140, which is used to abut against the second picking robot 300.

[0052] Understandably, the second limiting post 140 is fixed to the side of the clamping assembly 130. When the second picking robot 300 approaches the clamping assembly 130 to pick up materials, the second gripper 310 descends and approaches the clamping assembly 130, which is in a horizontal state. The second limiting post 140 abuts against the second picking robot 300 to limit the downward movement height of the second gripper 310, thereby limiting the picking height of the first gripper 210 to ensure that the picking height of the first gripper 210 is consistent each time.

[0053] Reference Figure 3 According to some embodiments of this application, the receiving platform 110 is provided with an abutment protrusion 111 on the side that abuts against the magnetic core 820. The abutment protrusion 111 is used to abut against the magnetic core 820. The receiving platform 110 is provided with clearance positions 112 on both sides corresponding to the abutment protrusion 111. The clearance positions 112 are used to insert the second material handling robot 300.

[0054] Understandably, in order to ensure the clamping area of ​​the second gripper 310, when the second gripper 310 clamps the magnetic core 820 in a horizontal position, the lower end of the second gripper 310 will extend beyond the lower end of the magnetic core 820. Thus, the abutment protrusion 111 of the receiving platform 110 is used to abut against the magnetic core 820 to adjust the horizontal position of the magnetic core 820. The part of the second gripper 310 that extends beyond the lower end of the magnetic core 820 can pass through the clearance position 112 to avoid interference between the second gripper 310 and the receiving platform 110.

[0055] Reference Figure 1 The assembly machine according to the second aspect of this application includes the magnetic core flipping device 1000 of the first aspect embodiment.

[0056] The assembly machine according to the second aspect embodiment of this application has at least the following beneficial effects: including all the beneficial effects of the magnetic core flipping device 1000 of the first aspect embodiment, which will not be repeated here.

[0057] Specifically, refer to Figure 1 The assembly machine also includes an assembly device 2000, a magnetic core conveying device 3000, and a dispensing device 4000.

[0058] Reference Figures 6 to 10 The assembly device 2000 includes: a positioning module 500 and an assembly module 600.

[0059] The positioning module 500 includes a first positioning component 510 and a second positioning component 520. The first positioning component 510 is used to clamp the skeleton 810, and the second positioning component 520 is used to clamp the magnetic core 820 placed on the skeleton 810. The assembly module 600 includes an assembly gripper 610 and a first assembly driver 620. There are two assembly grippers 610 and two first assembly drivers 620, which correspond to each other. The two assembly grippers 610 are located on opposite sides of the first positioning component 510. The assembly grippers 610 are used to take over the clamping of the magnetic core 820 from the second positioning component 520. The first assembly driver 620 drives the connected assembly grippers 610 to move towards the first positioning component 510.

[0060] Understandably, the skeleton 810 is first placed within the clamping range of the first positioning component 510, which clamps the skeleton 810. Then, two horizontally positioned magnetic cores 820, each coated with adhesive, are placed on either side of the skeleton 810, with the central post 822 of the magnetic core 820 facing the through hole 811 of the skeleton 810. The magnetic cores 820 are located within the clamping range of the second positioning component 520, which clamps the magnetic cores 820, thus ensuring accurate relative positioning between the magnetic cores 820 and the skeleton 810. Next, each set of clamping jaws 610 clamps one magnetic core 820. After the clamping jaws 610 clamp the magnetic core 820, the second positioning component 520 releases the magnetic core 820, allowing the clamping jaws 610 to take over clamping the magnetic core 820 from the second positioning component 520. Then, the first assembly driver 620 drives the assembly gripper 610 to translate toward the direction of the first positioning component 510. The assembly gripper 610 drives the magnetic core 820 to move toward the frame 810. The central post 822 of the magnetic core 820 passes into the through hole 811 of the frame 810, and the assembly surfaces 824 of the two magnetic cores 820 are bonded together with glue.

[0061] In summary, the first positioning component 510 and the second positioning component 520 are used to position the skeleton 810 and the magnetic core 820 respectively. Subsequently, the assembly gripper 610 can replace the second positioning component 520 to hold the magnetic core 820. Thus, during the assembly process of the magnetic core 820 and the skeleton 810, the positional accuracy of the magnetic core 820 and the skeleton 810 is accurate, so as to ensure the assembly accuracy.

[0062] Reference Figure 9 and Figure 10According to some embodiments of this application, the first positioning component 510 includes a support plate 511, a first positioning driver 512, and at least two first clamping plates 513. The support plate 511 is used to place the skeleton 810. The first positioning driver 512 is driven to connect the first clamping plates 513 and is used to drive the at least two first clamping plates 513 to move closer to each other to clamp the skeleton 810 on the support plate 511. The second positioning component 520 includes a second positioning driver 521 and at least two second clamping plates 522. The second clamping plates 522 are located above the first clamping plates 513. The second positioning driver 521 is driven to connect the second clamping plates 522 and is used to drive the at least two second clamping plates 522 to move closer to each other to clamp the magnetic core 820 on the skeleton 810.

[0063] Understandably, two first clamping plates 513 are provided. The skeleton 810 is placed on the support plate 511, with the skeleton 810 positioned between the two first clamping plates 513. The first positioning driver 512 drives the two first clamping plates 513 to move closer together to clamp and position the skeleton 810. Subsequently, two magnetic cores 820 are placed on the skeleton 810, with the magnetic cores 820 positioned between the two second clamping plates 522. The second positioning driver 521 drives the two second clamping plates 522 to move closer together to clamp and position the magnetic cores 820, ensuring precise positioning between the magnetic cores 820 and the skeleton 810. Furthermore, both the first clamping plates 513 and the second clamping plates 522 move horizontally to achieve the clamping action. The second clamping plate 522 is located above the first clamping plate 513, ensuring that their clamping actions do not interfere with each other, while simultaneously matching the relative positions of the magnetic cores 820 and the skeleton 810, i.e., the magnetic cores 820 are placed on the upper side of the bottom of the skeleton 810.

[0064] Specifically, both the first positioning driver 512 and the second positioning driver 521 are cylinders.

[0065] In other embodiments, the first clamping plates 513 may also be provided in four or six or more, with each pair of first clamping plates 513 arranged opposite to each other, and a clamping position for placing the skeleton 810 is formed between each pair of first clamping plates 513. The second clamping plates 522 may also be provided in four or six or more, with each pair of second clamping plates 522 arranged opposite to each other, and a clamping position for placing the magnetic core 820 is formed between each pair of second clamping plates 522.

[0066] Reference Figure 9 and Figure 10 According to some embodiments of this application, the support plate 511 is provided with a plurality of support blocks 5111, which are used to make line contact with the skeleton 810.

[0067] It is understandable that the lower end surface of the skeleton 810 is not flat, that is, the lower end surface of the skeleton 810 is uneven. Therefore, by setting multiple support blocks 5111 to make line contact with the skeleton 810, the levelness of the skeleton 810 is ensured and the skeleton 810 is prevented from tilting relative to the horizontal plane.

[0068] Specifically, the heights of the multiple support blocks 5111 can be set to be the same, so that they are in the same plane as the lower end face of the support plate 511. Alternatively, the heights of the multiple support blocks 5111 can be set to be different, so that they are in different planes from the lower end face of the support plate 511.

[0069] Reference Figure 9 and Figure 10 According to some embodiments of this application, each second clamping plate 522 is disposed above a first clamping plate 513. The first clamping plate 513 is provided with a first guide structure 5131, and the second clamping plate 522 is provided with a second guide structure 5221. The first guide structure 5131 and the second guide structure 5221 are slidably engaged in the corresponding first clamping plate 513 and second clamping plate 522.

[0070] Understandably, when the frame 810 is placed on the support plate 511, the first clamping plate 513 is translated and clamped under the driving action of the first positioning driver 512. While the first clamping plate 513 is translated, the second clamping plate 522 is relatively stationary. Thus, the first guide structure 5131 on the first clamping plate 513 can slide relative to the second guide structure 5221, thereby guiding the translational movement of the first clamping plate 513 through the second guide structure 5221 on the second clamping plate 522, ensuring the movement stability of the first clamping plate 513. Correspondingly, after the first clamping plate 513 clamps the skeleton 810 and the magnetic core 820 is placed on the skeleton 810, the second clamping plate 522 is translated and clamped under the driving action of the second positioning driver 521. When the second clamping plate 522 is translated, the first clamping plate 513 is relatively stationary. Thus, the second guide structure 5221 on the second clamping plate 522 can slide relative to the first guide structure 5131, thereby guiding the translational movement of the second clamping plate 522 through the first guide structure 5131 on the first clamping plate 513, ensuring the movement stability of the second clamping plate 522.

[0071] Specifically, the first guide structure 5131 is a guide protrusion located at the upper end of the first clamping plate 513 and extending along the translational direction of the second clamping plate 522. The second guide structure 5221 is a guide groove located at the lower end of the second clamping plate 522 and extending along the translational direction of the first clamping plate 513. The guide protrusion is inserted into the guide groove and can slide relative to the guide groove.

[0072] Reference Figure 9 and Figure 10According to some embodiments of this application, the clamping direction of the second clamping plate 522 is along the second direction, and the second clamping plate 522 is provided with at least two limiting protrusions 5222. The two limiting protrusions 5222 are distributed along the first direction, and the limiting protrusions 5222 are used to abut against one side of the magnetic core 820 in the first direction. The first direction intersects the second direction.

[0073] Understandably, the magnetic core 820 is placed on both sides of the frame 810 in the first direction, and the second clamping plate 522 is translated along the second direction to clamp the magnetic core 820 on both sides in the second direction. At the same time, a limiting protrusion 5222 is provided at both ends of the second clamping plate 522 in the first direction. The magnetic core 820 is located between the two limiting protrusions 5222 distributed along the first direction. The limiting protrusions 5222 are used to limit the magnetic core 820 in the first direction, thereby improving the positioning effect of the magnetic core 820.

[0074] Specifically, the first direction and the second direction are perpendicular.

[0075] Reference Figure 7 and Figure 9 According to some embodiments of this application, the second clamping plate 522 includes an abutting portion 5223 and a clearance portion 5224. The clearance portion 5224 is disposed above the abutting portion 5223. The abutting portions 5223 of the two second clamping plates 522 are used to clamp the magnetic core 820. A clearance channel 5225 is formed between the clearance portions 5224 of the two second clamping plates 522. The assembled clamping claw 610 can penetrate into the clearance channel 5225 and move along the clearance channel 5225.

[0076] It is understood that the abutting portion 5223 and the clearance portion 5224 extend along the distribution direction of the two magnetic cores 820, that is, along the first direction. The two abutting portions 5223 are used to abut against the two sides of the magnetic core 820 to clamp the lower end of the magnetic core 820. After the abutting portion 5223 clamps the magnetic core 820, the two clearance portions 5224 are spaced apart to form a clearance channel 5225. The upper end of the magnetic core 820 is located in the clearance channel 5225. Thus, the assembly claw 610 can penetrate into the clearance channel 5225 so that the assembly claw 610 can clamp the upper end of the magnetic core 820.

[0077] Specifically, the contact part 5223 and the avoidance part 5224 are integrally formed.

[0078] Reference Figure 6 and Figure 8 According to some embodiments of this application, the assembly device 2000 further includes a rotation module 700, and at least two positioning modules 500 are provided. The rotation module 700 is connected to the positioning module 500 and is used to drive the positioning module 500 to rotate to the feeding position or the assembly position. The assembly module 600 is set corresponding to the assembly position.

[0079] Understandably, there are two positioning modules 500. The rotation module 700 can drive both positioning modules 500 to rotate. When one positioning module 500 is in the loading position, the other positioning module 500 is in the assembly position. When the positioning module 500 is in the loading position, the skeleton 810 and the magnetic core 820 can be placed in the positioning module 500 by a robotic arm to clamp and position the skeleton 810 and the magnetic core 820. After clamping the skeleton 810 and the magnetic core 820, the rotation module 700 can drive the positioning module 500 to rotate to the assembly position. During this process, the aforementioned limiting protrusion 5222 can limit the magnetic core 820 to prevent it from being thrown out. When the positioning module 500 is in the assembly position, the assembly gripper 610 aligns with the opening on one side of the clearance channel 5225. The first assembly driver 620 drives the assembly gripper 610 to translate, and the assembly gripper 610 enters the clearance channel 5225, so that the magnetic core 820 is within the clamping range of the assembly gripper 610. The assembly gripper 610 clamps the magnetic core 820, the second clamping plate 522 releases the magnetic core 820, and the assembly gripper 610 pushes the magnetic core 820 to translate, so that the magnetic core 820 is assembled with the frame 810.

[0080] In other embodiments, the positioning module 500 may also be provided with three or more.

[0081] Reference Figure 6 According to some embodiments of this application, the assembly module 600 further includes a probe 640, which is used to detect the inductance of the assembled magnetic core 820 and the frame 810.

[0082] Understandably, after the support plate 511 has a through hole 5112, and the magnetic core 820 and the frame 810 become inductors, the probe 640 can detect the inductance of the inductor through the through hole 5112.

[0083] Reference Figure 6 According to some embodiments of this application, the assembly module 600 further includes a second assembly driver 630, which drives the assembly gripper 610, and the driving direction of the second assembly driver 630 intersects with the driving direction of the first assembly driver 620.

[0084] Understandably, the two magnetic cores 820 are bonded together with glue. If the glue is too thick, the gap between the assembly surfaces 824 of the two magnetic cores 820 may be too large, resulting in abnormal inductance of the assembled inductor. Therefore, the second assembly driver 630 can drive the assembly gripper 610 to move back and forth slightly in the second direction to allow the assembly surfaces 824 of the two magnetic cores 820 to grind against each other, spread the glue evenly or squeeze out some of it, so that the inductance of the inductor is normal, and at the same time, the inductance is detected.

[0085] Reference Figure 5According to some embodiments of this application, the second material handling robot 300 further includes a pressing assembly 320. Two pressing assemblies 320 are provided. The pressing assembly 320 includes a pressing driver 321 and a pressing head 322. The pressing driver 321 drives the pressing head 322 to rise and fall. The pressing head 322 can abut against the magnetic core 820 placed on the frame 810.

[0086] Understandably, when the magnetic core 820 is in a horizontal position, the weight at both ends of the magnetic core 820 is different, causing one end of the yoke 821 of the magnetic core 820 to tilt upwards, and the central post 822 of the magnetic core 820 to tilt downwards, making it impossible to align with the through hole 811 of the frame 810. Therefore, when the second gripper 310 places the magnetic core 820 onto the frame 810 at the support plate 511, the pressure actuator 321 drives the pressure head 322 to press down on the upper end of the yoke 821 of the magnetic core 820, keeping the magnetic core 820 in a horizontal position, and ensuring that the central post 822 of the magnetic core 820 is aligned with the through hole 811 of the frame 810. Next, after the second clamping plate 522 clamps the magnetic core 820, the pressure actuator 321 can drive the pressure head 322 to rise, thereby releasing the pressure on the magnetic core 820, and the magnetic core 820 remains in a horizontal position under the clamping action of the second clamping plate 522.

[0087] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A magnetic core flipping device, characterized in that, include: The flipping module includes a receiving platform, a flipping driver, and two clamping assemblies. The two clamping assemblies are rotatably disposed on opposite sides of the receiving platform. The two clamping assemblies can rotate toward the receiving platform to rotate from a vertical state to a horizontal state. The flipping driver is connected to the clamping assemblies and is used to drive the clamping assemblies to rotate. The first material handling robot is used to place the magnetic core at the magnetic core conveying device at the clamping assembly in a vertical position; The second robotic arm is used to place the magnetic core at the horizontally positioned clamping assembly into the assembly device.

2. The magnetic core flipping device according to claim 1, characterized in that, The first material handling robot also includes two sets of first grippers, which are used to grip the magnetic core. The distance between the two first grippers is the same as the distance between the two gripping components in a vertical position.

3. The magnetic core flipping device according to claim 2, characterized in that, The first material handling robot also includes a translation drive assembly, which drives the first gripper.

4. The magnetic core flipping device according to claim 1, characterized in that, The second picking robot also includes two sets of second grippers for holding magnetic cores, and the distance between the two second grippers is the same as the distance between the two gripping components in a horizontal state.

5. The magnetic core flipping device according to claim 1, characterized in that, The two clamping components are distributed along a first direction, the clamping direction of the first gripper of the first picking robot is along the first direction, and the clamping direction of the second gripper of the second picking robot is along the second direction, the first direction and the second direction are perpendicular to each other.

6. The magnetic core flipping device according to claim 1, characterized in that, It also includes a first mobile module, which drives and connects the first picking robot and the second picking robot.

7. The magnetic core flipping device according to claim 1, characterized in that, The first material handling robot includes a first limiting post, which is used to abut against the magnetic core conveying device.

8. The magnetic core flipping device according to claim 1, characterized in that, The flipping module also includes a second limiting post, which is used to abut against the second material handling robot.

9. The magnetic core flipping device according to claim 1, characterized in that, The receiving platform has an abutment protrusion on the side that abuts against the magnetic core. The abutment protrusion is used to abut against the magnetic core. The receiving platform has clearance positions on both sides corresponding to the abutment protrusion. The clearance positions are used to insert the second material handling robot.

10. An assembly machine, characterized in that, Includes the magnetic core flipping device as described in any one of claims 1 to 9 above.

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