A network transformer transfer module
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-27
- Publication Date
- 2026-08-14
AI Technical Summary
然而，这种“抓取-转运-翻转”一体化的操作模式存在显著技术局限：一方面，机械手需同时处理抓取定位、路径规划、姿态翻转等多重任务，导致控制程序逻辑复杂，调试难度大，且易因参数协同误差引发动作卡顿或定位偏差；另一方面，翻转动作完全依赖机械手的关节运动精度，当生产节拍加快或产品规格切换时，其动态稳定性难以保证，可能出现因翻转角度偏差导致针脚无法准确浸入锡液
[0021]首先，大幅简化了多轴机械手的控制逻辑。通过设置独立的翻转夹持模组专门负责产品翻转动作，多轴机械手仅需驱动抓取模组完成产品在各夹持元件间的转运，无需兼顾复杂的翻转角度控制，有效降低了程序调试难度，减少了因多任务协同引发的动作卡顿或定位偏差问题，提升了设备运行的稳定性。
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Figure CN224632700U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of network transformer manufacturing technology, and in particular to a network transformer transfer module. Background Technology
[0002] In the production process of network transformers, coil insertion, coil winding to pins, and pin tinning are three key continuous processes. The efficiency of the connection between these processes and the stability of operation directly affect the product's production quality and capacity. Specifically, after coil insertion, the product needs to be positioned at the winding station with the pins facing upwards so that the winding equipment can accurately wind the coil lead to the corresponding pins. After the winding process is completed, the product needs to be transferred to the tinning station. At this point, to ensure that the pins can fully contact the molten solder for reliable tinning, the pins of the product must be flipped from facing upwards to facing downwards.
[0003] Currently, in the industry, the transfer and orientation flipping between the aforementioned processes largely rely on integrated robotic operations: the network transformer is gripped by the gripper at the end of the robotic arm, and then the multi-axis motion of the robotic arm completes the transfer from the winding station to the soldering station, simultaneously achieving a 180° flip during the transfer, so that the pins change from facing upwards to facing downwards. However, this integrated "grip-transfer-flip" operation mode has significant technical limitations: on the one hand, the robotic arm needs to handle multiple tasks such as gripping and positioning, path planning, and orientation flipping at the same time, resulting in complex control program logic, high debugging difficulty, and easy to cause motion jamming or positioning deviation due to parameter coordination errors; on the other hand, the flipping action depends entirely on the joint motion precision of the robotic arm, and when the production cycle speeds up or product specifications are changed, its dynamic stability is difficult to guarantee, and the pins may not be accurately immersed in the molten solder due to the deviation of the flipping angle.
[0004] Therefore, the lack of a dedicated flipping and positioning module independent of the robotic arm in the existing technology leads to low process connection efficiency and insufficient operational stability, which has become a key bottleneck restricting the improvement of the automation level of network transformer production and urgently needs to be solved through technological innovation. Utility Model Content
[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a network transformer transfer module.
[0006] A network transformer transfer module designed for this purpose includes a machine base and a first clamping element, a multi-axis manipulator, a gripping module, a flipping clamping module, a second clamping element, and a third clamping element disposed on the machine base.
[0007] The first clamping element is used to clamp the network transformer;
[0008] The multi-axis robotic arm is connected to the gripping module and is used to move the gripping module;
[0009] The gripping module is used to grip the network transformer located in the first clamping element and the third clamping element;
[0010] The second clamping element, the flipping clamping module, and the third clamping element are arranged in a straight line;
[0011] The flip-grip module is used to clamp the network transformer in the second clamping element, then drive the network transformer to flip, and finally put the network transformer into the third clamping element.
[0012] The machine base is provided with a linear module, and the first clamping element is disposed on the sliding end of the linear module and moves along a straight line following the sliding end.
[0013] Preferably, the second clamping element, the flipping clamping module, and the third clamping element are arranged along the moving direction of the first clamping element.
[0014] Preferably, the gripping module includes a rotating element and a fourth clamping element;
[0015] The rotating element is fixedly mounted on the multi-axis manipulator, and the fourth clamping element is connected to the rotating element.
[0016] Preferably, the second clamping element is arranged to move linearly relative to the machine base; the machine base is provided with a linear element for driving the movement of the second clamping element.
[0017] Preferably, the flipping clamping module includes a fixed base fixedly mounted on the machine base, a rotating element mounted on the fixed base, and a fifth clamping element connected to the rotating element.
[0018] Preferably, the machine is provided with a placement station for placing material trays;
[0019] The second clamping element, the flipping clamping module, the third clamping element, and the placement station are arranged in a straight line.
[0020] The network transformer transfer module provided in this solution achieves functional decomposition and collaboration through modular design, which has significant advantages over existing technologies:
[0021] First, the control logic of the multi-axis robot has been greatly simplified. By setting up an independent flipping and gripping module to be responsible for the product flipping action, the multi-axis robot only needs to drive the gripping module to complete the transfer of the product between the gripping elements. It does not need to take into account the complex flipping angle control, which effectively reduces the difficulty of program debugging, reduces motion jamming or positioning deviation caused by multi-task collaboration, and improves the stability of equipment operation.
[0022] Secondly, it improves the accuracy and consistency of the flipping action. The flipping clamping module focuses on clamping positioning and flipping operation, and can optimize the clamping force and flipping trajectory according to the structural characteristics of the network transformer. Even when the production cycle is accelerated or the product specifications are changed, it can still ensure the 180° flipping angle accuracy, avoid the problem of poor pin soldering caused by posture deviation, and significantly improve the product yield.
[0023] Furthermore, the efficiency of process connection has been optimized. The linear arrangement of the second clamping element, the flipping clamping module, and the third clamping element, combined with the transfer rhythm of the multi-axis robot and the gripping module, forms an orderly "grip-transfer-flip-output" process, reducing ineffective motion paths and shortening the transfer cycle from the winding station to the soldering station, which helps to improve the overall automation cycle of the production line.
[0024] Finally, the equipment's versatility and ease of maintenance are enhanced. Each clamping element and functional module is relatively independent, allowing for flexible replacement of suitable clamping components based on the size characteristics of different network transformer models, reducing adjustment costs during product changeovers. Simultaneously, the modular structure facilitates separate inspection and maintenance of the flipping or transfer mechanism, minimizing equipment downtime. Attached Figure Description
[0025] Figure 1 This is one of the three-dimensional structural schematic diagrams of this utility model;
[0026] Figure 2 This is the second three-dimensional structural schematic diagram of the present invention;
[0027] Figure 3 for Figure 2 Enlarged structural diagram at point A in the middle. Detailed Implementation
[0028] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.
[0031] In this document, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.
[0032] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.
[0033] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple groups" refers to two or more (including two groups), and "multiple pieces" refers to two or more (including two pieces).
[0034] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of 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 the embodiments of this application.
[0035] In the description of the embodiments of this application, unless otherwise explicitly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.
[0036] See Figures 1-3 A network transformer transfer module includes a machine base 10 and a first clamping element 20, a multi-axis manipulator 30, a gripping module 40, a flipping clamping module 50, a second clamping element 60, and a third clamping element 70 disposed on the machine base 10. The first clamping element 20 is used to clamp a network transformer 100. The multi-axis manipulator 30 is connected to the gripping module 40 and is used to drive the gripping module 40 to move. The gripping module 40 is used to grip the network transformer 100 located in the first clamping element 20 and the third clamping element 70. The second clamping element 60, the flipping clamping module 50, and the third clamping element 70 are arranged in a straight line. The flipping clamping module 50 is used to clamp the network transformer 100 in the second clamping element 60, then drive the network transformer 100 to flip, and finally put the network transformer 100 into the third clamping element 70.
[0037] The working principle of this network transformer transfer module is as follows:
[0038] First, the network transformer 100, after completing the winding process, is placed on the first clamping element 20 with the pins facing upwards. The first clamping element 20 clamps it stably to ensure the accuracy of subsequent gripping actions.
[0039] Subsequently, the multi-axis robotic arm 30 is activated, driving the gripping module 40 to move to the first clamping element 20. The gripping module 40 precisely grips the network transformer 100 held by the first clamping element 20. Driven by the multi-axis robotic arm 30, the gripping module 40 carries the network transformer 100 to the position of the second clamping element 60 and places the network transformer 100 on the second clamping element 60. At this time, the network transformer 100 still maintains the posture of pins facing upwards, and the second clamping element 60 then clamps and fixes it.
[0040] Next, the flip-grip module 50 begins operation, moving to the second gripping element 60 and clamping the network transformer 100. Then, following a preset trajectory, the flip-grip module 50 simultaneously moves the network transformer 100 from the second gripping element 60 to the third gripping element 70 while rotating it 180° to change the pin orientation from upward to downward. After both the flipping and moving actions are complete, the flip-grip module 50 places the orientation-adjusted network transformer 100 into the third gripping element 70, where it is clamped and positioned.
[0041] Finally, the multi-axis robot 30 once again moves the gripping module 40 to the third clamping element 70. The gripping module 40 grips the network transformer 100 held by the third clamping element 70 and, driven by the multi-axis robot 30, transfers it to the soldering station, thus completing the entire transfer and attitude adjustment process and preparing for the subsequent soldering process.
[0042] See Figure 1 The machine base 10 is equipped with a linear module 80, which uses existing electric or pneumatic linear actuators, such as cylinders or push rod motors. The first clamping element 20 is disposed on the sliding end of the linear module 80 and moves linearly along the sliding end. This embodiment mainly serves two purposes: First, it enhances adaptability by flexibly adjusting the position of the first clamping element 20 to precisely align with the discharge ports of different winding stations, adapting to different production environments without large-scale equipment adjustments and reducing installation and debugging difficulty. Second, it improves efficiency by driving the first clamping element 20 to a position convenient for the gripping module 40 to operate, shortening the gripping path and reducing waiting time. It can also coordinate the timing of various components by optimizing movement parameters, reserving space for capacity expansion.
[0043] In this invention, the second clamping element 60, the flipping clamping module 50, and the third clamping element 70 are arranged along the moving direction of the first clamping element 20. This arrangement ensures that the layout of each component is consistent with the material transfer path, reduces the movement and turning of the gripping module 40, improves the smoothness of transfer, and facilitates the coordination of the action sequence of each link, thereby optimizing the overall operation efficiency.
[0044] See Figure 3The gripping module 40 includes a rotating element 410 and a fourth clamping element 400. The rotating element 410 is fixedly mounted on the multi-axis robot arm 30, and the fourth clamping element 400 is connected to the rotating element 410. In the gripping module 40, the rotating element 410 can drive the fourth clamping element 400 to rotate, flexibly adjusting the gripping angle of the fourth clamping element 400 to adapt to the posture of the network transformer 100 at different workstations, improving gripping accuracy and operational flexibility, and ensuring a stable and efficient transfer process. In this embodiment, the rotating element 410 can be driven by a rotary cylinder or an existing motor.
[0045] See Figure 1 The second clamping element 60 is arranged to move linearly relative to the machine base 10; the machine base 10 is provided with a linear element 610 for driving the movement of the second clamping element 60. The linear element 610 adopts existing electric or pneumatic linear actuators, such as cylinders or push rod motors. The second clamping element 60 can move linearly under the drive of the linear element 610, which serves two purposes: first, it can flexibly adjust its position to accurately align with the material release position of the gripping module 40 and the material pick-up position of the flipping clamping module 50, adapting to different operational precision requirements; second, it can coordinate with the rhythm of the preceding and following processes, optimize the transfer process, and improve overall efficiency.
[0046] See Figure 3 The flip-grip module 50 includes a fixed base 500 fixedly mounted on the machine base 10. A rotating element 510 is mounted on the fixed base 500, and a fifth clamping element 520 is connected to the rotating element 510. The rotating element 510 is driven by an existing rotary cylinder or motor to rotate the fifth clamping element 520. In the flip-grip module 50, the fixed base 500 provides stable support, the rotating element 510 drives the fifth clamping element 520 to rotate, and the fifth clamping element 520 is responsible for clamping the network transformer. The three components work together to achieve stable clamping and precise flipping of the network transformer, ensuring reliable attitude conversion.
[0047] See Figure 1 and Figure 2 The machine 10 is provided with a placement station 90 for placing material trays; the second clamping element 60, the flipping clamping module 50, the third clamping element 70 and the placement station 90 are arranged in a straight line to form a continuous material flow path, reduce detours during the transfer process, improve the efficiency of the network transformer in flipping, transferring and docking with the material tray, and facilitate the coordinated action of each component to optimize the overall operation rhythm.
[0048] In this utility model, the first clamping element 20, the second clamping element 60, the third clamping element 70, the fourth clamping element 400, and the fifth clamping element 520 can all be existing pneumatic grippers or pneumatic chucks.
[0049] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.
Claims
1. A network transformer transfer module, characterized in that: It includes a machine base (10) and a first clamping element (20), a multi-axis manipulator (30), a gripping module (40), a flipping clamping module (50), a second clamping element (60), and a third clamping element (70) disposed on the machine base (10); The first clamping element (20) is used to clamp the network transformer (100); The multi-axis manipulator (30) is connected to the gripping module (40) and is used to drive the gripping module (40) to move; The gripping module (40) is used to grip the network transformer (100) located in the first clamping element (20) and the third clamping element (70); The second clamping element (60), the flipping clamping module (50), and the third clamping element (70) are arranged in a straight line; The flip-grip module (50) is used to clamp the network transformer (100) in the second clamping element (60), then drive the network transformer (100) to flip, and finally put the network transformer (100) into the third clamping element (70).
2. The network transformer transfer module of claim 1, wherein: The machine base (10) is provided with a linear module (80), and the first clamping element (20) is disposed on the sliding end of the linear module (80) and the first clamping element (20) moves along a straight line following the sliding end.
3. The network transformer transfer module of claim 2, wherein: The second clamping element (60), the flip clamping module (50) and the third clamping element (70) are arranged along the moving direction of the first clamping element (20).
4. The network transformer transfer module of claim 1, wherein: The gripping module (40) includes a rotating element (410) and a fourth clamping element (400); The rotating element (410) is fixedly mounted on the multi-axis manipulator (30), and the fourth clamping element (400) is connected to the rotating element (410).
5. The network transformer transfer module of claim 1, wherein: The second clamping element (60) is arranged to move linearly relative to the machine base (10); the machine base (10) is provided with a linear element (610) for driving the second clamping element (60) to move.
6. The network transformer transfer module of claim 1, wherein: The flip clamping module (50) includes a fixed base (500) fixedly mounted on the machine base (10), a rotating element (510) is provided on the fixed base (500), and a fifth clamping element (520) is connected to the rotating element (510).
7. The network transformer transfer module of claim 1, wherein: The machine (10) is provided with a placement station (90) for placing material trays; The second clamping element (60), the flipping clamping module (50), the third clamping element (70), and the placement station (90) are arranged in a straight line.