Manipulator assembling device

Abstract

The utility model relates to a mechanical arm assembling device which comprises a machine frame, a mechanical arm, an inductance coil conveying assembly, a base feeding assembly, a winding rotating air cylinder, a winding clamping assembly and an auxiliary pin winding assembly, and the mechanical arm, the inductance coil conveying assembly, the base feeding assembly and the auxiliary pin winding assembly are arranged on the machine frame. And a cylinder body of the winding rotating cylinder is connected with the manipulator. Under the action of the mechanical arm, the winding and clamping assembly and the auxiliary pin winding assembly are matched, automatic feeding, automatic winding and automatic discharging of the inductance coil and the base are achieved, and automatic and intelligent production of connection of the inductance coil and the base is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of common mode filters, and more specifically, it relates to a manipulator assembly device. Background Art

[0002] Common mode filters usually adopt ferrite cores, that is, iron cores, with double wires wound in parallel to form an inductance coil, and then wound on a base. In the production of common mode filters, the process with greater automation difficulty is the connection between the inductance coil and the base. Currently, there is still a lack of a feasible automated and intelligent solution. Therefore, it is necessary to propose a new assembly device to solve the above problems. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a manipulator assembly device, which, under the action of the manipulator, cooperates with a winding and clamping assembly and an auxiliary wire-wrapping assembly to realize the automatic feeding, automatic winding, and automatic discharging of the inductance coil and the base, and realizes the automated and intelligent production of the connection between the inductance coil and the base.

[0004] The above technical purpose of the utility model is achieved through the following technical solutions:

[0005] A manipulator assembly device includes a frame, a manipulator, an inductance coil conveying assembly, a base feeding assembly, a winding rotating cylinder, a winding and clamping assembly, and an auxiliary wire-wrapping assembly arranged on the frame. The inductance coil conveying assembly outputs the inductance coil, and the base feeding assembly outputs the base. The cylinder body of the winding rotating cylinder is connected to the manipulator;

[0006] The winding and clamping assembly includes a connecting seat, an upper jaw cylinder, and a lower jaw cylinder. The connecting seat is connected to the rotating part of the winding rotating cylinder. The cylinder body of the lower jaw cylinder is fixedly arranged on the connecting seat. The cylinder body of the upper jaw cylinder passes through the middle of the two jaws of the lower jaw cylinder, and the cylinder body of the upper jaw cylinder is fixedly connected to the connecting seat through an intermediate connecting piece. The two jaws of the upper jaw cylinder are flush with the top surfaces of the two jaws of the lower jaw cylinder, and the four jaws form a working position for clamping the base. Among them, a positioning groove adapted to the center of the inductance coil is arranged on the inner side surface of the jaw of the upper jaw cylinder;

[0007] The auxiliary wire-wrapping assembly includes an L-shaped auxiliary bracket, a wire-wrapping lifting cylinder, and a positioning tube. The cylinder body of the wire-wrapping lifting cylinder is fixedly arranged on the top side surface of the auxiliary bracket. The piston part of the wire-wrapping lifting cylinder faces downward, and a positioning plate is arranged on the piston part. The positioning tube vertically penetrates the positioning plate, and the inner diameter of the positioning tube is greater than or equal to the diameter of the copper wire.

[0008] In one embodiment, the number of the positioning tubes is two, and they vertically penetrate the positioning plate side by side.

[0009] In one embodiment, the auxiliary foot-wrapping assembly further includes a foot-wrapping translation cylinder, a wire-foot clamping cylinder, and a wire-foot positioning member. The foot-wrapping translation cylinder is disposed on the auxiliary bracket and is below the foot-wrapping lifting cylinder. The piston member of the foot-wrapping translation cylinder is connected to the cylinder block of the wire-foot clamping cylinder. The two wire-foot positioning members are respectively connected to the two jaws of the wire-foot clamping cylinder, and a space for restricting the copper wire is formed between the two wire-foot positioning members, which is adapted to the positioning tube.

[0010] In one embodiment, the base loading assembly includes a first flat feeder.

[0011] In one embodiment, the base loading assembly further includes a lateral translation cylinder, a vertical cylinder, a loading connecting frame, a loading connecting plate, and a suction tube. The lateral translation cylinder is disposed on the frame and is located on one side of the first flat feeder. The loading connecting frame is disposed on the piston member of the lateral translation cylinder. The telescopic direction of the piston rod of the lateral translation cylinder is parallel to the feeding direction of the first flat feeder. The cylinder block of the vertical cylinder is vertically disposed on the side of the loading connecting frame. The loading connecting plate is disposed on the piston member of the vertical cylinder. One end of the loading connecting plate is directly above the first flat feeder. The suction tube is disposed on the bottom surface of the loading plate and is above the discharge port of the first flat feeder.

[0012] In one embodiment, the inductor coil conveying assembly includes a second flat feeder.

[0013] In one embodiment, the manipulator assembly device further includes a wire-cutting assembly. The wire-cutting assembly includes a wire-cutting transverse movement cylinder and a wire-cutting clamping cylinder. The cylinder block of the wire-cutting transverse movement cylinder is fixedly disposed on the frame. The cylinder block of the wire-cutting clamping cylinder is connected to the piston member of the wire-cutting transverse movement cylinder. The two jaws of the wire-cutting clamping cylinder are in contact with two of the copper wire feet.

[0014] In one embodiment, the number of the wire-cutting assemblies is two, which are oppositely disposed on the frame.

[0015] In summary, the present utility model has the following beneficial effects:

[0016] Under the action of the manipulator, the present utility model cooperates with the winding and clamping assembly and the auxiliary foot-wrapping assembly to realize the automatic feeding, automatic winding, and automatic discharging of the inductor coil and the base, and realizes the automated and intelligent production of the connection between the inductor coil and the base, providing a new idea for the automated production system of the common mode filter. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the present utility model;

[0018] Figure 2 is a schematic diagram of the present utility model from another angle;

[0019] Figure 3 It is a schematic diagram of the winding and clamping assembly;

[0020] Figure 4 It is a schematic diagram of the auxiliary foot-wrapping assembly.

[0021] In the figure: 1. Frame, 2. First flat conveyor, 3. Manipulator, 4. Winding rotary cylinder, 5. Lateral translation cylinder, 6. Vertical cylinder, 7. Feeding connecting frame, 8. Feeding connecting plate, 9. Connecting seat, 10. Upper jaw cylinder, 11. Lower jaw cylinder, 12. Foot-wrapping lifting cylinder, 13. Positioning tube, 14. Foot-wrapping translation cylinder, 15. Wire-foot jaw cylinder, 16. Wire-foot positioning piece, 17. Broken-foot transverse translation cylinder, 18. Broken-foot jaw cylinder, 19. Positioning groove, 20. Intermediate connecting piece, 21. Auxiliary support, 22. Positioning plate, 23. Suction tube. Detailed implementation mode

[0022] The following combines the drawings and embodiments to describe the present invention in detail.

[0023] It should be noted that the orientation words such as "upper" and "lower" involved in this article are determined relative to the perspective of the drawings, and are only for the convenience of description and cannot be understood as a limitation to the technical solution.

[0024] As Figures 1-4 shown, the present invention proposes a manipulator assembly device for assembling an inductance coil and a base into a common-mode filter. The manipulator assembly device includes a frame and a manipulator 3, an inductance coil conveying component, a base feeding component, a winding rotary cylinder 4, a winding and clamping component, and an auxiliary foot-wrapping component arranged on the frame.

[0025] The inductance coil conveying component outputs the inductance coil, which is not shown in the drawings. The base feeding component outputs the base. The cylinder body of the winding rotary cylinder 4 is connected to the manipulator 3. The winding and clamping component is connected to the rotating part of the winding rotary cylinder 4. The winding rotary cylinder 4 sequentially clamps the inductance coil and the base, and then realizes the fixation of the inductance coil and the base with the cooperation of the auxiliary foot-wrapping component.

[0026] The winding and clamping component includes a connecting seat 9, an upper jaw cylinder 10 and a lower jaw cylinder 11, as Figures 1-4As shown in the figure, the connecting seat 9 is connected to the rotating part of the winding and rotating cylinder 4. The cylinder body of the lower jaw cylinder 11 is fixedly arranged on the connecting seat 9. A space is formed between the two jaws of the lower jaw cylinder 11 for the cylinder body of the upper jaw cylinder 10 to pass through. The cylinder body of the upper jaw cylinder 10 passes through the space between the two jaws of the lower jaw cylinder 11, and the cylinder body of the upper jaw cylinder 10 is fixedly connected to the connecting seat 9 through an intermediate connecting piece 20. The cylinder body of the upper jaw cylinder 10 and the cylinder body of the lower jaw cylinder 11 are perpendicular to each other. The two jaws of the upper jaw cylinder 10 are flush with the top surfaces of the two jaws of the lower jaw cylinder 11, and the four jaws form a working station for clamping the base. Among them, a positioning groove 19 adapted to the center of the inductor coil is arranged on the inner side surface of the jaw of the upper jaw cylinder 10.

[0027] The process of the winding and clamping assembly clamping the inductor coil and the base is as follows: The manipulator 3 drives the winding and clamping assembly to the discharge port of the inductor coil conveying assembly. The inductor coil is clamped by the jaws of the upper jaw cylinder 10. At this time, the inductor coil is embedded in the positioning groove 19 of the jaws, and the inductor coil is locked. At this time, the inductor coil faces downward. Then the manipulator 3 drives the winding and clamping assembly close to the discharge port of the base feeding assembly and rotates to make the inductor coil face upward. The base feeding assembly places the base above the inductor coil. At this time, the copper wire leads of the inductor coil pass through the preset through holes of the base. Subsequently, the jaws of the lower clamping cylinder clamp the base, thereby realizing the preliminary positioning of the inductor coil and the base.

[0028] The auxiliary wire-wrapping assembly includes an L-shaped auxiliary bracket 21, a wire-wrapping lifting cylinder 12, and a positioning tube 13. The cylinder body of the wire-wrapping lifting cylinder 12 is fixedly arranged on the top side surface of the auxiliary bracket 21. The piston part of the wire-wrapping lifting cylinder 12 faces downward, and a positioning plate 22 is arranged on the piston part. The positioning tube 13 vertically penetrates through the positioning plate 22, and the inner diameter of the positioning tube 13 is greater than or equal to the diameter of the copper wire.

[0029] Preferably, the number of positioning tubes is two, and they vertically penetrate through the positioning plate 22 side by side.

[0030] The working process of the winding and clamping assembly combined with the auxiliary wire-wrapping assembly is as follows: The inductor coil and the base are fixed on the winding and clamping assembly. The manipulator 3 drives the winding and clamping assembly to the lower part of the auxiliary wire-wrapping assembly. Subsequently, the positioning tubes descend, so that two of the copper wires enter the two positioning tubes 13. Then, the manipulator 3 controls the inductor coil and the base to rotate back and forth in the plane. At the same time, the positioning tubes 13 gradually rise, so that the two copper wire leads are wound around the two pins of the base. After the winding is completed, the above operation is repeated to wind the other two copper wire leads around the other two pins of the base.

[0031] Preferably, the auxiliary wire-wrapping assembly further includes a wire-wrapping translation cylinder 14, a wire lead jaw cylinder 15, and a wire lead positioning member 16, as Figures 1-4As shown, the foot-wrapping translation cylinder 14 is arranged on the auxiliary support 21 and is located below the foot-wrapping lifting cylinder 12. The piston part of the foot-wrapping translation cylinder 14 is connected to the cylinder block of the wire-foot clamping jaw cylinder 15. The two wire-foot positioning parts 16 are respectively connected to the two clamping jaws of the wire-foot clamping jaw cylinder 15, and two spaces for restricting the copper wire are formed between the two wire-foot positioning parts 16. This space is slightly larger than the diameter of the copper wire and is adapted to the two positioning tubes 13. When the foot-wrapping translation cylinder 14 drives the wire-foot clamping jaw cylinder 15 to extend to the extreme position, the space for restricting the copper wire between the two wire-foot positioning parts 16 is aligned with the two positioning tubes 13.

[0032] Before the copper wire enters the positioning tube, the foot-wrapping translation cylinder 14 drives the wire-foot clamping jaw cylinder 15 to extend. Subsequently, the wire-foot clamping jaw cylinder 15 drives the two wire-foot positioning parts 16 to clamp and restrict two of the copper wire feet. Then, the foot-wrapping translation cylinder 14 and the wire-foot clamping jaw cylinder 15 reset to avoid hindering the foot-wrapping operation.

[0033] The manipulator 3 of the present invention cooperates with the winding and clamping assembly, having both the functions of clamping and foot-wrapping, which simplifies the structures of other components and also simplifies the operation logic relatively. It is easy to understand that the manipulator 3 is not an innovation of the present invention and is a common existing manipulator. As long as it can achieve the functions required by the present invention, any manipulator can be used. The structure of the manipulator will not be elaborated in the present invention. For example, as shown in the appendix Figures 1-2 As shown, the manipulator 3 has two degrees of freedom of planar rotation and the part connected to the winding rotation cylinder 4 has degrees of freedom of lifting and rotation. Therefore, in the preferred solution of the present invention, the manipulator 3 has four degrees of freedom and is a four-axis manipulator.

[0034] Preferably, the base feeding assembly includes a first flat feeder 2, and the first flat feeder 2 continuously outputs the base to the discharge port position.

[0035] More preferably, the base feeding assembly further includes a lateral translation cylinder 5, a vertical cylinder 6, a feeding connection frame 7, a feeding connection plate 8, and a suction tube 23. As shown in Figures 1-2 the figure, the lateral translation cylinder 5 is arranged on the frame 1 and is located on one side of the first flat feeder 2. The feeding connection frame 7 is arranged on the piston part of the lateral translation cylinder 5. The telescopic direction of the piston rod of the lateral translation cylinder 5 is parallel to the feeding direction of the first flat feeder 2. The cylinder block of the vertical cylinder 6 is vertically arranged on the side of the feeding connection frame 7. The feeding connection plate 8 is arranged on the piston part of the vertical cylinder 6. One end of the feeding connection plate 8 is directly above the first flat feeder 2. The suction tube 23 is arranged on the bottom surface of the feeding plate and is located above the discharge port of the first flat feeder 2.

[0036] The first flat feeder 2 continuously outputs the base to the discharge port position with the pins of the base facing upward. The vertical cylinder 6 drives the suction tube 23 to descend to clamp the base, and then the lateral translation cylinder 5 drives the suction tube 23 to move forward to facilitate the winding and clamping assembly to clamp the base.

[0037] Preferably, the inductor coil conveying assembly includes a second horizontal conveyor, and the inductor coil is fed by the second horizontal conveyor. Alternatively, the inductor coil conveying assembly can also be the blanking mechanism of the previous process. The present utility model realizes the connection with the front and back processes through a manipulator, which is beneficial to the automation and intelligentization of the common mode filter production line.

[0038] The manipulator assembly device further includes a wire cutting component. After the copper wire leads are wound around the base pins, the copper wire leads change from the original vertical state to a horizontal state and are processed by the subsequent wire cutting component.

[0039] The wire cutting component includes a wire cutting transverse cylinder 17 and a wire cutting jaw cylinder 18. The cylinder body of the wire cutting transverse cylinder 17 is fixedly arranged on the frame 1, the cylinder body of the wire cutting jaw cylinder 18 is connected to the piston part of the wire cutting transverse cylinder 17, and the two jaws of the wire cutting jaw cylinder 18 are in contact with two of the copper wire leads.

[0040] After passing through the winding base module 4, the inductor coil and the base have been connected. For the convenience of description, the connected inductor coil and the base will be referred to as a common mode filter hereinafter.

[0041] The working process of the wire cutting component is as follows: The manipulator 3 controls the inductor coil and the base to move between the two wire cutting components. The wire cutting transverse cylinder 17 drives the wire cutting jaw cylinder 18 to extend and approach the two copper wire leads on the same side. Subsequently, the jaws of the wire cutting jaw cylinder 18 clamp the two copper wire leads on the same side. Then, the wire cutting transverse cylinder 17 drives the wire cutting jaw cylinder 18 to retract, pulling the copper wire leads to break. Repeat the above operation to break all four copper wire leads, and then the manipulator 3 sends the common mode filter into the subsequent processing procedure.

[0042] Preferably, the number of wire cutting components is two, which are oppositely arranged on the frame 1 to improve the processing efficiency.

[0043] The above are only the preferred embodiments of the present utility model. The protection scope of the present utility model is not limited to the above embodiments. All technical solutions falling within the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present utility model should also be regarded as within the protection scope of the present utility model.

Claims

1. A robot assembly device, characterized in that: It comprises a frame and a manipulator (3) arranged on the frame, an inductance coil conveying component, a base loading component, a winding rotary cylinder (4), a winding clamping component and an auxiliary foot winding component, wherein the inductance coil conveying component outputs the inductance coil, the base loading component outputs the base, and the cylinder body of the winding rotary cylinder (4) is connected to the manipulator (3); The winding clamping assembly comprises a connecting seat (9), an upper clamping jaw cylinder (10) and a lower clamping jaw cylinder (11), wherein the connecting seat (9) is connected to the rotating part of the winding rotating cylinder (4), the cylinder body of the lower clamping jaw cylinder (11) is fixedly arranged on the connecting seat (9), the cylinder body of the upper clamping jaw cylinder (10) passes through the middle of the two clamping jaws of the lower clamping jaw cylinder (11), and the cylinder body of the upper clamping jaw cylinder (10) is fixedly connected to the connecting seat (9) via an intermediate connecting member (20), the two clamping jaws of the upper clamping jaw cylinder (10) are flush with the top surfaces of the two clamping jaws of the lower clamping jaw cylinder (11), and the four clamping jaws form a station of the clamping base, wherein the inner side surface of the clamping jaw of the upper clamping jaw cylinder (10) is provided with a positioning groove (19) adapted to the center of the inductor coil; The auxiliary foot-binding assembly comprises an L-shaped auxiliary bracket (21), a foot-binding lifting cylinder (12) and a positioning tube (13); the cylinder body of the foot-binding lifting cylinder (12) is fixedly arranged on the top side of the auxiliary bracket (21); the piston of the foot-binding lifting cylinder (12) faces downward, and a positioning plate (22) is arranged on the piston; the positioning tube (13) vertically penetrates the positioning plate (22); and the inner diameter of the positioning tube (13) is greater than or equal to the diameter of the copper wire.

2. The robot assembly device according to claim 1, characterized in that: The number of the positioning tubes is two, which are arranged in parallel and vertically penetrate the positioning plate (22).

3. The robot assembly device according to claim 1, characterized in that: The auxiliary foot binding assembly further comprises a foot binding translation cylinder (14), a stitch foot clamping cylinder (15) and a stitch foot positioning piece (16); the foot binding translation cylinder (14) is arranged on the auxiliary bracket (21) and is located below the foot binding lifting cylinder (12); the piston of the foot binding translation cylinder (14) is connected to the cylinder body of the stitch foot clamping cylinder (15); the two stitch foot positioning pieces (16) are respectively connected to the two clamping claws of the stitch foot clamping cylinder (15); and a space for limiting the copper wire is formed between the two stitch foot positioning pieces (16) and is adapted to the positioning tube (13).

4. The robot assembly device according to claim 1, characterized in that: The base loading assembly comprises a first horizontal conveyor (2).

5. The robot assembly device according to claim 4, characterized in that: The base feeding assembly also includes a transverse translation cylinder (5), a vertical cylinder (6), a feeding connection frame (7), a feeding connection plate (8) and a suction tube (23). The transverse translation cylinder (5) is arranged on the frame (1) and is located on one side of the first horizontal conveyor (2). The feeding connection frame (7) is arranged on the piston member of the transverse translation cylinder (5). The extension direction of the piston rod of the transverse translation cylinder (5) is parallel to the feeding direction of the first horizontal conveyor (2). The cylinder body of the vertical cylinder (6) is vertically arranged on the side of the feeding connection frame (7). The feeding connection plate (8) is arranged on the piston member of the vertical cylinder (6). One end of the feeding connection plate (8) is located directly above the first horizontal conveyor (2). The suction tube (23) is arranged on the bottom surface of the feeding plate and is located above the discharge port of the first horizontal conveyor (2).

6. The robot assembly device according to claim 1, characterized in that: The induction coil conveying assembly includes a second horizontal conveyor.

7. The robot assembly device according to claim 1, characterized in that: It also includes a leg breaking assembly, which includes a leg breaking transverse displacement cylinder (17) and a leg breaking claw cylinder (18), wherein the cylinder body of the leg breaking transverse displacement cylinder (17) is fixedly arranged on the frame (1), the cylinder body of the leg breaking claw cylinder (18) is connected to the piston of the leg breaking transverse displacement cylinder (17), and the two claws of the leg breaking claw cylinder (18) are in contact with two of the copper wire legs.

8. The robot assembly device according to claim 7, characterized in that: There are two leg-breaking assemblies, which are arranged opposite to each other on the frame (1).

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