CN109545541A - Assist coil winding machinery hand combined system - Google Patents
Assist coil winding machinery hand combined system Download PDFInfo
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- CN109545541A CN109545541A CN201811643436.7A CN201811643436A CN109545541A CN 109545541 A CN109545541 A CN 109545541A CN 201811643436 A CN201811643436 A CN 201811643436A CN 109545541 A CN109545541 A CN 109545541A
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- 238000004804 winding Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims description 118
- 238000005520 cutting process Methods 0.000 claims description 58
- 230000000712 assembly Effects 0.000 claims description 34
- 238000000429 assembly Methods 0.000 claims description 34
- 238000003825 pressing Methods 0.000 claims description 29
- 238000002788 crimping Methods 0.000 claims description 28
- 230000009471 action Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 230000000873 masking effect Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of auxiliary coil winding machinery hand combined systems, coiling auxiliary device including manipulator and the connection manipulator, coiling auxiliary device ox of getting fire under the driving of the manipulator is installed in the rotation drive device for driving fiery ox rotation, electric wire is taken from thread supplying device again, assist wire intertwist on the fiery ox that rotation drive device drives, these steps of manual operation are not required to, it is time saving and energy saving, reduce human cost；And structure is simple, and occupied area is little.
Description
Technical field
The present invention relates to fiery ox making apparatus technical fields, and a kind of auxiliary coil winding machinery hand combined system is especially arranged.
Background technique
Fiery ox, also known as transformer, are the devices for changing alternating voltage using the principle of electromagnetic induction, and main member is just
Grade coil, secondary coil and iron core, major function have voltage transformation, current transformation, impedance transformation, isolation, pressure stabilizing etc..Fiery ox
Production has this process of coiling, makes, usually manually fiery ox is installed in rotation drive device, so in fiery ox coiling at present
The electric wire that need to be manually wound on fiery ox afterwards is from taking on electric wire straightening fire ox, after rotation drive device drives fiery ox rotation, then
Human assistance wire intertwist is more time-consuming on the fiery ox of rotation, and human cost is high.
Summary of the invention
Based on this, in view of the above-mentioned problems, provide it is a kind of can automatic winding in the auxiliary coil winding machinery hand combination system on fiery ox
System.
To achieve the object of the present invention, the invention adopts the following technical scheme:
A kind of auxiliary coil winding machinery hand combined system, the coiling including manipulator and the connection manipulator assist dress
It sets, the coiling auxiliary device is installed on rotation driving from fiery ox feeding mechanism ox of getting fire under the driving of the manipulator
It on device, then from the thread supplying device takes electric wire, assists wire intertwist on the fiery ox that the rotation drive device drives.
Above-mentioned auxiliary coil winding machinery hand combined system, the ox that can complete to get fire automatically are installed to rotation drive device,
Then artificial in being not required on the fiery ox that rotation drive device drives from dynamic auxiliary wire intertwist again on automatic power taking line to fiery ox
These steps are operated, it is time saving and energy saving, reduce human cost；And structure is simple, and occupied area is little.
In one embodiment, the coiling auxiliary device includes the first clamping device, the second clamping device and the
One cutting mechanism, first clamping device are used to clamp the starting point to be wound in the electric wire on fiery ox, or for clamping
It is wound in the latter end of the electric wire on fiery ox；Second clamping device is for clamping fiery ox；First cutting mechanism is used
Yu Huo ox cuts electric wire after winding electric wire.
It in one embodiment, further include wire fixing clamp for being installed on thread supplying device, the wire fixing clamp, which has, to be used
In the electric wire passageway that electric wire passes through；The wire fixing clamp corresponds to the second clamping device setting, is used for second clamping device
Clamping.
In one embodiment, the wire fixing clamp has the solidus structure for fastening electric wire；The coiling auxiliary dress
Setting further includes thread releasing mechanism and third clamping device, and the thread releasing mechanism corresponds to the second clamping device setting, for the
Wire fixing clamp is driven to unclamp electric wire after two gripper mechanism grips wire fixing clamps；The third clamping device is used to unclamp electric wire in wire fixing clamp
The starting point of electric wire is clamped afterwards.
In one embodiment, the wire fixing clamp includes threading frame and solidus structure, and the threading is provided with first and wears
First perforation and biperforate accommodating cavity are perforated and are connected to hole, coaxial second of perforating with described first；Institute
Stating solidus structure includes saddle, quiet piece of crimping and driving spring；One end of the saddle is located at outside the threading frame, the other end
It is stretched in the accommodating cavity across the wire fixing clamp, and is formed with connection first perforation and is worn with biperforate third
Hole；The electric wire passageway that first perforation, the second perforation and third perforation composition are passed through for electric wire；Quiet piece of the crimping is set to
It threads on frame, and stretches in the third perforation；The saddle, which has, is located at quiet piece of the crimping separate pushing hands
The line pressing rod of side；The driving spring linkage saddle, for driving line pressing rod that electric wire is pressed on quiet piece of the crimping；
The thread releasing mechanism is used for by overcoming the resistance of the driving spring to push the saddle, to drive line pressing rod quiet far from crimping
Block is to unclamp electric wire.
In one embodiment, the quantity of the manipulator is at least two, first clamping device, the second clamping
Mechanism and thread releasing mechanism are set on a manipulator；The third clamping device and the first cutting mechanism are set to another manipulator
On.
In one embodiment, first clamping device includes the first clamp assemblies and actuator, second folder
Holding mechanism includes the second clamp assemblies and actuator, and the third clamping device includes third clamp assemblies and actuator, described
First severing structure includes the first scissors and actuator；First clamping device and the second clamping device share a driving
The shared actuator of part, first clamping device and the second clamping device is the first actuator, and first actuator is used for
The first clamp assemblies and the second clamp assemblies are driven to carry out holding action；The third clamping device and the first cutting mechanism share
The shared actuator of one actuator, the third clamping device and the first cutting mechanism is the second actuator, the second actuator
Holding action is carried out for third clamp assemblies and the first scissors of driving carries out cutting movement.
In one embodiment, the third clamp assemblies are located at the side of second actuator, the third folder
The third folder that component includes two connections, second actuator is held, the third folder has third clamping bar, the third folder
Bar has bar free end and bar fixing end, and the side of two third clamping bar facing each other is equipped with the first fixture block.
In one embodiment, the second folder being set side by side with first fixture block is additionally provided on the two third clamping bars
Block；The side of the second fixture block facing each other is equipped with the clamp slot for clamping sebific duct, and the clamp slot is along the third
Clamping bar is laterally extended set on second fixture block；Second fixture block connects the third clamping bar by connecting spring.
In one embodiment, the folder for clamping electric wire is correspondingly provided on the side of the first fixture block facing each other
Wire casing, the clamp slot is laterally extended along the third clamping bar set on second fixture block, and the both ends of the clamp slot are passed through
Wear first fixture block.
In one embodiment, first fixture block is equipped with close to the side of the free end of the third clamping bar for pressing from both sides
The third fixture block of gummed paper, the third fixture block flush setting with first fixture block.
In one embodiment, the coiling auxiliary device further includes pinch roller.
In one embodiment, the coiling auxiliary device further includes the second cutting mechanism for cutting gummed paper, described
First cutting mechanism and the second cutting mechanism are respectively arranged on two different manipulators.
In one embodiment, the coiling auxiliary device further includes suction piece part and the encapsulated mechanism of paper of line；The line packet
Gummed paper mechanism includes mounting blocks, the pivot joint mounting blocks and the shaft through the mounting blocks, the bullet on the mounting blocks
Property pushing mechanism, the briquetting of the connection resiliency urged mechanism and the connection shaft driving mechanism, set in the shaft
There are the threading hole passed through for electric wire, the centre bit for extending radially to the shaft of shaft described in a lateral edge of the threading hole
Place is set, the other side forms opening through the shaft, mounting blocks and driving mechanism along radially extending for the shaft；The shaft
With sticky paper section, the briquetting corresponds to the sticky paper section setting, and the resiliency urged mechanism is for driving briquetting to be pressed on gummed paper
In sticky paper section.
In one embodiment, the suction piece part is the broken line block equipped with sucker, is set on the free end of the broken line block
There is entrance hole.
In one embodiment, the coiling auxiliary device includes broken line block, and the free end of the broken line block is equipped with
Incoming line.
Detailed description of the invention
Fig. 1 is the schematic perspective view of coiling auxiliary robot combined system described in one embodiment of the invention；
Fig. 2 is the cross-sectional view of wire fixing clamp shown in Fig. 1；
Fig. 3 is the assembly of a part of component composition of the coiling auxiliary device in Fig. 1 being set on the first manipulator
Schematic perspective view；
Fig. 4 is the schematic perspective view in another orientation of assembly shown in Fig. 3；
Fig. 5 is the working state schematic representation of the second gripper mechanism grips wire fixing clamp；
Fig. 6 is the assembly of the another part component composition of the coiling auxiliary device in Fig. 1 being set on the second manipulator
The schematic perspective view of body；
Fig. 7 is the schematic perspective view in another orientation of assembly shown in fig. 6；
Fig. 8 is enclosed the enlarged drawing at position by circle A in Fig. 6；
Fig. 9 is the connection schematic diagram of the second fixture block and third clamping bar in Fig. 6；
Figure 10 is the partial structure diagram of broken line block；
The operation schematic diagram of this broken line block broken line of Figure 11；
Figure 12 is the partial structure diagram of the encapsulated paper device of line；
Figure 13 is the schematic perspective view of the shaft in Figure 12；
Figure 14 is enclosed the enlarged drawing of part by circle B in Figure 13.
In figure:
10, the first manipulator；20, the second manipulator；200, coiling auxiliary device；30, wire fixing clamp；31, frame is threaded；311,
Accommodating cavity；312, the first perforation；313, the second perforation；315, quiet piece of crimping；316, pressuring line groove；32, saddle；33, sliding block；331,
Third perforation；332, line pressing rod；34, wire pressing block；341, crimping protrusion；35, pushing hands；36, driving spring；41, first is fixed
Block；42, the first actuator；43, the first folder；431, the first clamping bar；432, first connecting rod；433, cavity；44, the second folder
Part；441, the second connecting rod；442, the second clamping bar；443, the first clamping part；444, the second clamping part；45, thread releasing mechanism；
451, loose ends cylinder；452, pushing block；46, the second scissors；461, the second shear body；51, the second fixed block；53, the second actuator；
54, third folder；541, third clamping bar；542, the first fixture block；543, clamp slot；544, the second fixture block；545, clamp slot；546,
Fixed spring；547, third fixture block；548, third connecting rod；55, pressing plate；56, the first scissors；561, the first shear body；57, it presses
Wheel；581, frame member is inhaled；582, frame end is inhaled；583, broken line block；584, incoming line；585, sucker；61, mounting blocks；62, shaft；63,
Limit section；64, it is pivotally connected section；65, sticky paper section；651, excircle face；652, groove；653, planar portions；66, threading hole；67,
Opening；68, gear；69, briquetting；691, elastic layer；70, elastic pushing block component；71, push rod；72, bar spring is driven；80, rack gear.
Specific embodiment
In the description of the present invention, it is to be understood that, term " length ", " width ", "top", "bottom", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, " second ", feature can be expressed or
Person implicitly includes one or more of the features.
In the description of the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " should do broad sense reason
Solution, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connection, be also possible to electricity
Connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of element.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Fig. 1 to Figure 14 is please referred to, is coiling auxiliary manipulator combined system described in a preferred embodiment of the present invention, including
Manipulator and the coiling auxiliary device 200 for connecting manipulator；Coiling auxiliary device 200 supplies under the driving of manipulator from fiery ox
It answers device ox 100 of getting fire to be installed in rotation drive device, then takes electric wire from thread supplying device, auxiliary wire intertwist drives in rotation
On the fiery ox 100 of device driving.
Coiling auxiliary manipulator combined system further includes the wire fixing clamp 30 for being installed on thread supplying device.In the present embodiment
In, the electric wire passageway that there is wire fixing clamp 30 electric wire to pass through, and also there is the solidus structure for fastening line, solidus structure is used for
Unclamp electric wire when wire intertwist fire ox, clamp electric wire when electric wire is not wound on fiery ox, convenient for wire fixing clamp 30 pull electric wire from
It is transferred to for coil holder on the fiery ox of rotation drive device installation.Specifically, as shown in Fig. 2, wire fixing clamp 30 includes threading 31 He of frame
Solidus structure, threading frame 31 are equipped with the first perforation 312, second perforation 313 coaxial with the first perforation 312 and are connected to first and wear
The accommodating cavity 311 in hole 312 and the second perforation 313；Solidus structure includes quiet piece 315 of crimping, saddle 32 and driving spring 36；It is sliding
Part 32 and the sliding of wire fixing clamp 30 are arranged, and 32 one end of saddle is located at outside threading frame 31, and the other end passes through wire fixing clamp 30 and stretches to accommodating
In chamber 311, and it is formed with the third perforation 331 of connection the first perforation 312 and the second perforation 313；First perforation 312, second is worn
The electric wire passageway that hole 313 and 331 composition of third perforation are passed through for electric wire；Quiet piece 315 of crimping is set on threading frame 31, and protrudes into
Quiet piece 315 of crimping to third perforation 331；Saddle 32 has the line pressing rod 332 positioned at quiet piece of 315 sides of crimping；Electric wire according to
Secondary third 331 parts of perforation across the first perforation 312, quiet piece 315 of crimping line pressing rod 332 and the second perforation
313；36 catenating slider 33 of driving spring, for driving line pressing rod 332 that electric wire is pressed on quiet piece 315 of crimping.When electricity to be unclamped
When line, the direction for overcoming the resistance of driving spring 36 towards threading frame 31 pushes saddle 32, keeps the line pressing rod 332 of saddle 32 remote
Quiet piece 315 of tripping line, it can achieve the purpose that loose ends.
Saddle 32 includes sliding block 33 and the pushing hands 35 outside threading frame 31, and one end of sliding block 33 connects pushing hands 35, separately
One end sliding wears threading frame 31 and stretches in threading frame 31；Third perforation 331 and line pressing rod 332 are set on sliding block 33, pressure
Line bar 332 is located at quiet piece 315 side far from pushing hands 35 of crimping.
Optionally, line pressing rod 332 is equipped with wire pressing block 34 towards quiet piece 315 of crimping of side, and wire pressing block 34 is towards crimping
Quiet piece 315 of side is equipped with crimping protrusion 341, and crimping protrusion 341 extends along the direction of the axis perpendicular to third perforation 331
Setting.Quiet piece 315 of crimping is equipped with corresponding crimping protrusion 341 and is equipped with pressuring line groove 316, and crimping protrusion 341 is for pressing electric wire
In in pressuring line groove 316, crimping protrusion 341 and pressuring line groove 316 combine the fastening force that can increase to electric wire, so that electric wire is not
Easily under the effect of external force relative to quiet piece 315 generation movement of crimping.In the present embodiment, driving spring 36 is sheathed on sliding block 33
On, and be held between pushing hands 35 and threading frame 31.
The quantity of manipulator is at least one, and the actual quantity of manipulator is set as needed.In the present embodiment, it assists
Bobbin winder device 73 includes the first clamping device, the second clamping device, thread releasing mechanism 45, third clamping device, the first cutting mechanism
With suction frame member 581, the first clamping device is for clamping the starting point to be wound in the electric wire on fiery ox 100；Second clamping device
For clamping fiery ox 100；The corresponding second clamping device setting of thread releasing mechanism 45, in the second gripper mechanism grips fire ox 100
After drive wire fixing clamp 30 to unclamp electric wire, the first cutting mechanism is for cutting electric wire after fiery ox 100 winds electric wire；Third clamping
Latter end of the mechanism for the electric wire that grip shears are had no progeny after electric wire is cut；Frame member 581 is inhaled for drawing fiery ox 100, is inhaled
The structure in the shape of a rod of frame member 581, the free end for inhaling frame member 581 are to inhale frame end 582.
In the present embodiment, as shown in Figure 1, the first clamping device, the second clamping device and thread releasing mechanism 45 are set to the
On one manipulator 10, and the output end of the first manipulator 10, third clamping device, first are connected by one first fixed block 41
Cutting mechanism and suction frame member 581 are set on the second manipulator 20, and connect the second manipulator by one second fixed block 51
20 output end.
First clamping device, the second clamping device, thread releasing mechanism 45, third clamping device, the first cutting mechanism and suction frame
Part 581 matches under the driving of the first manipulator 10 and the second manipulator 20 completes the coiling course of work are as follows: the second manipulator
20 drivings inhale frame member 581 and give the second gripper mechanism grips from fiery ox feeding mechanism ox 100 of getting fire；Then, the first manipulator 10
Drive the second clamping device will be in the installation to rotation drive device of fiery ox 100；Then, the first manipulator 10 drives the second clamping machine
For structure from for coil holder 21, wire fixing clamp 30 is pulled near electric wire to mounted fiery ox 100 up, thread releasing mechanism 45 drives wire fixing clamp 30
Unclamp electric wire；Again then, the second manipulator 20 drive third gripper mechanism grips electric wire starting point to fiery ox 100 stitch or
Person is near the solidus bar of solidus mechanism, and the driving movement of wire fixing clamp 30 of the first manipulator 10 makes the starting point of electric wire be fastened
In on stitch or on solidus bar；Later, rotation drive device drives fiery ox 100 to rotate, and the first manipulator 10 drives wire fixing clamp
30 along fiery ox 100 axis direction linear uniform motion so that electric wire uniform winding is on fiery ox 100；When wire intertwist finishes
Afterwards, if the end needs of electric wire are fastened on stitch, the first manipulator 10 drives the first clamping device close to electric wire quilt
The end part of cutting, the first clamping device clamp the latter end of electric wire, and then the first manipulator 10 drives the first clamping again
Mechanism is fastened with the latter end movement of the electric wire after cutting on stitch；Later, the second manipulator 20 driving first
Cutting mechanism moves to the latter end of electric wire, and the first cutting mechanism cuts electric wire.Wherein, the starting point of electric wire is only being not required to
Be fastened when on stitch, just selection is fastened on the solidus bar of solidus mechanism, according to electric wire it needs to be determined that.?
In other embodiments, it can will inhale frame member 581 and remove, drive the second clamping device to supply from fiery ox by the first manipulator 10 and fill
It sets and directly gets fire in the installation to rotation drive device of ox 100.
In one embodiment, coiling auxiliary device 200 includes the first clamping device, the second clamping device and the first sanction
Mechanism is cut, but not including that third clamping device and suction frame member 581, these three mechanisms can be set on same manipulator, solidus
Folder 30 only always fastens the threading passageway of wire clamp 30, does not have solidus structure.In this case, the first clamping device, the second folder
Hold the process that mechanism and the first cutting mechanism complete coiling under the driving of manipulator are as follows: the second clamping device of robot drives from
Fiery ox feeding mechanism is got fire in the installation to rotation drive device of ox 100；Then, the first clamping device of robot drives pulls electric wire
The fiery ox 100 installed of starting point to rotation drive device nearby either near the solidus bar of solidus mechanism, later, manipulator
Drive the movement of the first clamping device that the starting point of electric wire is made to be fastened on the stitch of fiery ox 100 or the solidus of solidus mechanism
On bar；Then, the first clamping device unclamp electric wire, the second clamping device of robot drives taken from thread supplying device wire fixing clamp 30 to
Fiery 100 attachment of ox, after wire fixing clamp 30 moves to fiery ox 100 nearby, rotation drive device drives fiery ox 100 to rotate, meanwhile, machine
Axis direction of the second clamping device of tool hand-drive with wire fixing clamp 30 along fiery ox 100 makees linear uniform motion, so that electric wire is equal
It is even to be wound on fiery ox 100；After wire intertwist fire ox 100, the first cutting mechanism cuts electric wire, then robot drives
The latter end of electric wire of first clamping device after cutting, and the latter end of electric wire that grip shears are had no progeny, in the first folder
After holding the latter end that mechanism has clamped the electric wire after cutting, the movement of the first clamping device of robot drives makes the electric wire after cutting
Latter end be fastened on the stitch of fiery ox 100.In other embodiments, the first cutting mechanism can be set at other
On manipulator, after wire intertwist, by other first cutting mechanisms of robot drives close to electric wire, electricity is then cut
Line.
In one embodiment, coiling auxiliary device 200 includes the first clamping device, the second clamping device and the first guillotine
Structure, this three mechanisms are set on a manipulator, and the first cutting mechanism, which is arranged in, to be cut on the position of electric wire；Thread supplying device
Without wire fixing clamp 30.In this case, the drive of the first clamping device, the second clamping device and the first cutting mechanism in manipulator
The dynamic lower working principle for completing coiling are as follows: the starting point of robot drives the first gripper mechanism grips electric wire to fiery ox or solidus
The solidus bar attachment of mechanism, subsequent robot drives wire motion make the starting point of electric wire be fastened Yu Huoniu stitch or
On the solidus bar of solidus mechanism；Subsequent rotation drive device drives fire Niu Xuanzhuan, at the same the first clamping device of robot drives or
The second clamping device of person pushes electric wire, or other external devices to push electric wire, does electric wire along the axis direction of fiery ox even
Speed linear motion, so that electric wire uniform winding is on fiery ox, after wire intertwist, the first clamping device of robot drives includes
It is wound in the latter end of the electric wire on fiery ox, and clamps the latter end for the electric wire being wound on fiery ox, then drives electric wire
Latter end movement so that the latter end of electric wire is fastened on the stitch of Yu Huoniu；Finally, the first cutting mechanism is cut
Wind the latter end of the electric wire on fiery ox.In other embodiments, the first cutting mechanism can be set on other manipulators,
After wire intertwist, by other first cutting mechanisms of robot drives close to electric wire, electric wire is then cut.
In the present embodiment, the first clamping device includes the first clamp assemblies and actuator, and the second clamping device includes the
Two clamp assemblies and actuator, third clamping device include third clamp assemblies and actuator, and the first cutting mechanism includes first
Scissors 56 and actuator；First clamping device and the second clamping device share an actuator, the first clamping device and the second folder
Holding the shared actuator of mechanism is the first actuator 42, and the first actuator 42 is for driving the first clamp assemblies and the second clamping group
Part carries out holding action；Third clamping device and the first cutting mechanism share an actuator, and third clamping device and first are cut out
Cutting the shared actuator of mechanism is the second actuator 53, the second actuator 53 for third clamp assemblies carry out holding action and
The first scissors 56 is driven to carry out cutting movement.First actuator 42 can be gripper cylinder, clamping hydraulic cylinder, clamping motor configuration
Or other are used to that the first clamp assemblies and the second clamp assemblies to be driven to carry out the dynamic structure of holding action, the second actuator 53
Can for gripper cylinder, clamping motor configuration, clamping hydraulic cylinder or other for drive third clamp assemblies carry out holding action
The dynamic structure of trimming action is carried out with the first scissors 56 of driving.
As shown in Figure 3 and Figure 4, specifically, the first actuator 42 is set on the first fixed block 41；First clamp assemblies are located at
The side of first actuator 42, the first clamp assemblies include the first folder 43 of two the first actuators of connection 42；In order to make second
Folder 44 can smoothly clamp fiery ox 100 and wire fixing clamp 30, and the second clamp assemblies are located at the first clamp assemblies far from the first actuator
42 side, the second clamp assemblies include the second folder 44 for being separately connected two the first folders 43；Thread releasing mechanism 45 is located at the
Side of one clamp assemblies far from the second clamp assemblies is formed with after two first folders 43 fully come together between the first folder 43
The cavity 433 that thread releasing mechanism 45 can be made to pass through.
First folder 43 includes for the first clamping bar 431 and the first clamping bar 431 of connection of clamping and the first actuator
42 first connecting rod 432；Cavity 433 is formed between first connecting rod 432.First clamping bar 431 is located at the second clamp assemblies
Side, so that the second clamp assemblies will not stop clamping of first clamping bar 431 to electric wire.
Second clamping bar 442 includes the second clamping bar 442 and the second company for connecting the second clamping bar 442 and first connecting rod 432
Extension bar 441；Prolong in the direction of second clamping bar 442 and the first clamping bar 431 along the axis of the output shaft perpendicular to the first actuator 42
It stretches, and the extending direction of the extending direction of the second clamping bar 442 and the first clamping bar 431 is on the contrary, so that the first clamping bar 431 and the second folder
Bar 442 is staggered, to make to will not influence respective holding action between the first clamping bar 431 and the second clamping bar 442.
Second clamping bar 442 has the first clamping part 443 and the second clamping part 444, and the first clamping part 443 is for clamping solidus
Folder 30, the first clamping part 443 closes on the setting of thread releasing mechanism 45, so that thread releasing mechanism 45 can drive the first clamping part 443 to clamp
Wire fixing clamp 30.Second clamping part 444 is for clamping fiery ox 100.
The saddle 32 of the corresponding wire fixing clamp 30 of thread releasing mechanism 45 is arranged, for pushing the saddle 32 of wire fixing clamp 30, so that solidus
Folder 30 unclamps electric wire.Thread releasing mechanism 45 includes loose ends cylinder 451 and the pushing block 452 for connecting loose ends cylinder 451.
As shown in Figure 5 and Figure 6, in the present embodiment, third clamp assemblies are located at the side of the second actuator 53, third folder
Hold the third folder 54 that component includes two the second actuators 53 of connection.Third folder 54 can be used for clamping copper wire, rubber sheathed wire, more
Strand, copper sheet, masking tape, gummed paper piece or sebific duct.First scissors 56 is for cutting electric wire.
Specifically, as shown in Figure 8 and Figure 9, one first fixture block is equipped on the side of two third clamping bars, 541 facing each other
542 and one second fixture block 544, the first fixture block 542 and the second fixture block 544 are set side by side, and the longitudinal direction along third clamping bar 541 is prolonged
It stretches.The side of second fixture block, 544 facing each other is equipped with the clamp slot 545 for clamping sebific duct, and clamp slot 545 is along third clamping bar
541 be laterally extended is arranged in the second fixture block 544, and the second fixture block 544 is run through at the both ends of clamp slot 545.Second fixture block 544 passes through
Fixed spring 546 connects third clamping bar 541.When clamping sebific duct, the second fixture block 544 closes up, and the first fixture block 542 does not close up, sebific duct
Enter to two clamp slots 545 formation clamp hole in, sebific duct will not deform under the action of clamp hole, be conducive to electric wire into
Enter to sebific duct, realizes that glue pipe socket is set on the end of electric wire.When clamping electric wire, the first fixture block 542 closes up, and realizes to electric wire
Clamping.
In the present embodiment, the first fixture block 542 is wholely set with third clamping bar 541.In other embodiments, the first fixture block
542 and third clamping bar 541 can split settings, and preferably the first fixture block 542 and third clamping bar 541 are detachably connected, in order to
The replacement of one fixture block 542.
The clamp slot 543 for clamping electric wire, clamp slot are correspondingly provided on the side of two first fixture blocks, 542 facing each other
543 are arranged on the first fixture block 542 along being laterally extended for third clamping bar 541, and the first fixture block 542 is run through at the both ends of clamp slot 543,
Clamp slot 543 matches with electric wire, and when clamping electric wire, two first fixture blocks 542 close up, and electric wire passes through two clamp slots 543 composition
The clamping to electric wire is realized in clamp hole, and the clamp slot 543 passed through by the way that electric wire is arranged on the first fixture block 542 can make electricity
Line will not deform when clamped.The size of clamp slot 543 is less than the size of sebific duct slot.
Clamp slot 543 is equal with the quantity of sebific duct slot, and is arranged in a one-to-one correspondence.Further, clamp slot 543 and clamp
The quantity of slot 545 is at least two, and the size of each clamp slot 543 is not identical, and the size of each clamp slot 545 is not identical, each to press from both sides
The size of tube seat 545 is greater than the size of corresponding clamp slot 543.In the present embodiment, clamp slot 543 and clamp slot 545
Quantity is three, and the size of three clamp slots 543 is all different, for clamping copper wire, rubber sheathed wire and multi cord respectively.Three
The size of clamp slot 545 is also all different, for clamping three kinds of various sizes of sebific ducts respectively.
In the present embodiment, when wire intertwist is after on fiery ox 100, when end will be arranged sebific duct, the second manipulator 20
For action drives third folder 54 close to sebific duct to be taken, third folder 54 passes through the second folder under the driving of the second actuator 53
Block 544 clamps sebific duct, and then the second manipulator 20 drives the second coiling auxiliary device 200 by glue pipe socket set on the end of electric wire
On.
The side of two third clamping bars, 541 facing each other is symmetrically arranged with third fixture block 547, and third fixture block 547 is located at the first folder
Block 542 and the second fixture block 544 are close to the side of the free end of third clamping bar 541, for clamping masking tape, gummed paper piece or copper
Piece.In order to make the first fixture block 542, the second fixture block 544 and third fixture block 547 not influence mutual clamping effect, third fixture block 547
Setting, i.e. third fixture block are flushed backwards to the side of third clamping bar 541 backwards to the side of third clamping bar 541 and the first fixture block 542
547 flush setting with the first fixture block 542.
An at least third clamping bar 541 is equipped with pressing plate 55, and pressing plate 55 before gummed paper flexing is affixed on fiery ox 100 for pressing
It is affixed on the end of the gummed paper on fiery ox 100, so that the end of gummed paper is tightly attached on fiery ox 100, makes the starting point of gummed paper in gummed paper
Flexing is not easy to fall off from fiery ox 100 when being covered on fiery ox 100, ensure that gummed paper can smoothly flexing be pasted on fiery ox 100.Pressure
Plate 55 extends along the longitudinal direction of third clamping bar 541, and pressing plate 55 can be set on the end face of the free end of third clamping bar 541,
Also can be set third clamping bar 541 backwards to third fixture block 547 side or other will not influence third folder 54 press from both sides
The position of holding effect fruit, such as the holding paper effect of third fixture block 547 will not be stopped.In the present embodiment, two third clamping bars 541 from
Paper pressing end is formed by the free end that third clamping bar 541 is stretched out in the one end held.After the starting point of gummed paper is affixed on fiery ox 100, machine
Tool hand drives the paper pressing end of pressing plate 55 to be pressed on the starting point of gummed paper, sticks at the starting point of gummed paper tightly on fiery ox 100.
Preferably, pressing plate 55 is made of elastic material, so that pressing plate 55 can be by the starting point of masking tape or gummed paper piece
It is seamlessly pasted on fiery ox 100, so that masking tape or gummed paper piece can be preferably pasted on object.In this reality
It applies in example, pressing plate 55 is made of rubber material.
As shown in fig. 6, the first scissors 56 is located at side of the third connecting rod 548 far from third clamping bar 541, the first scissors 56
Including two the first shear bodies 561, one end of two the first shear bodies 561 is slidably connected two third connecting rods 548 respectively, the other end
Extend away from the direction of the second actuator 53, two the first shear bodies 561 intersect setting and pivot joint.
Coiling auxiliary device 200 further includes pinch roller 57 and the second cutting mechanism, and pinch roller 57 is used to be affixed on fire in gummed paper flexing
It is pressed on gummed paper when on ox 100, the second cutting mechanism is used to cut masking tape after fiery ox 100 pastes masking tape.Second cuts
Mechanism includes the second scissors 46 and actuator, and the actuator of the second cutting mechanism is the second actuator 53, and the second actuator 53 is used
Cutting movement is carried out in the second scissors 46 of driving.In the present embodiment, as shown in fig. 7, pinch roller 57 is set on the second manipulator 20,
And the second fixed block 51 of connection；As shown in figure 4, the second cutting mechanism is set on the first manipulator 10.In other embodiments, it presses
Wheel 57 can be set on the first manipulator 10 or other manipulators, and the second cutting mechanism can also be set to the second manipulator
20 or other manipulators on.
In the present embodiment, under the driving cooperation of the first manipulator 10 and the second manipulator 20, the of third folder 54
Three fixture blocks 547, pinch roller 57, the first cutting mechanism the first scissors 56 match and masking tape can be pasted on fiery ox 100, be used for
Rewiring layer is separated, either the end of electric wire is fixed on fiery ox 100.Operating process are as follows: the second manipulator 20 driving the
Three clamping devices clamp the starting point of masking tape by two third fixture blocks 547, pull masking tape, keep the starting point of masking tape viscous
It is affixed on fiery ox 100；Then, the second manipulator 20 movement drives pinch roller 57 to be pressed on gummed paper, and fiery ox 100 then drives in rotation
It is rotated under the driving of device, so that gummed paper flexing is pasted on fiery ox 100, realizes and separate the end of electric wire rewiring layer either
Portion is fixed on fiery ox 100；After gummed paper flexing is good, the second manipulator 20 drives third clamping device far from fiery ox 100；It
Afterwards, the first manipulator 10 drives the second cutting mechanism close to the latter end of masking tape, and the second cutting mechanism cuts masking tape,
After paper-cut band is cut, the first manipulator 10 drives the second cutting mechanism far from fiery ox 100.In other embodiments, it can also incite somebody to action
Second cutting mechanism is got rid of, and cuts gummed paper by the first cutting mechanism.
In the present embodiment, the first fixed block 41 and the first actuator 42 be respectively positioned on thread releasing mechanism 45 and the second scissors 46 it
Between, so that the first fixed block 41 and the first actuator 42 will not stop the movement of thread releasing mechanism 45 and the second scissors 46.Specifically,
Thread releasing mechanism 45 is set on the first actuator 42, and the second scissors 46 is set to one of the first fixed block 41 far from the first actuator 42
Side.
Second scissors 46 includes two the second shear bodies 461, and one end of two the second shear bodies 461 is slidably connected two the respectively
One connecting rod 432, the other end extend away from the direction of the first fixed block 41；Two the second shear bodies 461 intersect setting simultaneously
Pivot joint.
Coiling auxiliary device 200 further includes suction piece part, for adsorbing gummed paper piece and copper sheet；In the present embodiment, such as Figure 10
Shown, suction piece part is the broken line block 583 with sucker 585, and the free end on broken line block 583 is equipped with incoming line 584.Further
Ground, in the present embodiment, as shown in figure and figure, broken line block 583 is set on the second manipulator 20.In other embodiments, broken line
Block 583 can also be set on the first manipulator 10 or on other manipulators.
In the present embodiment, the operating process of broken line are as follows: when needing broken line, as shown in figure 11, the movement of the second manipulator 20 is driven
Make broken line block 583 close to electric wire, and enter to electric wire in incoming line 584, then the second manipulator 20 drives the second coiling auxiliary
Device 200 is helped to make broken line movement according to broken line requirement with electric wire；After broken line, fiery ox 100 is again in rotation drive device
Row coiling movement is rotated under driving, while the second manipulator 20 drives the movement of the second coiling auxiliary device 200 to make broken line block 583
It is detached from electric wire, and drives the second coiling auxiliary device 200 far from fiery ox 100.When broken line block 583 is set to other coiling auxiliary devices
When on 200, the broken line process and the second machine of the robot drives of the coiling auxiliary device 200 coiling auxiliary device 200 are connected
Tool hand 20 drives the broken line process of the second coiling auxiliary device 200 the same.
In other embodiments, suction piece part is only to have the structure for inhaling gummed paper function, and coiling auxiliary device 200 further includes
Free end is equipped with the broken line block 583 of incoming line 584, and in this embodiment, which is only used for broken line, suction piece part and
Broken line block 583 can be set on the first manipulator 10, can also be respectively arranged on two different manipulators.
Coiling auxiliary manipulator auxiliary system further includes the encapsulated paper device of line, for treating the electricity being wound on fiery ox 100
The starting point of line and/or end encapsulated paper as needed.As shown in Fig. 3, Fig. 7 and Figure 12, the encapsulated paper device of line includes connection
Mounting blocks 61, the elastic pushing block component 70 on mounting blocks 61, connect the shaft 62 for wearing mounting blocks 61 and being pivotally mounted block 61
It connects the briquetting 69 of elastic pushing block component 70 and connects the driving mechanism of shaft 62, be equipped in shaft 62 and be used for what electric wire passed through
Threading hole 66；Threading hole 66 runs through the both ends of shaft 62；One lateral edge shaft 62 of threading hole 66 extends radially to shaft 62
Center position, the other side form opening 67 through shaft 62, mounting blocks 61 and driving mechanism along radially extending for shaft 62,
So that electric wire can laterally entering to threading hole 66 from shaft 62, convenient for electric wire disengaging threading hole 66 in；Shaft 62 has viscous
Paper section 65, the corresponding sticky paper section 65 of briquetting 69 are arranged, and elastic pushing block component 70 is for driving briquetting 69 that gummed paper is pressed on sticky paper section 65
On, driving mechanism is rotated for drive shaft 62, so that collective effect of the gummed paper in the shaft 62 of rotation and the briquetting 69 of platen
Lower curling is cylindrical in shape structure.
If the direction of Figure 13, width towards the center of shaft 62 of threading hole 66 are gradually reduced, this aspect is convenient for electric wire
Entrance, on the other hand enable electric wire to be gradually introduced to the center position of shaft 62.Further, threading hole 66 is close
The side at the center of shaft 62 is arc-shaped shape, so that shaft 62 will not scratch electric wire in rotation.
Shaft 62 includes sequentially connected limit section 63, pivot joint section 64 and sticky paper section 65, and pivot joint section 64 runs through mounting blocks 61,
And it is pivotally mounted block 61；The size for limiting section 63 is greater than the size of pivot joint section 64, and limit section 63 abuts mounting blocks 61.
Further, the lateral surface of sticky paper section 65 has an excircle face 651 and planar portions 653, and planar portions 653 are along turning
Axis 62 it is axially extending.Planar portions 653 are used to paste the starting point of gummed paper, can by the starting point that planar portions 653 paste gummed paper
To increase the starting point of gummed paper and the cohesive force at sticky paper end, so that the starting point of gummed paper is rolled into tubular structure initial phase in gummed paper
Shi Buyi falls off from sticky paper section 65 because pullling power, guarantees that gummed paper can be crimped smoothly and is cylindrical in shape structure.
Still further, as shown in figure 14, the excircle face 651 of sticky paper section 65 is equipped with several grooves 652, groove
The cohesive force of the 652 excircle face 651 and the gummed paper for being rolled into tubular structure for reducing sticky paper section 65, so that tubular structure
Gummed paper can easily be shut down from sticky paper section 65.The shape of groove 652 is unrestricted, can be for along the axis direction of shaft 62
Extended strip, can also in rounded shape, square shape or other shapes.
Briquetting 69 is equipped with elastic layer 691 towards the side of shaft 62, and the corresponding sticky paper section 65 of elastic layer 691 is arranged, so that
Briquetting 69 is pressed on sticky paper layer by elastic layer 691.The setting of elastic layer 691 can make briquetting 69 and sticky paper section 65 is flexible
Contact, rather than rigid contact will not generate gap so that briquetting 69 can be close to sticky paper layer, so that gummed paper can enclose
At the tubular structure of size qualification.
It is corresponding that elastic 70 elastic compression of pushing block component deformation can drive briquetting 69 that can be occurred according to the shape of sticky paper section 65
Displacement, keep being close to sticky paper layer always so that gummed paper can originate in planar portions 653 terminating at planar portions 653, so that gummed paper
It can smoothly crimp and be cylindrical in shape structure.Specifically, elastic pushing block component 70 is set in mounting blocks 61, elastic pushing block component 70 includes pushing away
Bar 71 and drive bar spring 72；One end of push rod 71 connects briquetting 69, and the other end stretches in mounting blocks 61；Bar spring 72 is driven to be located at
In mounting blocks 61, and it is located at side of the push rod 71 far from briquetting 69, the both ends for driving bar spring 72 support push rod 71 and installation respectively
Block 61.
Driving mechanism includes the gear 68 in shaft 62, the elastic pushing block component 70 on mounting blocks 61, connection
The briquetting 69 of elastic pushing block component 70 and the rack gear 80 on another coiling auxiliary device 200, threading hole 66 is along shaft
62 extend radially through gear 68, and rack gear 80 matches with gear 68, the second manipulator 20 drive rack 80 push gear 68 with
Shaft 62 rotates, to realize that gummed paper curling is cylindrical in shape structure.In the present embodiment, gear 68 is set to the pivot joint section 64 of shaft 62
On.
The mounting blocks 61 and rack gear 80 of the encapsulated paper device of line are respectively arranged on two different manipulators, in this implementation
In example, the mounting blocks 61 and rack gear 80 of the encapsulated paper device of line are respectively arranged on the first manipulator 10 and the second manipulator 20.
In the present embodiment, before wire fixing clamp 30 is not grabbed by the second clamp assemblies of the first coiling auxiliary device 200,
Under the driving cooperation of first manipulator 10 and the second manipulator 20, the encapsulated paper device cooperation broken line block 583 of line can need to be wound in
Gummed paper is wrapped as needed in the end of electric wire on fiery ox 100；When the encapsulated paper of line, electric wire needs the part of encapsulated paper to be respectively positioned on solidus
The lower section of folder 30, for example, if the latter end and start-up portion of the electric wire that need to be wound on fiery ox 100 are both needed to cladding sized paper
Or only latter end coats sized paper, then needs the start-up portion and the latter end position that make to be wound in the electric wire on fiery ox 100
In the lower section of wire fixing clamp 30；If the electric wire that need to be wound on fiery ox 100 only has start-up portion that need to coat gummed paper, need to only make to wind
The lower section that electric wire on Yu Huoniu 100 only has start-up portion to be located at wire fixing clamp 30.In the present embodiment, encapsulated paper on electric wire
Operating process are as follows: the movement of the first manipulator 10 drives shaft 62 close to the Cord section below of wire fixing clamp 30, and makes electric wire from wearing
The opening 67 of string holes 66 enters in threading hole 66, and the electric wire position of encapsulated paper is needed to be located at the lower section of sticky paper section 65；Then second
The movement of manipulator 20 drives broken line block 583 to draw gummed paper piece and send to sticky paper section 65, and it is flat to be pasted on the starting point of sticky paper section 65
On face 653, later, the one end for the free end that the second manipulator 20 drives pressing plate 55 to stretch out third clamping bar 541 is pressed on gummed paper piece
Starting point on so that the starting point of gummed paper piece can tightly stick in sticky paper section 65；The subsequent movement of second manipulator 20 drives rack gear
80 meshing gears 68, and gear 68 is driven to move in a straight line, so that gear 68 is rotated with shaft 62, the shaft 62 of rotation is being pressed
Gummed paper curling is cylindrical in shape structure under the cooperation of the briquetting 69 of paper, the gummed paper of tubular structure stretches out sticky paper section 65 far from gear 68
One end；After gummed paper curling is cylindrical in shape structure, the second manipulator 20 acts again drives the third fixture block 547 of third folder 54 to clamp
The gummed paper of tubular structure stretches out the side of the part of sticky paper section 65；Then the movement of the second manipulator 20 drives the second coiling auxiliary dress
The gummed paper for setting 200 pulling tubular structures makes the gummed paper of tubular structure be detached from sticky paper section 65, and moves to the gummed paper of tubular structure
Electric wire needs the position of encapsulated paper, and subsequent second actuator 53 drives third folder 54 to unclamp the gummed paper of tubular structure, and later second
Manipulator 20, which acts, drives third folder 54 is mobile third fixture block 547 is made cover entirely scroll-like gummed paper as far as possible, and later second
Actuator 53 drives third folder 54 to close up, and third folder 54 is made to squeeze the gummed paper of entire reel structure, so that entire reel knot
The gummed paper of structure tightly sticks on the part of the encapsulated paper of need of electric wire；The third folder 54 of second actuator 53 driving later unclamps tubular knot
The gummed paper of structure, the second manipulator 20 drive the second coiling auxiliary device 200 far from electric wire, and the work of coating electric wire gummed paper is completed.
When the start-up portion and latter end that the position that electric wire need to coat gummed paper is electric wire, operation above-mentioned twice is passed in and out, if
Live wire need to coat the start-up portion or latter end of the part live wire of gummed paper, only carry out an aforesaid operations.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (16)
1. a kind of auxiliary coil winding machinery hand combined system, which is characterized in that including manipulator and the connection manipulator around
Line auxiliary device, the coiling auxiliary device are installed under the driving of the manipulator from fiery ox feeding mechanism ox of getting fire
In rotation drive device, then from the thread supplying device take electric wire, the fire that auxiliary wire intertwist drives in the rotation drive device
Niu Shang.
2. auxiliary coil winding machinery hand combined system according to claim 1, which is characterized in that the quantity of the manipulator is
At least one；The coiling auxiliary device includes the first clamping device, the second clamping device and the first cutting mechanism, and described the
One clamping device is used to clamp the starting point to be wound in the electric wire on fiery ox, or for clamping the electric wire being wound on fiery ox
Latter end；Second clamping device is for clamping fiery ox；First cutting mechanism is used to wind electric wire in fiery ox
After cut electric wire.
3. auxiliary coil winding machinery hand combined system according to claim 2, which is characterized in that further include for being installed on confession
Wire fixing clamp on line apparatus, the wire fixing clamp have the electric wire passageway passed through for electric wire；The wire fixing clamp corresponds to described second
Clamping device setting, is used for second gripper mechanism grips.
4. auxiliary coil winding machinery hand combined system according to claim 3, which is characterized in that the wire fixing clamp, which has, to be used for
Fasten the solidus structure of electric wire；The coiling auxiliary device further includes thread releasing mechanism and third clamping device, the thread releasing mechanism
The corresponding second clamping device setting, for driving wire fixing clamp to unclamp electric wire after the second gripper mechanism grips wire fixing clamp；Institute
Third clamping device is stated for clamping the starting point of electric wire after wire fixing clamp unclamps electric wire.
5. auxiliary coil winding machinery hand combined system according to claim 4, which is characterized in that the wire fixing clamp includes threading
Frame and solidus structure, the threading is provided with the first perforation, perforate and be connected to first perforation coaxial second described in
First perforation and biperforate accommodating cavity；The solidus structure includes saddle, quiet piece of crimping and driving spring；It is described
One end of saddle is located at outside the threading frame, and the other end passes through the wire fixing clamp and stretches in the accommodating cavity, and the company of being formed with
Lead to first perforation and biperforate third perforation；First perforation, the second perforation and third perforation composition are for electricity
The electric wire passageway that line passes through；Quiet piece of the crimping is set on threading frame, and stretches in the third perforation；The saddle tool
There is the line pressing rod for being located at the quiet piece of side far from the pushing hands of the crimping；The driving spring linkage saddle, for driving
Electric wire is pressed on quiet piece of the crimping by dynamic pressure line bar；The thread releasing mechanism is used for by overcoming the resistance of the driving spring to push away
The saddle is moved, to drive line pressing rod far from quiet piece of crimping to unclamp electric wire.
6. auxiliary coil winding machinery hand combined system according to claim 4, which is characterized in that the quantity of the manipulator is
At least two, first clamping device, the second clamping device and thread releasing mechanism are set on a manipulator；The third clamping
Mechanism and the first cutting mechanism are set on another manipulator.
7. auxiliary coil winding machinery hand combined system according to claim 6, which is characterized in that the first clamping device packet
The first clamp assemblies and actuator are included, second clamping device includes the second clamp assemblies and actuator, the third clamping
Mechanism includes third clamp assemblies and actuator, and the first severing structure includes the first scissors and actuator；First folder
It holds mechanism and the second clamping device shares an actuator, the actuator that first clamping device and the second clamping device share
For the first actuator, first actuator is for driving the first clamp assemblies and the second clamp assemblies to carry out holding action；Institute
It states third clamping device and the first cutting mechanism shares an actuator, the third clamping device and the first cutting mechanism share
Actuator be the second actuator, the second actuator for third clamp assemblies carry out holding action and driving the first scissors into
Row cutting movement.
8. auxiliary coil winding machinery hand combined system according to claim 7, which is characterized in that third clamp assemblies position
In the side of second actuator, the third clamp assemblies include the third folder of two connections, second actuator, institute
Third folder is stated with third clamping bar, the third clamping bar has bar free end and bar fixing end, two third clamping bar faces
Side to each other is equipped with the first fixture block.
9. auxiliary coil winding machinery hand combined system according to claim 8, which is characterized in that on the two third clamping bars also
Equipped with the second fixture block being set side by side with first fixture block；The side of the second fixture block facing each other is equipped with for clamping
The clamp slot of sebific duct, the clamp slot are laterally extended along the third clamping bar set on second fixture block；Second fixture block
The third clamping bar is connected by connecting spring.
10. auxiliary coil winding machinery hand combined system according to claim 9, which is characterized in that first fixture block towards
The clamp slot for clamping electric wire is correspondingly provided on mutual side, the clamp slot is set along being laterally extended for third clamping bar
In second fixture block, and first fixture block is run through at the both ends of the clamp slot.
11. the auxiliary coil winding machinery hand combined system according to claim 8 to 10, which is characterized in that first fixture block
The third fixture block for doubling paper, the third fixture block and described first are equipped with close to the side of the free end of the third clamping bar
Fixture block flushes setting.
12. auxiliary coil winding machinery hand combined system according to claim 11, which is characterized in that the coiling auxiliary device
It further include pinch roller.
13. auxiliary coil winding machinery hand combined system according to claim 12, which is characterized in that the coiling auxiliary device
It further include the second cutting mechanism for cutting gummed paper, it is different that first cutting mechanism and the second cutting mechanism are respectively arranged on two
On manipulator.
14. auxiliary coil winding machinery hand combined system according to claim 1, which is characterized in that the coiling auxiliary device
It further include suction piece part and the encapsulated mechanism of paper of line；The encapsulated mechanism of paper of line includes mounting blocks, the pivot joint mounting blocks and runs through institute
State the shaft of mounting blocks, the resiliency urged mechanism on the mounting blocks, the connection resiliency urged mechanism briquetting and
The driving mechanism of the shaft is connected, is equipped with the threading hole passed through for electric wire, a lateral edge of the threading hole in the shaft
The center position for extending radially to the shaft of the shaft, the other side turn along radially extending for the shaft through described
Axis, mounting blocks and driving mechanism form opening；The shaft has sticky paper section, and the briquetting corresponds to the sticky paper section setting, institute
Resiliency urged mechanism is stated for driving briquetting that gummed paper is pressed on sticky paper section.
15. auxiliary coil winding machinery hand combined system according to claim 14, which is characterized in that the suction piece part be equipped with
The free end of the broken line block of sucker, the broken line block is equipped with entrance hole.
16. according to the described in any item auxiliary coil winding machinery hand combined systems of claim 2 to 10, which is characterized in that it is described around
Line auxiliary device includes broken line block, and the free end of the broken line block is equipped with incoming line.
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| CN201811643436.7A CN109545541A (en) | 2018-12-29 | 2018-12-29 | Assist coil winding machinery hand combined system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111640565A (en) * | 2020-05-11 | 2020-09-08 | 湖北华磁电子科技有限公司 | Be used for quick extracting device of soft magnetic ferrite magnetic core split |
| CN115490083A (en) * | 2022-09-21 | 2022-12-20 | 哈尔滨工业大学 | Yarn hanging and cutting mechanism for fiber winding forming |
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| CN108335906A (en) * | 2018-04-23 | 2018-07-27 | 揭阳市揭东区新美得福电子有限公司 | A kind of colour coding inductance coil winding machine |
| CN209561208U (en) * | 2018-12-29 | 2019-10-29 | 鲁班嫡系机器人（深圳）有限公司 | Assist coil winding machinery hand combined system |
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| CN111640565A (en) * | 2020-05-11 | 2020-09-08 | 湖北华磁电子科技有限公司 | Be used for quick extracting device of soft magnetic ferrite magnetic core split |
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| CN115490083A (en) * | 2022-09-21 | 2022-12-20 | 哈尔滨工业大学 | Yarn hanging and cutting mechanism for fiber winding forming |
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Effective date of registration: 20200427 Address after: Henggang street Longgang District of Shenzhen City, Guangdong province 518172 about six Jin Tang Industrial Zone Qin Fu Road No. 28 building A 5F Applicant after: ROBOTICS ROBOTICS (SHENZHEN) Ltd. Applicant after: Baohui Technology (Longnan) Co., Ltd Address before: Henggang street Longgang District of Shenzhen City, Guangdong province 518172 about six Jin Tang Industrial Zone Qin Fu Road No. 28 building A 5F Applicant before: ROBOTICS ROBOTICS (SHENZHEN) Ltd. |