How to improve the working efficiency of the winding machine

At present, the thread winding machine domestic manufacture of air-core coils is mainly by manually winding wire plates onto the wire plates. Not only does it require a large amount of labor, but winding errors can also lead to an increase in the scrap rate. Generally speaking, the production efficiency of air-core coils in my country is very low. Foreign countries are relatively mature in the production of hollow coils. The hollow coil production line mainly relies on the coordination of multiple automation equipment. Among them, the feeding of the manipulator and the precision machine are essential for the precise winding of the coil. Therefore, rationally optimizing the design of the manipulator of the hollow coil winding machine is a key factor for the normal and efficient production of the hollow coil. The production line of the hollow coil cannot be separated from the efficient application of the manipulator. After the coil is wound, it becomes a semi-finished product. At this time, the coil needs After a certain amount of treatment, it can be processed into finished products. However, the temperature of the coil that has just been processed into a semi-finished product is very high, and it takes a lot of time to manually remove and install it on the precision machine. The purpose of this research is to design a manipulator system that can move from multiple angles. Simulate the coil production process and determine a set of optimization schemes based on the simulation results so that the manipulator can complete the process from feeding to equipment to the precision machine spindle.

The production of a series of moving coils mainly relies on the oblique winding method. The advantage of this winding method is that the winding method is simple and does not require extra actions, and the winding coils are tightly arranged. This oblique winding method is very suitable for coils. Mass production. According to actual needs, if the diameter of the coil is changed during the production of coils of different diameters, only the corresponding coil core sleeve needs to be replaced. Different types of coils correspond to different sizes of core shafts. In the process of processing the coil, the nozzle moves in a straight line along the core shaft, and the motor drives the core shaft to rotate at a constant speed, and the copper wire trajectory is oblique. The unprocessed coil is installed on the main shaft by the manipulator, and then the copper wire is wound on the coil by the winding machine through the oblique winding method, and then passes through the main shaft of the precision machine, then to the precision coil of the precision machine, and finally completes the production of the coil. This research needs to design the manipulator for loading and unloading, aiming to enable the manipulator to cooperate with the winding machine and the precision machine to connect normally to complete the automatic production of the coil.

In the early stage of design, it is necessary to determine the space required for loading and unloading and the docking position, that is, the position relationship between the winding machine end coil mandrel sleeve axis and the precision machine main shaft. After confirming the position and docking relationship, the position of the manipulator and the docking position shall be determined according to the actual situation. The design of each action can not only solve the space problem, but also save energy and reduce costs as much as possible. In the process of moving the manipulator from the initial position to the end position of the winding machine, the manipulator grasps the coil and moves to the middle position, and assembles the coil on the spindle of the precision machine. During the movement of the manipulator to the winding machine, this action can be realized by moving the pair in a straight line. This movement determines a degree of freedom and is set as the X-axis moving pair; the gripping coil and the loosening coil of the manipulator can be It is realized by positive and negative linear movement.

To complete this movement, the moving pair can be clamped by the claw along the linear direction. Due to the presence of a baffle in the production line, the action of leaving the winding machine needs to bypass the baffle. Therefore, the manipulator needs to move up a certain displacement in the vertical direction when moving, and then bypass the baffle horizontally. These two actions are horizontal and free. The degree is the same as the first X-axis movement pair. The vertical direction independently determines a degree of freedom of movement, which is set as the Z-axis movement pair, and Z is opposite to the direction of gravitational acceleration; the final assembly action requires another movement pair in the horizontal plane perpendicular to the X direction to complete the action, which is set as the fourth degree of freedom , Set to Y mobile sub. Therefore, it is determined that the manipulator has 4 degrees of freedom, that is, 3 degrees of freedom of movement, 1 degree of freedom for gripping, and 3 movement pairs are in the Cartesian coordinate system, and the degree of freedom for gripping of the gripper is in the z-axis direction.