CN114389420A - A block type three-axis winding machine - Google Patents

Abstract

The invention discloses a spliced block type triaxial winding machine which comprises a machine body, wherein a tensioner mechanism, a triaxial winding module, a robot part and a conveying line mechanism are arranged on the machine body; the machine body comprises a rack, and a mechanism table board and an enameled wire fixing frame are arranged on the rack; the tensioner mechanism, the three-axis winding module, the robot part and the conveying line mechanism are all fixed on the table surface of the mechanism. Compared with the prior art, the invention has the advantages that: by adopting the structure, the winding machine can realize the integration of feeding and discharging, automatic winding and conveying of the robot, so that the equipment structure is more compact, the space is saved, the process precision is higher, the efficiency is higher, the high automation is realized, and a large amount of labor force is saved.

Description

A block type three-axis winding machine

technical field

The invention relates to a winding mechanism, in particular to a block-type three-axis winding machine.

Background technique

Nowadays, with the continuous improvement of new energy technology, the permanent magnet motor industry is also in the process of rapid development. Among them, the stator coil is an extremely important part of the motor, and its quality directly affects the quality of the motor. The precision of the winding process is very high, so how to produce a high-quality stator coil has become a technical problem that must be solved. The winding process of the stator block has higher requirements for the performance of the permanent magnet motor, and the requirements for the stator coil in the permanent magnet motor are also increased, so the requirements for the winding machine for producing the stator coil are also increasing. Therefore, developing a block-type three-axis winding machine has become an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

In order to solve the above shortcomings, the present invention provides a block-type three-axis winding machine, which can realize the full automation of the coil winding process, thereby improving the production efficiency and reducing the production cost of the enterprise.

The above-mentioned purpose of the present invention is achieved through the following technical solutions: a block-type three-axis winding machine, comprising a fuselage, and the fuselage is provided with a tensioner mechanism, a three-axis winding module, a robot part and a conveying wire mechanism The fuselage includes a frame, and the frame is provided with a mechanism table and an enameled wire fixing frame; the tensioner mechanism, the three-axis winding module, the robot part and the conveying wire mechanism are all fixed on the mechanism table.

Further, the three-axis winding module includes a Y-axis module, a Z-axis module and an X-axis module,

The Y-axis module includes a guide rail, a Y-axis slide, a Y-axis coupling, a motor fixing plate, a Y-axis base plate, a Y-axis screw, a front bearing seat, a screw nut connecting block, a rear bearing seat and a Z-axis connection The Y-axis base plate is provided with a guide rail, a Y-axis sliding seat is installed on the guide rail, and a Y-axis drive motor is fixed on one side through a motor fixing plate, and the Y-axis drive motor is connected to a Y-axis wire through a Y-axis coupling The rod, the Y-axis screw is fixed by the front bearing seat and the rear bearing seat, the Y-axis screw is installed with a screw nut connecting block, and the screw nut connecting block and the Y-axis sliding seat are connected to the Z-axis connecting plate; the Y-axis drive motor The Y-axis screw can be driven to move by the Y-axis coupling, and further drive the Y-axis and the Y-axis slide seat together with the Z-axis connecting plate to slide on the Y-axis guide rail.

The Z-axis module includes a Z-axis cluster synchronous wheel, a Z-axis active synchronous wheel, a synchronous belt, an X-axis connecting plate, a Z-axis guide rail, a Z-axis screw, a rear bearing seat, a Z-axis mounting plate, a front bearing seat, Screw nut connecting block, Z-axis sliding seat, driving motor, driving motor fixing frame and Y-axis connecting plate;

One side of the shaft mounting plate is provided with a shaft guide, the shaft guide is provided with a shaft sliding seat, the other side of the shaft mounting plate is provided with a drive motor fixing frame, and a shaft drive motor is installed, and the output end of the shaft drive motor is provided with A shaft driving synchronizing wheel, one end of the shaft screw rod is provided with a shaft driven synchronizing wheel, a shaft synchronizing belt is arranged around the shaft driving synchronizing wheel and the shaft cluster synchronizing wheel, and the shaft screw rod passes through the front bearing seat and the rear bearing The seat is fixed on the shaft mounting plate, the shaft screw nut connecting block is installed on the shaft screw, the shaft screw nut connecting block and the shaft sliding seat are connected to the shaft connecting plate, and the shaft screw nut connecting block The shaft sliding seat can be driven to slide on the shaft guide rail; the shaft driving motor can drive the shaft screw to move through the shaft driving synchronizing wheel, the shaft cluster synchronizing wheel and the shaft synchronous belt, and further drive the shaft shaft sliding seat to connect with the shaft The plate slides on the shaft guide rail; the shaft mounting plate is connected with the shaft connecting plate of the shaft module and is connected by a reinforcing plate.

The X-axis module includes a stator fixture, an enameled wire pressing mechanism, an upper splint, a lower splint, an X-axis drive motor, a stator pressing cylinder, an X-axis coupling, a motor fixing plate, an X-axis sliding seat, and an enameled wire pressing Cylinder, screw rod, front bearing seat, screw nut connecting block, rear bearing seat, X-axis mounting plate, guide rail, compression cylinder fixing frame and compression cylinder top rod;

The X-axis module is installed on the X-axis connecting plate, the X-axis mounting plate is provided with a guide rail and a motor fixing plate, the X-axis sliding seat is installed on the guide rail, and the motor fixing plate is installed with an X-axis drive Motor, the output end of the X-axis drive motor is provided with an X-axis coupling connected to one end of the lead screw, the lead screw is fixed on the X-axis mounting plate through the front bearing seat and the rear bearing seat, and a lead screw nut is installed on the lead screw The connecting block, the X-axis sliding seat and the screw nut connecting block are connected to the Z-axis connecting plate; the X-axis driving motor can drive the X-axis screw to move through the X-axis coupling, and further drive the X-axis and X-axis The sliding seat slides on the X-axis guide rail; the front of the X-axis mounting plate is provided with an upper splint and a lower splint, a stator fixture is arranged between the upper splint and the lower splint, and an enameled wire is provided at the bottom of the front of the X-axis mounting plate to press mechanism.

Further, the fixture is provided with a block fixing mechanism arranged horizontally in an equilateral rectangle.

Further, the tensioner mechanism includes a first support, a second support and a third support, three tensioners are respectively fixed on the first support and the second support, and the upper part of the third support There is a sliding rail, and a sliding base is installed on the sliding base. The rotating motor, the wire winding nozzle, the enameled wire pressing cylinder and the wire cutting cylinder are installed on the sliding base. The advance cylinder of the sliding base.

Further, the robot mechanism is installed between the conveyor line mechanism and the three-axis winding module, and the robot mechanism includes a six-axis mechanical arm, and the six-axis mechanical arm is connected with a stator electromagnetic iron through a rotating cylinder mechanism.

Further, the conveying line mechanism includes a conveying line frame, a conveying belt is arranged on the conveying line frame, and a stator tooling is arranged on the conveying belt.

The winding method of the three-axis winding machine includes the following steps:

S1: Press the enameled wire on the fixing frame through the tension mechanism, the nozzle nozzle and the enameled wire to press the cylinder.

S2: Place the semi-finished stator on the stator tooling.

S3: The six-axis robotic arm runs to the stator tooling, the stator electromagnetic suction absorbs the semi-finished stator, and runs to the coordinates of the three-axis mobile module.

S4: The stator electromagnetic suction iron places the sucked semi-finished stator on the stator fixture, the stator is pressed against the cylinder, and the winding of the three-axis mobile module is pressed against the cylinder to clamp the enameled wire. The shaft module of the three-axis mobile module, The shaft module and the shaft module provide the movement of the stator in three-dimensional space, and start the high-speed winding of the three-axis mechanism to ensure that the enameled wire is wound in the correct position of the stator.

S5: After completing the stator winding on the fixture, trim the completed stator winding three poles through the wire-cutting cylinder.

S6: After the six-axis robotic arm system receives the stator winding completion signal, the stator electromagnetic suction iron of the six-axis robotic arm absorbs the winding to complete the stator, rotates the cylinder rotation, and places the semi-finished stator on the stator electromagnetic suction iron on the stator fixture. superior.

S7: The six-axis robotic arm places the wound stator product on the stator tooling, the rotating cylinder rotates -180 degrees, the stator electromagnetic suction absorbs the semi-finished stator, runs to the three-axis mobile module exchange material, and waits for the stator winding completion signal .

Compared with the prior art, the advantages of the present invention are: after adopting the above structure, the present invention can realize a winding machine integrating robot loading and unloading, automatic winding and conveying, making the equipment structure more compact and space saving, The process precision is higher, and the efficiency is higher, which realizes a high degree of automation and saves a lot of labor. At the same time, the present invention performs winding by means of a three-axis winding structure and a stator fixture, which not only reduces the amount of wire ends and improves the coil performance, but also improves the production efficiency through integration and automation. Compared with ordinary cylinder cable, it can better meet the needs of different types of products.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of the fuselage in the present invention.

FIG. 3 is a schematic structural diagram of the conveying line mechanism in the present invention.

FIG. 4 is a schematic diagram of the structure of the robot part of the present invention.

FIG. 5 is a schematic structural diagram of the tensioner mechanism in the present invention.

6 is a schematic structural diagram of a three-axis winding module in the present invention.

7 is a schematic structural diagram of a Y-axis module in the present invention.

FIG. 8 is a schematic three-dimensional structure diagram of the Z-axis module in the present invention.

FIG. 9 is a schematic view of the front structure of the Z-axis module in the present invention.

10 is a schematic diagram of the internal structure of the Z-axis module in the present invention.

11 is a schematic view of the front structure of the X-axis module in the present invention.

FIG. 12 is a schematic view of the structure of the back of the X-axis module in the present invention.

FIG. 13 is a schematic three-dimensional structure diagram of the X-axis module in the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, a block-type three-axis winding machine includes a fuselage E, and the fuselage E is provided with a tensioner mechanism A, a three-axis winding module B, a robot part C and a conveying line Mechanism D; the fuselage E includes a frame E3, and the frame E3 is provided with a mechanism table E1 and an enameled wire fixing frame E2; the tensioner mechanism A, the three-axis winding module B, the robot part C and the conveying wire mechanism D are all fixed on the mechanism table E1.

As shown in FIG. 6 , the three-axis winding module B includes a Y-axis module Ba, a Z-axis module Bb, and an X-axis module Bc,

As shown in FIG. 7 , the Y-axis module Ba includes a guide rail Ba101, a Y-axis sliding seat Ba102, a Y-axis coupling Ba103, a motor fixing plate Ba104, a Y-axis base plate Ba105, a Y-axis screw Ba106, and a front bearing seat Ba107 , screw nut connecting block Ba108, rear bearing seat Ba109 and Z-axis connecting plate Ba110, the Y-axis base plate Ba105 is provided with a guide rail Ba101, and a Y-axis slide seat Ba102 is installed on the guide rail Ba101, and one side passes through the motor fixing plate Ba104 A Y-axis drive motor Ba100 is fixed, the Y-axis drive motor Ba100 is connected to a Y-axis screw Ba106 through the Y-axis coupling Ba103, the Y-axis screw Ba106 is fixed by the front bearing seat Ba107 and the rear bearing seat Ba109, and the Y-axis screw Ba106 The screw nut connecting block Ba108 is installed, the screw nut connecting block Ba108 and the Y-axis sliding seat Ba102 are connected to the Z-axis connecting plate; the Y-axis driving motor Ba100 can drive the Y-axis screw Ba106 to move through the Y-axis coupling Ba103, And further drive the Y-axis Y-axis sliding seat Ba102 together with the Z-axis connecting plate Ba110 to slide on the Y-axis guide rail Ba101.

As shown in FIG. 8 , FIG. 9 and FIG. 10 , the Z-axis module Bb includes a Z-axis cluster synchronizing wheel Bb100 , a Z-axis driving synchronizing wheel Bb101 , a timing belt Bb102 , an X-axis connecting plate Bb103 , a Z-axis guide rail Bb104 , Z-axis screw Bb105, rear bearing seat Bb106, Z-axis mounting plate Bb107, front bearing seat Bb108, screw-nut connecting block Bb109, Z-axis sliding seat Bb110, driving motor Bb111, driving motor fixing frame Bb112 and Y-axis connecting plate Bb113 ;

One side of the Z-axis mounting plate Bb107 is provided with a Z-axis guide rail Bb104, the Z-axis guide rail Bb104 is provided with a Z-axis Z-axis sliding seat Bb110, and the other side of the Z-axis mounting plate Bb107 is provided with a drive motor fixing frame Bb112, which is installed with Z-axis drive motor Bb111, the output end of Z-axis drive motor Bb111 is provided with a Z-axis driving synchronizing wheel Bb101, and one end of the Z-axis screw Bb105 is provided with a Z-axis driven synchronizing wheel Bb100, the Z-axis driving synchronizing wheel Bb101 and A Z-axis synchronous belt Bb102 is arranged between the Z-axis cluster synchronizing wheels Bb100. The Z-axis screw Bb105 is fixed on the Z-axis mounting plate Bb107 through the front bearing seat Bb108 and the rear bearing seat Bb106. The Z-axis screw Bb105 The Z-axis screw nut connecting block Bb109 is installed, the Z-axis screw nut connecting block Bb109 and the Z-axis sliding seat Bb110 are connected to the X-axis connecting plate Bb103, and the Z-axis screw nut connecting block Bb109 can drive the Z-axis The Z-axis sliding seat Bb110 slides on the Z-axis guide rail Bb104; the Z-axis driving motor Bb111 can drive the Z-axis screw Bb105 to move through the Z-axis driving synchronizing wheel Bb101, the Z-axis cluster synchronizing wheel Bb100 and the Z-axis synchronizing belt Bb102, And further drive the Z-axis Z-axis sliding seat Bb110 together with the X-axis connecting plate Bb103 to slide on the Z-axis guide rail Bb104; the Z-axis mounting plate Bb107 is connected with the Z-axis connecting plate Ba110 of the Y-axis module Ba, and is connected through the reinforcing plate Bb113 connect.

As shown in Figure 11, Figure 12 and Figure 13, the X-axis module includes a stator fixture Bc100, an enameled wire pressing mechanism Bc101, an upper clamping plate Bc102, a lower clamping plate Bc103, an X-axis drive motor Bc200, a stator clamping cylinder Bc201, X-axis coupling Bc202, motor fixing plate Bc203, X-axis sliding seat Bc204, enameled wire pressing cylinder Bc205, screw Bc206, front bearing seat Bc207, screw nut connecting block Bc208, rear bearing seat Bc209, X-axis mounting plate Bc210 , guide rail Bc211, pressing cylinder fixing frame Bc212 and pressing cylinder top rod Bc213;

The X-axis module Bc is mounted on the X-axis connecting plate Bb103, the X-axis mounting plate Bc210 is provided with a guide rail Bc211 and a motor fixing plate Bc203, and an X-axis sliding seat Bc204 is mounted on the guide rail Bc211. The X-axis drive motor Bc200 is installed on the fixing plate Bc203. The output end of the X-axis drive motor Bc200 is provided with an X-axis coupling Bc202, which is connected to one end of the lead screw Bc206. On the shaft mounting plate Bc210, the lead screw Bc206 is mounted with a lead screw nut connecting block Bc208, the X-axis sliding seat Bc204 and the lead screw nut connecting block Bc208 are connected on the Z-axis connecting plate Bb103; the X-axis drive motor The Bc200 can drive the X-axis screw Bc206 to move through the X-axis coupling Bc202, and further drive the X-axis X-axis slide Bc204 to slide on the X-axis guide rail Bc211; the front of the X-axis mounting plate Bc210 is provided with an upper splint Bc102 and a lower A stator fixture Bc100 is arranged between the splint Bc103, the upper splint Bc102 and the lower splint Bc103, and an enameled wire pressing mechanism Bc101 is provided on the front bottom of the X-axis mounting plate Bc210.

The tooling fixture Bc100 is provided with 12 block fixing mechanisms arranged horizontally in an equilateral rectangle.

As shown in FIG. 5 , the tensioner mechanism A includes a first support A4, a second support A8 and a third support A9, and three tensioners are respectively fixed on the first support A4 and the second support A8 A7, the upper part of the third support A9 is provided with a sliding rail A10, and a sliding base A11 is installed. A forward air cylinder A6 for driving the sliding base A11 is provided between the air cylinder A2, the sliding base and the third support A9.

As shown in FIG. 4 , the robot mechanism is installed between the conveyor line mechanism D and the three-axis winding module B, and the robot mechanism C includes a six-axis robotic arm C1, which is connected by a rotating cylinder mechanism C2 There is a stator electromagnetic attracting iron C3.

As shown in FIG. 3 , the conveying line mechanism D includes a conveying line frame D2, the conveying line frame D2 is provided with a conveying belt D3, and the conveying belt D3 is provided with a stator tool D1.

The winding method of the three-axis winding machine includes the following steps:

S1: Press the enameled wire on the fixing frame E2 through the tension mechanism A1, the nozzle nozzle A3, and the enameled wire to press the cylinder A1 respectively.

S2: Place the semi-finished stator on the stator tooling D1.

S3: The six-axis robotic arm C1 runs to the stator tooling D1, the stator electromagnetic suction iron C3 absorbs the semi-finished stator, and runs to the coordinate of the three-axis mobile module B.

S4: The stator electromagnetic suction iron C3 places the sucked semi-finished stator on the stator fixture B6, the stator presses the cylinder B1 tightly, the winding press cylinder B2 of the three-axis mobile module clamps the enameled wire, and the three-axis mobile module The Y-axis module Ba, Z-axis module Bb and X-axis module Bc provide the movement of the stator in three-dimensional space, and start the high-speed winding of the three-axis mechanism to ensure that the enameled wire is wound in the correct position of the stator.

S5: After completing the stator winding on the fixture B6, trim the completed stator winding three poles through the wire trimming cylinder A2.

S6: After the six-axis manipulator C1 system receives the stator winding completion signal, the stator electromagnetic suction iron C3 of the six-axis manipulator C1 absorbs the winding to complete the stator, and the rotating cylinder C2 rotates 180 degrees, and the stator on the stator electromagnetic suction iron C3 is rotated. The semi-finished product is placed on the stator fixture B6.

S7: The six-axis robotic arm C1 places the finished stator on the stator tooling D1, the rotating cylinder C2 rotates -180 degrees, the stator electromagnetic suction iron C3 absorbs the semi-finished stator, and runs to the three-axis mobile module B where the material is exchanged, waiting Stator winding complete signal.

The above descriptions are only the embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technologies Fields are similarly included in the scope of patent protection of the present invention.

Claims (6)

1. a block type three-axis winding machine is characterized in that: comprise a fuselage, and the fuselage is provided with a tensioner mechanism, a three-axis winding module, a robot part and a conveyor line mechanism; the fuselage includes a machine. The frame is provided with a mechanism table and an enameled wire fixing frame; the tensioner mechanism, the three-axis winding module, the robot part and the conveying wire mechanism are all fixed on the mechanism table. 2. a kind of block type three-axis winding machine according to claim 1, is characterized in that: described three-axis winding module comprises Y-axis module, Z-axis module and X-axis module, The Y-axis module includes a guide rail, a Y-axis slide, a Y-axis coupling, a motor fixing plate, a Y-axis base plate, a Y-axis screw, a front bearing seat, a screw nut connecting block, a rear bearing seat and a Z-axis connection The Y-axis base plate is provided with a guide rail, a Y-axis sliding seat is installed on the guide rail, and a Y-axis drive motor is fixed on one side through a motor fixing plate, and the Y-axis drive motor is connected to a Y-axis wire through a Y-axis coupling The rod, the Y-axis screw is fixed by the front bearing seat and the rear bearing seat, the Y-axis screw is installed with a screw nut connecting block, and the screw nut connecting block and the Y-axis sliding seat are connected to the Z-axis connecting plate; the Y-axis drive motor It can drive the Y-axis screw to move through the Y-axis coupling, and further drive the Y-axis Y-axis slide seat together with the Z-axis connecting plate to slide on the Y-axis guide rail; The Z-axis module includes a Z-axis cluster synchronous wheel, a Z-axis active synchronous wheel, a synchronous belt, an X-axis connecting plate, a Z-axis guide rail, a Z-axis screw, a rear bearing seat, a Z-axis mounting plate, a front bearing seat, Screw nut connecting block, Z-axis sliding seat, driving motor, driving motor fixing frame and Y-axis connecting plate; One side of the shaft mounting plate is provided with a shaft guide, the shaft guide is provided with a shaft sliding seat, the other side of the shaft mounting plate is provided with a drive motor fixing frame, and a shaft drive motor is installed, and the output end of the shaft drive motor is provided with A shaft driving synchronizing wheel, one end of the shaft screw rod is provided with a shaft driven synchronizing wheel, a shaft synchronizing belt is arranged around the shaft driving synchronizing wheel and the shaft cluster synchronizing wheel, and the shaft screw rod passes through the front bearing seat and the rear bearing The seat is fixed on the shaft mounting plate, the shaft screw nut connecting block is installed on the shaft screw, the shaft screw nut connecting block and the shaft sliding seat are connected to the shaft connecting plate, and the shaft screw nut connecting block The shaft sliding seat can be driven to slide on the shaft guide rail; the shaft driving motor can drive the shaft screw to move through the shaft driving synchronizing wheel, the shaft cluster synchronizing wheel and the shaft synchronous belt, and further drive the shaft shaft sliding seat to connect with the shaft The plate slides on the shaft guide rail; the shaft mounting plate is connected with the shaft connecting plate of the shaft module and is connected by a reinforcing plate; The X-axis module includes a stator fixture, an enameled wire pressing mechanism, an upper splint, a lower splint, an X-axis drive motor, a stator pressing cylinder, an X-axis coupling, a motor fixing plate, an X-axis sliding seat, and an enameled wire pressing Cylinder, screw rod, front bearing seat, screw nut connecting block, rear bearing seat, X-axis mounting plate, guide rail, compression cylinder fixing frame and compression cylinder top rod; The X-axis module is installed on the X-axis connecting plate, the X-axis mounting plate is provided with a guide rail and a motor fixing plate, the X-axis sliding seat is installed on the guide rail, and the motor fixing plate is installed with an X-axis drive Motor, the output end of the X-axis drive motor is provided with an X-axis coupling connected to one end of the lead screw, the lead screw is fixed on the X-axis mounting plate through the front bearing seat and the rear bearing seat, and a lead screw nut is installed on the lead screw The connecting block, the X-axis sliding seat and the screw nut connecting block are connected to the Z-axis connecting plate; the X-axis driving motor can drive the X-axis screw to move through the X-axis coupling, and further drive the X-axis and X-axis The sliding seat slides on the X-axis guide rail; the front of the X-axis mounting plate is provided with an upper splint and a lower splint, a stator fixture is arranged between the upper splint and the lower splint, and an enameled wire is provided at the bottom of the front of the X-axis mounting plate to press mechanism. 3 . The block-type three-axis winding machine according to claim 2 , wherein the fixture is provided with a block fixing mechanism arranged horizontally in an equilateral rectangle. 4 . 4. A block type three-axis winding machine according to claim 1, wherein the tensioner mechanism comprises a first support, a second support and a third support, the first support The seat and the second support are respectively fixed with three tensioners, the upper part of the third support is provided with a sliding rail, and a sliding base is installed, and a rotating motor, a wire winding nozzle, and an enameled wire pressing The air cylinder and the thread trimming air cylinder are provided with a forward air cylinder for driving the sliding base between the sliding base and the third support. 5. A block-type three-axis winding machine according to claim 1, wherein the robot mechanism is installed between the conveyor line mechanism and the three-axis winding module, and the robot mechanism comprises six axes The mechanical arm, the six-axis mechanical arm is connected with a stator electromagnetic magnet through a rotating cylinder mechanism. 6. A block type three-axis winding machine according to claim 1, characterized in that: the conveying line mechanism comprises a conveying line frame, the conveying line frame is provided with a conveying belt, and the conveying belt is provided with Stator tooling.

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