Coil module transfer mechanism and winding apparatus having the same

Abstract

The utility model discloses a coil module transfer mechanism and have its winding equipment, wherein, the coil module transfer mechanism, including mechanical arm, rotary drive arrangement and clamping manipulator, rotary drive arrangement is established on the mechanical arm, clamping manipulator includes finger cylinder and finger pair, and finger cylinder is established at the execution end of rotary drive arrangement, and the finger pair includes first finger and second finger who set up oppositely, and first finger has first clamping part and leaning part, and leaning part is located below first clamping part, and second finger has second clamping part, first finger and second finger are established at the execution end of finger cylinder, when finger cylinder drives first finger and second finger relative close, first clamping part and second clamping part are clamped in the top of closed magnetic core, and leaning part is attached to the outer circumferential surface of coil. The coil module transfer mechanism of the utility model can stably and reliably transfer coil module, simplifies the automatic process, improves production efficiency, and reduces equipment cost.

Description

Technical Field

[0001] This utility model relates to the field of electromagnetic component processing technology, and in particular to a coil module transfer mechanism and a winding device having the same. Background Technology

[0002] In modern electronics, magnetic components such as enclosed core inductors and transformers are indispensable basic parts. Their standard manufacturing process typically includes: first, using a winding mechanism to wind enameled wire onto the side posts of an enclosed magnetic core to form a coil; then, using a mounting mechanism to combine the magnetic core with the coil and an insulating base with metal leads; and finally, winding and fixing the starting end (wire head) and ending end (tail wire) of the coil onto the leads of the insulating frame. During this process, a moving robot is usually needed to transfer the coil module from the winding device to the mounting mechanism.

[0003] In related technologies, coil module transfer robots typically include upper and lower grippers, as well as a drive device that drives the upper and lower grippers to close vertically. When gripping the coil module, the lower gripper extends into the gap between the two coils in the closed magnetic core and grips it upwards, while the upper gripper grips it downwards on the top surface of the closed magnetic core. This method of using the coil gap for vertical gripping has poor stability, and the coil module's posture is difficult to maintain under gripping conditions. Consequently, it is difficult to achieve accurate positioning and loading when transferring it to the predetermined station in the hanging mechanism. If accurate positioning and loading are required, other correction and positioning mechanisms are needed. Therefore, the automation process is more complex, production efficiency is low, and equipment costs are high. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the purpose of this invention is to provide a coil module transfer mechanism and a winding device having it.

[0005] To achieve the above objectives, on the one hand, according to the coil module transfer mechanism of this utility model embodiment, the coil module includes a closed magnetic core and a coil wound on two side posts of the closed magnetic core, comprising: robotic arm; A rotary drive device, which is mounted on the robotic arm; A gripping robot includes a gripping cylinder and a pair of gripping fingers. The gripping cylinder is located at the execution end of the rotary drive device. The pair of gripping fingers includes a first gripping finger and a second gripping finger arranged opposite each other in a first horizontal direction. The first gripping finger has a first gripping part and a supporting part. The supporting part is located below the first gripping part. The second gripping finger has a second gripping part. The first and second clamping fingers are located at the actuating end of the clamping finger cylinder. When the clamping finger cylinder drives the first and second clamping fingers to move closer to each other, the first clamping part and the second clamping part clamp the top of the closed magnetic core, and the supporting part abuts against the outer peripheral surface of the coil.

[0006] In addition, the coil module transfer mechanism according to the above embodiments of this utility model may also have the following additional technical features: According to one embodiment of the present invention, the gripping manipulator further includes a clamping member disposed between the first gripping finger and the second gripping finger, for pressing the gripping manipulator against the top surface of the closed magnetic core when the gripping manipulator descends to a predetermined height with the robotic arm.

[0007] According to one embodiment of the present invention, there are two clamping finger pairs, which are arranged side by side in a second horizontal direction. Each clamping finger pair is used to clamp the upper ends of the two side posts of the closed magnetic core. The second horizontal direction is perpendicular to the first horizontal direction.

[0008] According to one embodiment of the present invention, the inner side of the first clamping part is provided with a first notch, and the inner side of the second clamping part is provided with a second notch; When the finger-clamping cylinder drives the first and second fingers to move closer together, the first notch and the second notch are opposite each other and define a clamping groove that matches the outer contour of the upper end of the two side posts.

[0009] According to one embodiment of the present invention, the clamping member includes a push rod and a pressure block. The push rod is slidable vertically relative to the finger-clamping cylinder, and the pressure block is disposed at the lower end of the push rod and is adapted to press against the top surface of the closed magnetic core.

[0010] According to one embodiment of the present invention, the clamping member further includes an elastic member, which is capable of applying a downward elastic force to the top rod so that the pressure block can elastically abut against the top surface of the closed magnetic core.

[0011] According to one embodiment of the present utility model, the actuating end of the rotary drive device is provided with a U-shaped seat, the opening of the U-shaped seat faces downward, and a crossbeam is connected between the lower ends of the two arms of the U-shaped seat, and a guide hole is provided on the crossbeam; The finger-clamping cylinder is fixed inside the U-shaped seat. The first finger and the second clamp are located on both sides of the width direction of the crossbeam. The top rod is slidably engaged with the guide hole. The upper end of the elastic element abuts against the crossbeam, and the lower end of the elastic element abuts against the pressure block.

[0012] According to one embodiment of the present invention, a flexible pad is provided on the side of the support portion that contacts the coil.

[0013] On the other hand, the winding device according to the present invention includes the coil module transfer mechanism as described above.

[0014] According to the coil module transfer mechanism and winding equipment provided in this embodiment of the invention, the gripping robot grips the top of the magnetic core in the horizontal direction while providing lateral support to the outer periphery of the coil through the support portion. This gripping method enhances the constraint force on the coil module, preventing swaying and posture deflection of the coil module during gripping and transfer. Therefore, it is beneficial for the coil module to be accurately placed in subsequent workstations, thereby simplifying the automation process, improving production efficiency, and reducing equipment costs.

[0015] Additional aspects and advantages of this invention 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 the invention. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the coil module structure; Figure 2 This is a schematic diagram of the coil module transfer mechanism in an embodiment of this utility model; Figure 3 This is a side view of the coil module transfer mechanism in an embodiment of this utility model; Figure 4 This is an exploded view of the coil module transfer mechanism in an embodiment of this utility model; Figure 5 This is a schematic diagram of the coil module transfer mechanism (coil module clamping state) from one perspective in an embodiment of this utility model; Figure 6 This is a side view of the coil module transfer mechanism (coil module clamping state) in an embodiment of this utility model; Figure 7 This is a schematic diagram of the structure of two clamping finger pairs in the coil module transfer mechanism of this utility model embodiment; Figure 8 This is a top view of two finger clamps in the coil module transfer mechanism of this utility model embodiment.

[0018] Figure label: 10. Coil module; 101. Enclosed magnetic core; 1011, Side Column; 102. Coil; 20. Robotic arm; 30. Rotary drive device; 40. Clamping robotic arm; 401. Finger-clamping cylinder; 402. First finger pinch; 4021, First clamping part; 4023, Supporting Department; 4024, Flexible pad; 403. Second finger pinch; 4031. Second clamping part; 404. Clamping components; 4041, push rod; 4042, pressed blocks; 4043, crossbeam; 405. U-shaped seat.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The embodiments of this utility model 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 intended to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0021] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The coil module transfer mechanism and winding equipment having the same are described in detail below with reference to the accompanying drawings.

[0026] Reference Figures 1 to 8 As shown, according to the coil module transfer mechanism provided in the embodiment of this utility model, the coil module 102 includes a closed magnetic core 101 and a coil 102 wound on two side posts 1011 of the closed magnetic core 101, and includes a robotic arm 20, a rotary drive device 30 and a clamping robotic hand 40.

[0027] Specifically, the robotic arm 20 provides the transfer mechanism with three-dimensional spatial motion capability. The robotic arm 20 can be a mature multi-axis motion module in the existing technology to realize the large-scale transfer of the gripping robot 40 between different workstations.

[0028] The rotary drive device 30 can be a servo motor, stepper motor, rotary cylinder, etc., and is mounted on the robotic arm 20, for example, on the end flange of the robotic arm 20. It is used to provide precise angular rotation positioning capability for the gripping robot 40, thereby ensuring that the gripping robot 40 can grasp the coil module 102 in the correct posture.

[0029] The gripping manipulator 40 includes a gripping cylinder 401 and a pair of gripping fingers. The gripping cylinder 401 is located at the actuating end of the rotary drive device 30 and is used to drive the gripping fingers to open or close synchronously. The gripping finger pair includes a first gripping finger 402 and a second gripping finger 403 arranged opposite each other in a first horizontal direction. The first gripping finger 402 has a first gripping portion 4021 and a supporting portion 4023, with the supporting portion 4023 located below the first gripping portion 4021. The second gripping finger 403 has a second gripping portion 4031. The first gripping finger 402 and the second gripping finger 403 are located at the actuating end of the gripping cylinder 401. When the gripping cylinder 401 drives the first gripping finger 402 and the second gripping finger 403 to move closer together, the first gripping portion 4021 and the second gripping portion 4031 grip the top of the closed magnetic core 101, and the supporting portion 4023 abuts against the outer peripheral surface of the coil 102.

[0030] Vertically, the second clamping part 4031 and the first clamping part 4021 are approximately on the same horizontal line to cooperate in applying force to the upper end of the closed magnetic core 101. During the clamping operation, the clamping finger cylinder 401 drives the first clamping finger 402 and the second clamping finger 403 to move towards each other and close. At this time, the first clamping part 4021 and the second clamping part 4031 clamp the exposed top of the closed magnetic core 101 from two opposite sides in the first horizontal direction. At the same time, the inner working surface of the support part 4023 located below the first clamping part 4021 gently and firmly rests against the outer peripheral wall of the coil 102. It can be understood that the working surface of the support part 4023 can be designed as an arc surface adapted to the shape of the coil 102 to increase the contact area.

[0031] According to the coil module transfer mechanism and winding equipment provided in this embodiment of the invention, the clamping robot 40 clamps the top of the magnetic core in the horizontal direction while providing lateral support to the outer periphery of the coil 102 through the support part 4023. This clamping method enhances the constraint force on the coil module 102, preventing the coil module 102 from shaking and deflecting during the gripping and transfer process. Therefore, it is beneficial for the coil module 102 to be accurately placed in the subsequent workstation, thereby simplifying the automation process, improving production efficiency, and reducing equipment costs.

[0032] Reference Figures 4 to 6As shown, in some embodiments of the present invention, the gripping robot 40 further includes a pressing member 404, which is disposed between the first gripping finger 402 and the second gripping finger 403, and is used to press the gripping robot 40 against the top surface of the closed magnetic core when the gripping robot 40 descends to a predetermined height with the robotic arm 20.

[0033] In practical operation, when the robotic arm 20 moves the gripping manipulator 40 to directly above the coil module 102 to be grasped and descends, the lower end face of the clamping member 404 will first contact the top surface of the closed magnetic core 101. As the robotic arm 20 continues to descend a small distance, the clamping member 404 will apply a pre-clamping force to the closed magnetic core 101, firmly pressing the entire coil module 102 onto its fixture. After this pre-clamping state, the gripping finger cylinder 401 drives the first gripping finger 402 and the second gripping finger 403 to close towards each other, completing the horizontal clamping of the top of the magnetic core and the supporting action of the support part 4023 on the side wall of the coil 102. The whole process realizes the coordinated cooperation of first pressing down for positioning and then lateral clamping, ensuring the accuracy and reliability of the clamping action, enhancing the stability and reliability of the clamping, and thus ensuring the stability of the coil module 102's posture throughout the entire transfer process.

[0034] Reference Figures 3 to 8 As shown, in one embodiment of the present invention, there are two finger pairs, which are arranged side by side in the second horizontal direction. Each finger pair is used to clamp the upper ends of the two side posts 1011 of the closed magnetic core 101. The second horizontal direction is perpendicular to the first horizontal direction.

[0035] When performing a gripping task, one pair of grippers grips the upper region of one side post 1011 of the closed magnetic core 101, while the other pair of grippers simultaneously grips the upper region of the other side post 1011. It can be understood that the two pairs of grippers can be driven by a shared gripper cylinder 401 or by two independent gripper cylinders 401.

[0036] The configuration of two clamping fingers acts on the upper ends of the two side posts 1011 of the closed magnetic core 101, thereby ensuring that the closed magnetic core 101 is subjected to balanced force after being clamped, and the coil module 102 can maintain a more stable posture, further improving the stability and reliability of the coil module 102 in grasping and transferring.

[0037] Preferably, the inner side of the first clamping part 4021 is provided with a first notch, and the inner side of the second clamping part 4031 is provided with a second notch. When the clamping finger cylinder 401 drives the first clamping finger 402 and the second clamping finger 403 to move closer together, the first notch and the second notch are opposite each other and define a clamping groove that matches the outer contour of the upper end of the two side posts 1011. The inner contour of the clamping groove is a shaped surface that matches the height of the outer contour of the upper end of the side post 1011 of the closed magnetic core 101. For example, if the cross-section of the side post 1011 is a rectangle with rounded corners, then the contour of the clamping groove is a groove with a corresponding curvature that matches it, thereby achieving a large-area or even semi-enclosed contact, which can improve the reliability and stability during clamping.

[0038] Reference Figure 4 As shown, in one embodiment of this utility model, the clamping member 404 includes a push rod 4041 and a pressing block 4042. The push rod 4041 is vertically slidable relative to the finger-clamping cylinder 401, and the pressing block 4042 is disposed at the lower end of the push rod 4041 and is adapted to press against the top surface of the closed magnetic core 101. Preferably, the clamping member 404 further includes an elastic member (e.g., a spring) that can apply a downward elastic force to the push rod 4041 so that the pressing block 4042 can elastically abut against the top surface of the closed magnetic core 101.

[0039] In the initial stage of the grasping action, as the robotic arm 20 lowers the entire gripping manipulator 40 vertically, the pressure block 4042 at the lower end of the push rod 4041 first contacts the top surface of the closed magnetic core 101. As the robotic arm 20 continues to descend a short preset distance, the push rod 4041 slides upward relative to the gripping manipulator 40, thereby compressing the spring. The elastic force generated by the compressed spring is continuously and stably applied to the top surface of the closed magnetic core 101 through the pressure block 4042, thus firmly pressing the entire coil module 102 onto the fixture table. Subsequently, the gripping finger cylinder 401 drives the gripping fingers to perform lateral gripping and supporting actions, thereby completing the entire grasping process.

[0040] In this embodiment, the clamping component 404 employs a combination structure of a push rod 4041, a pressure block 4042, and an elastic element. The elastic element applies an elastic pre-clamping force to the coil module 102, ensuring effective workpiece positioning without damaging the magnetic core due to excessive pressure. Simultaneously, the sliding of the push rod 4041 ensures a smooth and stable pressure application process and allows it to automatically adapt to dimensional errors in the structure.

[0041] Reference Figures 3 to 5As shown, in one embodiment of the present invention, the actuating end of the rotary drive device 30 is provided with a U-shaped seat 405, the opening of the U-shaped seat 405 faces downward, and a crossbeam 4043 is connected between the lower ends of the two arms of the U-shaped seat 405, and a guide hole is provided on the crossbeam 4043.

[0042] The finger-clamping cylinder 401 is fixed inside the U-shaped seat 405. The first finger-clamping 402 and the second clamping are respectively located on both sides of the width direction of the crossbeam 4043. The top rod 4041 is slidably engaged with the guide hole. The upper end of the elastic element abuts against the crossbeam 4043, and the lower end of the elastic element abuts against the pressure block 4042.

[0043] In this embodiment, the clamping cylinder, push rod 4041, elastic element, and other components are uniformly installed in the U-shaped base 405, making the entire clamping robot 40 structure more compact and reliable. The crossbeam 4043 not only enhances the rigidity of the U-shaped base 405 but also, through the guide hole, cooperates with the push rod 4041 to ensure the reliability of the push rod 4041's movement. This makes the entire coordinated workflow of pressing before clamping smoother and more stable.

[0044] Preferably, a flexible pad 4024, such as silicone rubber, is provided on the side of the support part 4023 that contacts the coil 102. In this way, the flexible pad 4024 can prevent the support part 4023 from causing physical damage such as scratching or squeezing to the enameled wire on the surface of the coil 102.

[0045] The winding device according to an embodiment of the present invention includes the coil module transfer mechanism as described above.

[0046] It is understood that the winding device also includes a winding mechanism that can wind a coil 102 on the side post 1011 of the closed magnetic core 101 to form a coil module 102, and the coil module moving mechanism can grab and move the coil module 102.

[0047] According to the winding device provided in this embodiment of the present invention, the clamping robot 40 clamps the top of the magnetic core in the horizontal direction while providing lateral support to the outer periphery of the coil 102 through the support part 4023. This clamping method enhances the constraint force on the coil module 102, preventing the coil module 102 from shaking and deflecting during the gripping and transfer process. Therefore, it is beneficial for the coil module 102 to be accurately placed in subsequent workstations, thereby simplifying the automation process, improving production efficiency, and reducing equipment costs.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A coil module transfer mechanism, the coil module comprising a closed magnetic core and a coil wound on two side posts of the closed magnetic core, characterized in that, include: robotic arm; A rotary drive device, which is mounted on the robotic arm; A gripping robot includes a gripping cylinder and a pair of gripping fingers. The gripping cylinder is located at the execution end of the rotary drive device. The pair of gripping fingers includes a first gripping finger and a second gripping finger arranged opposite each other in a first horizontal direction. The first gripping finger has a first gripping part and a supporting part. The supporting part is located below the first gripping part. The second gripping finger has a second gripping part. The first and second clamping fingers are located at the actuating end of the clamping finger cylinder. When the clamping finger cylinder drives the first and second clamping fingers to move closer to each other, the first clamping part and the second clamping part clamp the top of the closed magnetic core, and the supporting part abuts against the outer peripheral surface of the coil.

2. The coil module transfer mechanism according to claim 1, characterized in that, The gripping manipulator also includes a clamping member disposed between the first and second gripping fingers, for pressing the gripping manipulator against the top surface of the enclosed magnetic core when the gripping manipulator descends to a predetermined height with the robotic arm.

3. The coil module transfer mechanism according to claim 1, characterized in that, There are two clamping finger pairs, which are arranged side by side in the second horizontal direction. Each clamping finger pair is used to clamp the upper ends of the two side posts of the closed magnetic core. The second horizontal direction is perpendicular to the first horizontal direction.

4. The coil module transfer mechanism according to claim 1, characterized in that, The first clamping part has a first notch on its inner side, and the second clamping part has a second notch on its inner side; When the finger-clamping cylinder drives the first and second fingers to move closer together, the first notch and the second notch are opposite each other and define a clamping groove that matches the outer contour of the upper end of the two side posts.

5. The coil module transfer mechanism according to claim 2, characterized in that, The clamping component includes a push rod and a pressure block. The push rod is slidable vertically relative to the finger-clamping cylinder, and the pressure block is located at the lower end of the push rod and is adapted to press against the top surface of the closed magnetic core.

6. The coil module transfer mechanism according to claim 5, characterized in that, The clamping component also includes an elastic element that can apply a downward elastic force to the push rod so that the pressure block can elastically abut against the top surface of the closed magnetic core.

7. The coil module transfer mechanism according to claim 6, characterized in that, The rotary drive device has a U-shaped seat at its actuating end, with the opening of the U-shaped seat facing downwards, and a crossbeam connecting the lower ends of the two arms of the U-shaped seat, with guide holes on the crossbeam; The finger-clamping cylinder is fixed inside the U-shaped seat. The first finger and the second clamp are located on both sides of the width direction of the crossbeam. The top rod is slidably engaged with the guide hole. The upper end of the elastic element abuts against the crossbeam, and the lower end of the elastic element abuts against the pressure block.

8. The coil module transfer mechanism according to claim 1, characterized in that, A flexible pad is provided on the side of the support that contacts the coil.

9. A winding device, characterized in that, Includes the coil module transfer mechanism as described in any one of claims 1 to 8.

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