CN109888994A - A kind of thread feeding mechanism for electric machine winding - Google Patents
A kind of thread feeding mechanism for electric machine winding Download PDFInfo
- Publication number
- CN109888994A CN109888994A CN201910154206.2A CN201910154206A CN109888994A CN 109888994 A CN109888994 A CN 109888994A CN 201910154206 A CN201910154206 A CN 201910154206A CN 109888994 A CN109888994 A CN 109888994A
- Authority
- CN
- China
- Prior art keywords
- wire feeding
- feeding box
- drum
- coiling
- electric machine
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/04—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of windings, prior to mounting into machines
- H02K15/0435—Wound windings
Abstract
The invention discloses a kind of thread feeding mechanisms for electric machine winding, including distribution control box, rear wire feeding box, preceding wire feeding box, bobbin winder device；Wire feeding box connects line sending motor afterwards；Drum is equipped in wire feeding box and preceding wire feeding box afterwards；Drum connecting line coil motor；Drum interior side is equipped with line sending pipe, and drum front end is equipped with coiling guide head, line sending head；Coiling bottom plate connects clamping motor in bobbin winder device；The rotary shaft connecting with rotating electric machine is provided on coiling bottom plate；Coiling bottom plate two sides are equipped with slide bar；The lower end of the slider connects pusher cylinder, and upper end connects articulated slab；Articulated slab is equipped with coiling guide clip；Conical indenter is equipped with above rotary shaft to be located in U-board.It is able to achieve the full-automatic coiling of product coil, and coil winding is reliable and stable, and uniformity is good, and coiling speed is fast, greatly improves motor production efficiency, reduces labor intensity of workers.
Description
Original bill application number: 2016105723970
Original bill applicant: Dongguan University of Technology
The original bill applying date: on July 20th, 2016
A kind of original bill application title: automatic winding machine with motor.
Technical field
The present invention relates to electrical-coil winding technology field more particularly to a kind of thread feeding mechanisms for electric machine winding.
Background technique
Motor is commonly called as motor, is the power source of various electric appliances and mechanical equipment.It is able to achieve the conversion of electric energy and kinetic energy.Electricity
Machine is divided into many types, but inside is designed with stator and rotor, is wound with conductive coil on stator or rotor, utilizes electromagnetic induction
Principle rotates stator or rotor with conductive coil under magnetic fields, therefore the coiling of coil is in motor production
Indispensable link, if using artificial winding, time-consuming and laborious, inefficiency, and the coil of artificial winding is in uniformity and can
It is poor in property stability, motor quality and energy consumption are seriously affected, existing Winding machine of motor coil is due to falling in structure
It is relatively low that there is also efficiency afterwards, stablizes the disadvantage of difference, can not effectively realize the automatical and efficient coiling of electrical-coil.
Summary of the invention
The purpose of the present invention is providing a kind of thread feeding mechanism for electric machine winding in view of the above problems, it is able to achieve product
The full-automatic coiling of coil, coil winding is reliable and stable, and uniformity is good, and coiling speed is fast, greatly improves motor production efficiency, drop
Low labor intensity of workers.
In order to achieve the above object, the technical solution adopted by the present invention is that: a kind of thread feeding mechanism for electric machine winding, it is wrapped
It includes distribution control box (1), distribution control box (1) upper end is provided with deck plate (5)；It is arranged on the deck plate (5) mutual
The rear wire feeding box (6) and preceding wire feeding box (7) of connection；Preceding wire feeding box (7) front end is provided with bobbin winder device (3)；It is sent after described
Wire feeding box guide rail (9) are provided between line case (6) and deck plate (5)；Wire feeding box (6) underrun straight reciprocating motion after described
Mechanism is connect with line sending motor (8)；Drum (21) are provided in wire feeding box (6) and preceding wire feeding box (7) after described；The drum
(21) pass through synchronous belt (23) connecting line coil motor (24)；Drum (21) interior side is provided with line sending pipe (28)；It is described
Drum (21) front end face in preceding wire feeding box (7) is provided centrally with coiling guide head (26), and side is provided with line sending head (25)；Institute
Coiling guide head (26) mandril (27) internal with drum (21) is stated to connect；In mandril (27) tail end and rear wire feeding box (6)
The front end face of drum (21) be fixedly connected；
The bobbin winder device (3) includes the coiling bottom plate (33) being connect by coiling sliding rail (34) with deck plate (5)；The coiling
Bottom plate (33) underrun linear reciprocating mechanism is connect with clamping motor (35)；Rotation is provided on the coiling bottom plate (33)
Shaft (32)；Rotary shaft (32) bottom end is by synchronous pulley driving mechanism (41) and is fixed on coiling bottom plate (33) bottom end
Rotating electric machine (40) connection；Coiling bottom plate (33) both ends are symmetrically arranged with two slide bars (37)；Slide bar (37) top
It connects U-board (42), lower end is connect with the pusher cylinder (39) for being hinged on coiling bottom plate (33) bottom end, one pair of them slide bar (37)
Top is hinged with articulated joint (36), is hinged with articulated slab (44) between the articulated joint (36)；Pass through on the articulated slab (44)
Linear bearing connects coiling guide clip (43)；The coiling guide clip (43) and the upper guide card cylinder being fixed on articulated slab (44)
(31) it connects；Conical indenter (38) are provided with right above the rotary shaft (32)；The conical indenter (38) is fixed on U-board
(42) lower end；The rotary shaft (32) is located at immediately ahead of coiling guide head (26)；The coiling guide clip (43) is led positioned at coiling
Above to head (26).
Further, inner hole pipe (281) are evenly arranged in the line sending pipe (28)；Line sending head (25) front end is uniform
Fine duct (251) is provided with to be connected to inner hole pipe (281).
Further, the coiling guide clip (43) includes two guide plates arranged in parallel for constituting V-groove
(431)；The guide plate (431) is truncated rectangular pyramids shape.
Further, the coiling guide head (26) includes V-type guide block (261) and constitutes cross structure therewith and symmetrically set
The two pieces of movable guide plates (262) set；Movable guide plate (262) end face, V-type guide block (261) end face two sides are provided with inclined-plane
(267).
Further, the waist that connecting rod (263) is located at limit plate (264) center is provided among the V-type guide block (261)
In shape hole；The limit plate (264) is fixed on drum (21) end face；Movable guide plate (262) the tail end side is hinged with short axle
(265)；Short axle (265) both ends are provided with idler wheel (266)；Movable guide plate (262) breech face passes through small slide block (269)
It is arranged on drum (21) end face；The triangle push top (29) connecting with mandril (27) is provided between the idler wheel (266).
Further, the drum (21) is sequentially connected drive rod (11) by belt；The drive rod (11) passes through same
Step band (23) connecting line coil motor (24)；It is connected between the drive rod (11) by shaft coupling (10)；The drum motor
(24), shaft coupling (10) is respectively positioned between preceding wire feeding box (7) and rear wire feeding box (6).
Further, the preceding wire feeding box (7) and rear wire feeding box (6) two sides are provided with radiator (22).
Further, there are two being respectively provided in wire feeding box (6) and preceding wire feeding box (7) after described drum (21)；The coiling
There are two rotary shaft (32) for setting on bottom plate (33).
Further, the linear reciprocating mechanism is screw rod swivel nut transmission mechanism.
Further, the line sending motor (8), clamping motor (35) are arranged at deck plate (5) bottom surface.
Beneficial effects of the present invention:
1, the present invention uses horizontal outlet method, can be achieved to run while multiple groups wire-sending device and bobbin winder device on deck plate,
And the mode for realizing the coiling simultaneously of multiple groups conducting wire, can adjust conducting wire coiling quantity, flexible adjustment, operation stability with the need
By force, good reliability, wide adaptation range can greatly improve coil winding efficiency.
2, wire-sending device use front and back line sending box structure, it can be achieved that long-time coil automatic winding, be not necessarily to thread-changing, after give
Line case can guarantee the stability of line sending, and consume energy while improving conducting wire line sending speed using the structure that can be moved forward and backward
It is low.
3, using coiling guide head and coiling guide clip, the coiling uniformity and coiling elasticity of coil be can guarantee, guaranteed
The operation stability of equipment improves coil winding quality.
4, the bobbin winder device stable structure used consumes energy low, it can be achieved that coiling while multiple coils, it is stable can
It leans on.
Detailed description of the invention
Fig. 1 is overall structure of the present invention.
Fig. 2 is part A enlarged structure schematic diagram in Fig. 1.
Fig. 3 is wire-sending device structural schematic diagram.
Fig. 4 is Bobbin structure schematic diagram.
Fig. 5 is Local C enlarged structure schematic diagram in Fig. 4.
Fig. 6 is the V-type guide block structural schematic diagram in coiling guide head.
Fig. 7 is that schematic diagram of internal structure after V-type guide block is removed in coiling guide head.
Fig. 8 is perspective structure schematic diagram inside line sending pipe.
Fig. 9 is bobbin winder device structural schematic diagram.
Figure 10 is bobbin winder device enlarged structure schematic diagram.
Figure 11 is another viewing angle constructions schematic diagram of bobbin winder device.
Figure 12 is deck plate bottom substance schematic diagram.
Figure 13 is part B enlarged structure schematic diagram in Figure 12.
In figure: 1, distribution control box；3, bobbin winder device；4, product；5, deck plate；6, rear wire feeding box；7, preceding wire feeding box；8,
Line sending motor；9, wire feeding box guide rail；10, shaft coupling；11, drive rod；21, drum；22, radiator；23, synchronous belt；24, drum
Motor；25, line sending head；26, coiling guide head；27, mandril；28, line sending pipe；29, triangle is had a haircut；31, upper guide card cylinder；32,
Rotary shaft；33, coiling bottom plate；34, coiling sliding rail；35, clamping motor；36, articulated joint；37, slide bar；38, conical indenter；39,
Pusher cylinder；40, rotating electric machine；41, synchronous pulley driving mechanism；42, U-board；43, coiling guide clip；44, articulated slab；
251, fine duct；261, V-type guide block；262, movable guide plate；263, connecting rod；264, limit plate；265, short axle；266, idler wheel；
267, inclined-plane；269, small slide block；431, guide plate.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
As shown in Fig. 1-Figure 13, structure connection relationship of the invention are as follows: a kind of thread feeding mechanism for electric machine winding, it is wrapped
Distribution control box 1 is included, 1 upper end of distribution control box is provided with deck plate 5；Be arranged on the deck plate 5 it is interconnected after
Wire feeding box 6 and preceding wire feeding box 7；7 front end of preceding wire feeding box is provided with bobbin winder device 3；After described wire feeding box 6 and deck plate 5 it
Between be provided with wire feeding box guide rail 9；6 underrun linear reciprocating mechanism of wire feeding box is connect with line sending motor 8 after described；It is described
Drum 21 is provided in wire feeding box 6 and preceding wire feeding box 7 afterwards；The drum 21 passes through 23 connecting line coil motor 24 of synchronous belt；Institute
It states 21 interior side of drum and is provided with line sending pipe 28；21 front end face of drum in the preceding wire feeding box 7 is provided centrally with coiling and leads
To first 26, side is provided with line sending head 25；The coiling guide head 26 is connect with the mandril 27 inside drum 21；The mandril 27
Tail end is fixedly connected with the front end face of the drum 21 in rear wire feeding box 6；
The bobbin winder device 3 includes the coiling bottom plate 33 being connect by coiling sliding rail 34 with deck plate 5；33 bottom of coiling bottom plate
Face is connect by linear reciprocating mechanism with clamping motor 35；Rotary shaft 32 is provided on the coiling bottom plate 33；The rotation
32 bottom end of shaft is connect by synchronous pulley driving mechanism 41 with the rotating electric machine 40 for being fixed on 33 bottom end of coiling bottom plate；It is described around
33 both ends of line bottom plate are symmetrically arranged with two slide bars 37；37 top of slide bar connects U-board 42, lower end and is hinged on coiling bottom
The pusher cylinder 39 of 33 bottom end of plate connects, and 37 top of one pair of them slide bar is hinged with articulated joint 36, cuts with scissors between the articulated joint 36
It is connected to articulated slab 44；Coiling guide clip 43 is connected by linear bearing on the articulated slab 44；The coiling guide clip 43 with it is solid
Due to upper guide card cylinder 31 connection on articulated slab 44；Conical indenter 38 is provided with right above the rotary shaft 32；The taper
Pressure head 38 is fixed on 42 lower end of U-board；The rotary shaft 32 is located at 26 front of coiling guide head；The coiling guide clip 43
Above coiling guide head 26.
Preferably, inner hole pipe 281 is evenly arranged in the line sending pipe 28；25 front end of line sending head is evenly arranged with carefully
Conduit 251 is connected to inner hole pipe 281.
Preferably, the coiling guide clip 43 includes two guide plates 431 arranged in parallel for constituting V-groove；It is described
Guide plate 431 is truncated rectangular pyramids shape.
Preferably, the coiling guide head 26 includes V-type guide block 261 and constitutes cross structure and symmetrically arranged two therewith
Block movable guide plate 262；262 end face of movable guide plate, 261 end face two sides of V-type guide block are provided with inclined-plane 267.
Preferably, connecting rod 263 is provided among the V-type guide block 261 to be located in the kidney slot at 264 center of limit plate；
The limit plate 264 is fixed on 21 end face of drum；The 262 tail end side of movable guide plate is hinged with short axle 265；The short axle
265 both ends are provided with idler wheel 266；262 breech face of movable guide plate is arranged on 21 end face of drum by small slide block 269；Institute
State the triangle push top 29 for being provided between idler wheel 266 and connecting with mandril 27.
Preferably, the drum 21 passes through belt transmission connection drive rod 11；The drive rod 11 is connected by synchronous belt 23
Wiring coil motor 24；It is connected between the drive rod 11 by shaft coupling 10；Before the drum motor 24, shaft coupling 10 are respectively positioned on
Between wire feeding box 7 and rear wire feeding box 6.
Preferably, the preceding wire feeding box 7 and 6 two sides of rear wire feeding box are provided with radiator 22.
Preferably, it is respectively provided with that there are two drums 21 after described in wire feeding box 6 and preceding wire feeding box 7；On the coiling bottom plate 33
There are two rotary shafts 32 for setting.
Preferably, the linear reciprocating mechanism is screw rod swivel nut transmission mechanism.
Preferably, the line sending motor 8, clamping motor 35 are arranged at 5 bottom surface of deck plate.
Structure of the invention principle is as follows:
Wire-sending device includes preceding wire feeding box 7 and rear wire feeding box 6, and the 21 end center of drum of preceding wire feeding box 7 is equipped with coiling guide head
26,26 side of coiling guide head is equipped with line sending head 25, a bundle a bundle of conducting wire is previously provided with inside drum 21,21 surface of drum is set
Have synchronizing wheel, the synchronizing wheel by synchronous belt connecting line coil motor 24, drum motor 24 drive drum 21, coiling guide head 26,
Line sending head 25 rotates clockwise simultaneously, so that the conducting wire in drum 21 is exported around Song Bingcong line sending head 25.
The power part of bobbin winder device is mounted on the lower section of deck plate 5, and product 4 is mounted on rotary shaft 32 and conical indenter 38
Between；The operation of clamping motor 35 rotates rotary shaft 32 by synchronous pulley driving mechanism 41, and product 4 is driven to be rotated into line
Circle transposition coiling；The direction of rotation of rotary shaft and rotation speed are controlled by distribution control box 1；40 two sides of clamping motor, which are equipped with, to be slided
Bar 37,37 bottom of slide bar connect pusher cylinder 39, make conical indenter 38 that product 4 is fixed on rotation by the promotion of pusher cylinder 39
On axis 32；38 top of conical indenter is equipped with coiling guide clip 43, it is made of upper guide card cylinder 31 and guide plate 431, guide plate
Two combinations form v-shaped opening, and guide plate is for debugging direction；Coiling guide clip similar to manipulator clamping jaw, product be jammed with
For coiling guide head 26 at V-type, V-type inferior horn is exactly at the convex coiling of product.
In use, the end of a thread is first connected product, coiling guide head 26 is motionless, and line sending motor 8 drives entire drum 21
Line sending head rotates clockwise swing, and conducting wire can touch at the V-type corner edge of coiling guide head and the formation of coiling guide clip, due to
At V-type, so line can slide at coiling, center is aligned with coiling guide head 26 at product coiling, with line sending head
Rotary oscillation, coiling guide head 26 pass through the promotion of mandril 27, it is easy to pilot it is orderly it is a-circle-by-a-circle around, until
Around when requiring around numerical value at coiling, rotary shaft 32 rotates product to carrying out coiling again at another coiling.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so which element is the process, method, article or equipment for including a series of elements not only include, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (7)
1. a kind of thread feeding mechanism for electric machine winding, including distribution control box (1), which is characterized in that the distribution control box
(1) upper end is provided with deck plate (5)；Rear wire feeding box (6) and preceding wire feeding box (7) interconnected are set on the deck plate (5)；
Wire feeding box guide rail (9) are provided between wire feeding box (6) and deck plate (5) after described；Wire feeding box (6) underrun straight line after described
Reciprocating mechanism is connect with line sending motor (8)；Drum (21) are provided in wire feeding box (6) and preceding wire feeding box (7) after described；
The drum (21) passes through synchronous belt (23) connecting line coil motor (24)；Drum (21) interior side is provided with line sending pipe
(28)；Drum (21) front end face in the preceding wire feeding box (7) is provided centrally with coiling guide head (26), and side is provided with line sending
Head (25)；The coiling guide head (26) mandril (27) internal with drum (21) is connect；Mandril (27) tail end is sent with after
The front end face of drum (21) in line case (6) is fixedly connected.
2. a kind of thread feeding mechanism for electric machine winding according to claim 1, which is characterized in that the line sending pipe (28)
Inside it is evenly arranged with inner hole pipe (281)；Line sending head (25) front end is evenly arranged with fine duct (251) and inner hole pipe (281)
Connection.
3. a kind of thread feeding mechanism for electric machine winding according to claim 1, which is characterized in that the coiling guide head
(26) include V-type guide block (261) and constitute cross structure and symmetrically arranged two pieces of movable guide plates (262) therewith；The activity
Guide plate (262) end face, V-type guide block (261) end face two sides are provided with inclined-plane (267).
4. a kind of thread feeding mechanism for electric machine winding according to claim 3, which is characterized in that the V-type guide block
(261) connecting rod (263) is provided among to be located in the kidney slot at limit plate (264) center；The limit plate (264) is fixed on
Drum (21) end face；Movable guide plate (262) the tail end side is hinged with short axle (265)；Short axle (265) both ends are provided with
Idler wheel (266)；Movable guide plate (262) breech face is arranged on drum (21) end face by small slide block (269)；The idler wheel
(266) the triangle push top (29) connecting with mandril (27) is provided between.
5. a kind of thread feeding mechanism for electric machine winding according to claim 1, which is characterized in that the drum (21) is logical
Cross belt transmission connection drive rod (11)；The drive rod (11) passes through synchronous belt (23) connecting line coil motor (24)；The biography
It is connected between lever (11) by shaft coupling (10)；The drum motor (24), shaft coupling (10) be respectively positioned on preceding wire feeding box (7) and
Afterwards between wire feeding box (6).
6. a kind of thread feeding mechanism for electric machine winding according to claim 1, which is characterized in that the preceding wire feeding box
(7) and rear wire feeding box (6) two sides are provided with radiator (22).
7. a kind of thread feeding mechanism for electric machine winding according to claim 1, which is characterized in that wire feeding box after described
(6) and in preceding wire feeding box (7) there are two being respectively provided with drum (21)；There are two rotary shafts for setting on the coiling bottom plate (33)
(32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154206.2A CN109888994B (en) | 2016-07-20 | 2016-07-20 | Wire feeding mechanism for winding of motor |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154206.2A CN109888994B (en) | 2016-07-20 | 2016-07-20 | Wire feeding mechanism for winding of motor |
| CN201610572397.0A CN106816999B (en) | 2016-07-20 | 2016-07-20 | A kind of automatic winding machine with motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610572397.0A Division CN106816999B (en) | 2016-07-20 | 2016-07-20 | A kind of automatic winding machine with motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109888994A true CN109888994A (en) | 2019-06-14 |
| CN109888994B CN109888994B (en) | 2020-12-11 |
Family
ID=59106108
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910154214.7A Active CN109818468B (en) | 2016-07-20 | 2016-07-20 | Motor winding machine |
| CN201910154206.2A Expired - Fee Related CN109888994B (en) | 2016-07-20 | 2016-07-20 | Wire feeding mechanism for winding of motor |
| CN201610572397.0A Expired - Fee Related CN106816999B (en) | 2016-07-20 | 2016-07-20 | A kind of automatic winding machine with motor |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910154214.7A Active CN109818468B (en) | 2016-07-20 | 2016-07-20 | Motor winding machine |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610572397.0A Expired - Fee Related CN106816999B (en) | 2016-07-20 | 2016-07-20 | A kind of automatic winding machine with motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN109818468B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109787432B (en) * | 2019-01-28 | 2020-03-17 | 上海浩正电气有限公司 | Magnetor coil conveying and processing device and production equipment |
| CN114229587A (en) * | 2021-11-25 | 2022-03-25 | 江苏益捷思信息科技有限公司 | Detection mechanism that intelligent robot used |
| CN116865507B (en) * | 2023-07-26 | 2024-01-16 | 江苏大中技术股份有限公司 | Automatic embedding device of high-efficiency motor stator coil |
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| JP2002158131A (en) * | 2000-11-17 | 2002-05-31 | Nittoku Eng Co Ltd | Winding apparatus and method therefor |
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2016
- 2016-07-20 CN CN201910154214.7A patent/CN109818468B/en active Active
- 2016-07-20 CN CN201910154206.2A patent/CN109888994B/en not_active Expired - Fee Related
- 2016-07-20 CN CN201610572397.0A patent/CN106816999B/en not_active Expired - Fee Related
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| JP2002158131A (en) * | 2000-11-17 | 2002-05-31 | Nittoku Eng Co Ltd | Winding apparatus and method therefor |
| CN201557024U (en) * | 2009-06-30 | 2010-08-18 | 章宏亮 | Vertical double-station rotor automatic winder |
| CN103312097A (en) * | 2013-06-03 | 2013-09-18 | 台州博亚自动化设备科技有限公司 | Automatic wire winding machine of motor stator of electric car |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109888994B (en) | 2020-12-11 |
| CN106816999B (en) | 2019-04-26 |
| CN109818468A (en) | 2019-05-28 |
| CN106816999A (en) | 2017-06-09 |
| CN109818468B (en) | 2020-10-09 |
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