CN107294319A - A kind of seven axle brushless motor stator coil winding machines - Google Patents

Abstract

The invention discloses a seven-axis brushless motor stator winding machine, which includes a frame, an XY-axis drive structure is installed on the frame, and a Z-axis structure is arranged above the XY-axis drive structure, and a Z-axis structure is arranged on the right side of the frame. There is a rotary vertical shaft structure, and a clamping linkage mechanism is arranged above the rotary vertical shaft structure. Stator clamping fixture. The synchronous belt of the seven-axis brushless motor stator winding machine can withstand higher reciprocating frequency, the movement is accurate, the motion repeat positioning accuracy is within 0.03mm, the structural stability is higher, and it has the characteristics of easy replacement and maintenance of the synchronous belt. The cooperation between the transmission parts is connected by the expansion coupling, the transmission torque is large, and there is no backlash, which ensures that it will not loosen after long-term use. After the winding machine uses the winding rod structure, the wire can be passed under the stator, and there is no need to wind the wire to cause workpieces. It is difficult to pick and place, and it can also do automatic loading and unloading.

Description

A seven-axis brushless motor stator winding machine

technical field

The invention relates to the technical field of stator winding machines, in particular to a seven-axis brushless motor stator winding machine.

Background technique

The stator winding machine is a kind of equipment used to wind the stator winding. There is a great demand in the field of motor manufacturing. At present, the common stator winding machines on the market generally use a cam structure on the Z axis, which cannot be quickly changed to adapt to different The stator is stacked thick, the Z-axis timing belt is too far away from the driving parts, the rigidity is low, the timing belt is easily damaged, it is inconvenient to control, and the maintenance and replacement of the timing belt is difficult. It is necessary to loosen one end of the rotary shaft, and the workload is heavy. The needle and the winding rod are integrally turned over. The winding process needs to be wound. The stator is not easy to remove after the thread is wound. It cannot realize automatic loading and unloading and is unpredictable. The clamping structure is small and light. The winding rod is compact and reliable. Lower driving inertia is required, the rotary indexing structure cannot withstand higher inertia, the winding speed of the stator with large outer diameter is slow, and the backlash increases after the return indexing structure is used for a long time, the reliability is low, and the copper wire is winding There are many transitional turns at the wire rod, and the tension loss is large. So there is an urgent need for a new type of seven-axis brushless motor stator winding machine.

Contents of the invention

The purpose of the present invention is to provide a seven-axis brushless motor stator winding machine to solve the problems of unreasonable design, difficult installation and maintenance, and easy to cause the light emitting surface to be too small and the surface light intensity to be too high. High, causing visual disturbance problems for people at night.

In order to achieve the above object, the present invention provides the following technical solution, a seven-axis brushless motor stator winding machine, including a frame, an XY-axis drive structure is installed on the frame, and a Z-axis structure is arranged above the XY-axis drive structure , the right side of the frame is provided with a rotary vertical shaft structure, and a clamping linkage mechanism is provided above the rotary vertical shaft structure, a winding rod mechanism is provided on the right side of the Z-axis mechanism, and the winding rod mechanism is connected with the thread trimming mechanism, The rotary vertical shaft mechanism is provided with a stator clamping tool.

Preferably, the rack includes a rack body and an exterior protective cover, and the appearance protective cover wraps the rack body.

Preferably, the XY-axis driving structure includes a servo motor and a screw, and the servo motor is connected to the screw, and there are two servo motors.

Preferably, the Z-axis structure includes an upper synchronous pulley, a lower synchronous pulley, a tooling platform, a mounting base plate, a synchronous belt, a guide rail, an active drive and an expansion connector, and the center of the Z-axis structure is provided with an active drive, And the installation floor of the installation workbench is arranged under the active drive, the upper synchronous pulley and the lower synchronous pulley are installed on the guide rail through the synchronous belt, the two ends of the active drive are provided with expansion connectors, and the expansion connectors have and There are two.

Preferably, the synchronous belt and the guide rail are in a plane-parallel structure, the rotating shaft of the synchronous belt is supported at both ends, and the machining accuracy of the mounting base is controlled.

Preferably, the synchronous belt has an open structure, and the output reduction ratio of the synchronous belt is 1:3.

Preferably, the rotary vertical shaft structure includes a rotary shaft, double deep groove ball bearings and self-aligning ball bearings, and the two ends of the rotary vertical shaft structure are double deep groove ball bearings, and the rear end of the rotary shaft is provided with self-aligning ball bearings, and the double The reciprocating concentricity of the deep groove ball bearing is ≤0.02mm, the tail end of the rotary shaft and the self-aligning ball bearing are fixed by screws, and the outer ring of the self-aligning ball bearing sleeve and the rotary shaft have a clearance fit.

Preferably, the inside of the clamping linkage mechanism is a stator pressure hook, and the stator pressure hook of the clamping linkage mechanism is connected with the thread trimming mechanism.

Preferably, the tip of the winding rod mechanism is a guide needle, the guide needle is in an active rotating structure, and the winding rod structure and the guide needle form a 90° flip.

Preferably, the thread trimming mechanism includes a cylinder, pneumatic scissors, a flat cylinder, a clamping cylinder and a connecting plate, the pneumatic scissors are arranged at the center below the thread trimming mechanism, and cylinders are respectively provided at both ends of the pneumatic scissors, and the cylinders are divided into It is a flat cylinder and a clamping cylinder, the flat cylinder is connected with the copper wire circuit, and the clamping cylinder is installed on the connecting plate.

Compared with the prior art, the beneficial effects of the present invention are: the synchronous belt of the seven-axis brushless motor stator winding machine can withstand higher reciprocating frequency, the action is accurate, the repeat positioning accuracy of the movement is within 0.03mm, and the structure is stable. It is higher and has the characteristics of easy replacement and maintenance of the synchronous belt. The transmission parts are connected by expansion couplings. The transmission torque is large and there is no backlash, ensuring that it will not loosen after long-term use. The winding machine uses winding rods After the structure, the wire can be passed under the stator without winding the wire to make it difficult to pick and place the workpiece, and it can also do automatic loading and unloading. The two ends of the active drive are equipped with expansion connectors, and there are two expansion connectors, so that the structure is tightly connected, there is no looseness in the reciprocating movement, and there is no backlash. The timing belt and the guide rail are in a plane-parallel structure. They are all supporting structures at both ends, and by controlling the machining accuracy of the installation base plate, the joint of the synchronous belt is closer to the surface of the part that needs to be driven, the structure is more compact, lighter, and the rigidity is better, and it can ensure better parallelism of the synchronous belt The possibility of deformation of the rotary shaft is lower, the rotary bearing is more durable, the synchronous belt is an open structure, and the output reduction ratio of the synchronous belt is 1:3, it is very convenient to replace the synchronous belt, and the tension of the synchronous belt is easy to adjust, and it is safe and reliable , the reduction ratio is 1:3, which can achieve high precision and high transmission efficiency, and the transmission efficiency reaches 97%. The rotary vertical shaft structure includes rotary shaft, double deep groove ball bearings and self-aligning ball bearings, and the two ends of the rotary vertical shaft structure are double deep Groove ball bearings, the end of the rotary shaft is equipped with self-aligning ball bearings, and the reciprocating concentricity of the double deep groove ball bearings is ≤0.02mm, the end of the rotary shaft and the self-aligning ball bearings are fixed by screws, self-aligning ball bearings The outer ring of the sleeve and the rotary shaft are in clearance fit, so the rotary shaft has high precision and no over-positioning phenomenon, ensuring that the rotary shaft can run with high stability for a long time. The wire rod structure and the guide pin form a 90° flip. The structure is compact and light. The cylinder is divided into a flat cylinder and a clamping cylinder. On the connection board, the copper wire line is straight, with few turns, and the winding tension loss is small. The wire clamping cylinder is installed on the connection board, which has strong rigidity and reliable wire clamping.

Description of drawings

Fig. 1 is a schematic diagram of the back structure of the present invention;

Fig. 2 is the D-D side view structure schematic diagram of the present invention;

Fig. 3 is the front cross-sectional structure schematic diagram of the present invention;

Fig. 4 is the schematic diagram of enlarged structure at A place in Fig. 2 of the present invention;

Fig. 5 is a schematic diagram of the enlarged structure at B in Fig. 3 of the present invention.

In the figure: 1, frame, 101, frame body, 102, appearance protective cover, 2, XY axis drive structure, 201, servo motor, 202, lead screw, 3, Z axis structure, 301, upper synchronous pulley, 302, lower synchronous pulley, 303, tooling table, 304, installation base plate, 305, synchronous belt, 306, guide rail, 307, active drive, 308, expansion joint, 4, rotary vertical shaft mechanism, 401, rotary shaft, 402 , double deep groove ball bearing, 403, self-aligning ball bearing, 5, clamping linkage mechanism, 501, stator pressure hook, 6, winding rod mechanism, 601, guide pin, 7, thread trimming mechanism, 701, cylinder, 702 , Pneumatic scissors, 703, flat cylinder, 704, clamping cylinder, 705, connecting plate, 8, stator clamping tooling.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-5, the present invention provides a technical solution: a seven-axis brushless motor stator winding machine, including a frame 1, an XY-axis drive structure 2 is installed on the frame 1, and the XY-axis drive structure 2 The Z-axis structure 3 is arranged above, the frame 1 includes the frame body 101 and the appearance protective cover 102, and the appearance protective cover 102 wraps the frame body 101, the XY-axis driving structure 2 includes the servo motor 201 and the screw rod 202, and the servo motor 201 connects screw mandrel 202, and its servomotor 201 has two, and Z-axis structure 3 comprises upper synchronous belt pulley 301, lower synchronous belt pulley 302, tooling platform 303, installation base plate 304, synchronous belt 305, guide rail 306, driving drive 307 and The expansion joint 308 is provided with an active drive 307 at the center of the Z-axis structure 3, and an active drive 307 is provided at the center of the Z-axis structure 3, and the installation base plate 304 of the workbench 303 is provided under the active drive 307, and the upper and lower synchronous The pulley 301 and the lower synchronous pulley 302 are installed on the guide rail 306 through the synchronous belt 305, and the two ends of the active drive 307 are provided with expansion connectors 308, and there are two or more expansion connectors 308, so that the structure is tightly connected and reciprocating There is no looseness and no backlash in the movement. The synchronous belt 305 and the guide rail 306 are plane-parallel structures. The rotary shaft 401 of the synchronous belt 305 is a support structure at both ends. It is compact, light, and rigid, and can ensure better parallelism of the synchronous belt 305. The possibility of deformation of the rotary shaft 401 is lower, and the rotary bearing is more durable. The synchronous belt 305 is an open structure, and the synchronous belt 305 has an output reduction ratio It is 1:3, and it is very convenient to replace the timing belt 305. At the same time, the tension of the timing belt 305 is easy to adjust, and it is safe and reliable. The reduction ratio is 1:3, which can achieve high precision and high transmission efficiency. The transmission efficiency reaches 97%. The right side is provided with a rotary vertical shaft structure 4, and a clamping linkage mechanism 5 is arranged above the rotary vertical shaft structure 4. The rotary vertical shaft structure 4 includes a rotary shaft 401, double deep groove ball bearings 402 and self-aligning ball bearings 403, and the rotary vertical shaft structure 4 Both ends are double deep groove ball bearings 401, and the end of the rotary shaft 401 is equipped with self-aligning ball bearings 403, and the reciprocating concentricity of the double deep groove ball bearings 402 is ≤0.02mm, and the tail end of the rotary shaft 401 is connected to the self-aligning ball bearings. 403 is a screw-fixed structure, and the outer ring of the self-aligning ball bearing 403 is in clearance fit with the rotary shaft 401, so the rotary shaft 401 has high precision and no over-positioning phenomenon, ensuring that the rotary shaft 401 can run with high stability for a long time, and the clamping linkage mechanism 5 inside is the stator pressure hook 501, and the stator pressure hook 501 of the clamping linkage mechanism 5 is connected with the thread trimming mechanism 7, and the winding lever mechanism 6 is arranged on the right side of the Z-axis mechanism 3, and the winding lever mechanism 6 is connected with the thread cutting mechanism The mechanism 7 is connected, the tip of the winding rod mechanism 6 is a guide needle 601, and the guide needle 601 is an active rotating structure, and the winding rod structure 6 and the guide needle 601 form a 90° flip, the structure is compact, and the weight is light. The thread trimming mechanism 7 includes Cylinder 701, pneumatic scissors 70 2. The flat cylinder 703, clamping cylinder 704 and connecting plate 705, the pneumatic scissors 702 are arranged at the center below the thread trimming mechanism 7, and the two ends of the pneumatic scissors 702 are respectively equipped with cylinders 701, and the cylinders 701 are divided into flat cylinders 703 and clips. Wire cylinder 704, its flat cylinder 703 is connected to the copper wire circuit, and the clamping cylinder 704 is installed on the connecting plate 705, and the clamping cylinder 704 is installed on the connecting plate 705 so that the copper wire circuit is straight, there are few turns, and the winding is of high tension. The loss is small, and the thread clamping cylinder 704 is installed on the connecting plate 705, which has strong rigidity and reliable thread clamping. The rotary vertical shaft mechanism 4 is provided with a stator clamping tool 8.

Working principle: When using the seven-axis brushless motor stator winding machine, the Y-axis of the XY-axis drive mechanism 2 moves to the front and negative direction to the middle of the stator clamping tool 8, and the Z-axis mechanism 3 moves to the negative direction to drive the winding The rod structure 6 moves downward to clamp the wire clamping position of the stator clamping tool 8, and the cylinder 701 moves to clamp the wire end, and moves upward to the top of the stator, where the winding starting point is, and the rotary vertical shaft mechanism 4 and the Z-axis mechanism 3 are linked to perform the winding copying action , so that the guide pin 601 can wind the copper wire into the stator slot one by one, and at the same time, the Y-axis of the XY-axis driving mechanism 2 synchronously arranges the wires, and the copper wire is detoured in the stator slot layer by layer until one slot is full. The rod structure 6 is pushed out by the flat cylinder 703. At the same time, the Z bearing is coordinated with the X axis to ensure that the relative position of the needle head does not change when the guide pin 601 is turned 90°, so that the copper wire will not be pulled out too long and cause the copper wire to loosen. The XY-axis drive mechanism 2 moves in the positive direction of the X-axis to drive the guide pin 601 to move into the slot, the rotary vertical shaft mechanism 4 rotates to drive the stator to rotate to the required position, and the XY-axis drive mechanism 2 drives the guide pin 601 to move to the inside of the stator. After jumping between slots and crossing the line, the winding rod structure 6 flat cylinder 703 retracts, and at the same time, the Z bearing cooperates with the X axis to ensure that the relative position of the needle head does not change when the guide pin 601 is turned over 90° and the guide pin 601 becomes horizontal. Make sure that the copper wire will not be pulled out too long and cause the copper wire to loosen. Move to the starting winding point and repeat the second winding. To jump between each phase of the stator winding, you need to move the guide pin 601 down to the stator clamping tool 8. Under the inner hook, then turn the vertical shaft mechanism 4 to drive the stator to rotate to the corresponding phase, and the Z-axis mechanism 3 moves in the positive direction to drive the guide to move upward to the starting point of the winding, and then repeat the winding profiling action, winding After the completion, the cylinder 701 of the thread trimming mechanism 7 is pushed out, the pneumatic scissors 702 move to the alternate line passing position, and the copper wire is cut off. , push the stator pressing hook 501 to open, the stator can be taken out smoothly at this time, and a working cycle is completed. This is the use process of the seven-axis brushless motor stator winding machine.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (10)

1. A seven-axis brushless motor stator winding machine, comprising a frame (1), is characterized in that: an XY axis drive structure (2) is installed on the frame (1), and the XY axis drive structure (2 ) is provided with a Z-axis structure (3), the right side of the frame (1) is provided with a rotary vertical shaft structure (4), and a clamping linkage mechanism (5) is provided above the rotary vertical shaft structure (4), and the Z-axis The right side of the mechanism (3) is provided with a winding rod mechanism (6), and the winding rod mechanism (6) is connected with the thread trimming mechanism (7), and the rotary vertical shaft mechanism (4) is provided with a stator clamping tool (8 ). 2. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the frame (1) includes a frame body (101) and an appearance protective cover (102), and the appearance protection The cover (102) wraps the frame body (101). 3. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the XY axis drive structure (2) includes a servo motor (201) and a screw (202), and the servo motor (201) connects screw mandrel (202), and its servomotor (201) has two. 4. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the Z-axis structure (3) includes an upper synchronous pulley (301), a lower synchronous pulley (302), Tooling table (303), mounting base plate (304), timing belt (305), guide rail (306), active drive (307) and expansion joint (308), the center of the Z-axis structure (3) is equipped with an active drive (307), the central position of its Z-axis structure (3) is provided with an active drive (307), and the bottom of the active drive (307) is provided with the mounting base plate (304) of the workbench (303), and the upper synchronous pulley (301) The lower synchronous pulley (302) is installed on the guide rail (306) through the synchronous belt (305), and the two ends of the active drive (307) are provided with expansion joints (308), and the expansion joints (308) are set There are two. 5. A seven-axis brushless motor stator winding machine according to claim 4, characterized in that: the synchronous belt (305) and the guide rail (306) are plane-parallel structures, and the rotating shaft of the synchronous belt (305) (401) are both ends supporting structures. 6. A seven-axis brushless motor stator winding machine according to claim 4, characterized in that: the timing belt (305) is an open structure, and the output reduction ratio of the timing belt (305) is 1:3. 7. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the rotary vertical shaft structure (4) includes a rotary shaft (401), double deep groove ball bearings (402) and adjustable The center ball bearing (403), and the two ends of the rotary vertical shaft structure (4) are double deep groove ball bearings (402), and the tail end of the rotary shaft (401) is provided with self-aligning ball bearings (403), and the double deep groove ball bearings The reciprocating concentricity of (402) is less than or equal to 0.02mm, the tail end of the rotary shaft (401) and the self-aligning ball bearing (403) are fixed by screws, and the gap between the outer ring of the bearing sleeve of the self-aligning ball bearing (403) and the rotary shaft (401) Cooperate. 8. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the inside of the clamping linkage mechanism (5) is a stator pressing hook (501), and the clamping linkage mechanism (5) ) of the stator pressure hook (501) is connected with the thread trimming mechanism (7). 9. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the tip of the winding rod mechanism (6) is a guide pin (601), and the guide pin (601) is active The structure is rotated, and the winding rod structure (6) and the guide pin (601) form a 90° flip. 10. A seven-axis brushless motor stator winding machine according to claim 1, characterized in that: the thread trimming mechanism (7) includes a cylinder (701), pneumatic scissors (702), a flat cylinder (703) , thread clamping cylinder (704) and connecting plate (705), its pneumatic scissors (702) are arranged at the center below the thread trimming mechanism (7), and the two ends of the pneumatic scissors (702) are respectively provided with cylinders (701), the described Cylinder (701) is divided into flat cylinder (703) and clamping cylinder (704), and its flat cylinder (703) is connected with copper wire circuit, and clamping cylinder (704) is installed on the connection plate (705).