CN115662784A - Full-automatic annular double-station winding machine - Google Patents

Abstract

The utility model belongs to the technical field of winding device makes, specifically be a full-automatic annular duplex position coiling machine, which comprises a bracket, be equipped with two sets of spoolers on the support, all include first manipulator in every spooler of group, the stay wire manipulator, the second manipulator, the ring guide rail, drive arrangement, set up the second manipulator on the support, the ring guide rail, drive arrangement, the ring guide rail is located the upper surface of support and the plane at the annular place of ring guide rail and is on a parallel with the upper surface of support, slide through drive arrangement on the ring guide rail and set up the second manipulator, be equipped with on the support with every second manipulator complex collude traditional thread binding putting and defeated traditional thread binding putting, the support is in the intersection of the stroke scope of first manipulator and stay wire manipulator, the problem of the machine of copper line winding on the magnetic ring at present has not been solved automatically.

Description

Full-automatic annular double-station winding machine

Technical Field

The application belongs to the technical field of winding device manufacturing, and particularly relates to a full-automatic annular double-station winding machine.

Background

At present, many parts in the electrical industry need to wind copper wires 29 around a magnetic ring 30 (as shown in fig. 1), the process requires that the magnetic ring 30 has an angle of 30 degrees (as shown in fig. 2) without winding the copper wires 29, and for the process, no machine for automatically winding the copper wires around the magnetic ring is currently used, the winding is performed manually, mainly during manual winding, a left hand of a worker holds the magnetic ring 30, and a right hand winds the copper wires 29 around the magnetic ring 30, so that the advantage is that the left hand of the worker can rotate the magnetic ring 30 (the magnetic ring 30 rotates around the axis of the worker) according to the condition that the right hand winds the copper wires 29, and the state shown in fig. 1 can be formed. However, this method is particularly inefficient, and only 100 workers can be wound in a single day. Therefore, it is necessary to design an automatic winding machine capable of manufacturing the above products to improve the production efficiency.

Disclosure of Invention

The utility model provides a to prior art's shortcoming, adopt the mode that sets up two sets of insides and all include first manipulator, the line drawing manipulator, the second manipulator, the ring guide rail, drive arrangement, collude the line device, the line feeding device, the spooler of line drawing manipulator, a full-automatic annular duplex position coiling machine has been designed, can pick up the magnetic ring through first manipulator automatically and get on the second manipulator, make the second manipulator, the ring guide rail, drive arrangement, collude the line device, the line feeding device, the line drawing manipulator mutually supports and twines the copper line on the magnetic ring, the problem of the machine of copper line winding on the magnetic ring has not been solved automatically at present.

In order to realize the purpose, the following technical scheme is adopted:

the utility model provides a full-automatic annular duplex position coiling machine, includes the support, be equipped with two sets of spoolers on the support, every group all include first manipulator, act as go-between manipulator, second manipulator, ring guide, drive arrangement in the spooler, set up second manipulator, ring guide, drive arrangement on the support, the plane at the upper surface that the support was located to the ring guide and the annular place of ring guide is on a parallel with the upper surface of support, slide through drive arrangement on the ring guide and set up the second manipulator, be equipped with on the support with every second manipulator complex colludes traditional thread binding putting and defeated line device, the support is in the intersection of the stroke scope of first manipulator and the stroke scope of act as go-between manipulator.

Preferably, the first manipulator is arranged on the support, a gap is preset between the first manipulator and the second manipulator, a gap is preset between the first manipulator and the circular guide rail, and the second manipulator is in the stroke range of the first manipulator.

Preferably, be equipped with a carousel on the support, carousel and every all predetermine the clearance between the ring guide, there are a plurality of stands around centre of a circle circumference array on the carousel, be equipped with servo motor on the support, the servo motor transmission is connected the carousel, on the carousel the stand is equallyd divide the stroke within range at the first manipulator of two spoolers.

Preferably, wire drawing manipulator includes first thumb cylinder, first splint, second splint, the output difference axial fixity of first thumb cylinder connects first splint and second splint, first splint with the second splint are parallel to each other, the connecting line section between first splint and the second splint is on a parallel with the upper surface of support.

Preferably, the second manipulator includes clamping part, lower clamping part, second thumb cylinder, the output setting of second thumb cylinder goes up clamping part and lower clamping part, it is located to go up the clamping part directly over the lower clamping part, still be equipped with the jacking rod on the second thumb cylinder, the jacking rod perpendicular to go up the clamping part and the connecting line section between the clamping part down, the flexible direction perpendicular to of jacking rod go up the connecting line section between clamping part and the lower clamping part, the second thumb cylinder with ring guide sliding connection.

Preferably, the second manipulator further comprises a base, the second thumb cylinder is rotatably arranged on the base, the second thumb cylinder and the base are rotatably connected, the rotating shaft is parallel to the upper surface of the support, the second thumb cylinder and the base are rotatably connected, the rotating shaft is oriented to the axis of the circular guide rail, the base is slidably connected with the circular guide rail, a U-shaped groove matched with the tail end of the second thumb cylinder is formed beside each circular guide rail on the support, the closed end of the U-shaped groove is fixedly connected with the output end of the rotating motor, the support is slidably connected with the rotating motor through a sliding rail, the sliding rail is oriented to the axis of the circular guide rail and is parallel to the upper surface of the support, and the support is provided with a telescopic cylinder for driving the base to move along the sliding rail. .

Preferably, the driving device comprises a driving motor, the driving motor is arranged below the circular guide rail, an output shaft of the driving motor is coaxial with the circular guide rail, a transmission rod is fixedly connected to the output shaft of the driving motor through a radial fixer, the transmission rod is parallel to the output shaft of the driving motor, and one end of the transmission rod, which is far away from the output shaft of the driving motor, penetrates through the circular guide rail and then is fixedly connected with the second thumb cylinder.

Preferably, the thread hooking device comprises a lifting device and a hooking needle, the lifting device is located below the circular guide rail, the top end of the lifting device is provided with the vertically upward hooking needle, the hooking needle is coaxial with the circular guide rail, and the center of the circular guide rail is located within the stroke range of the hooking needle.

Preferably, defeated line device includes coil installation roller, defeated line wheel, outlet nozzle, defeated line frame, scissors, the axis perpendicular to of outlet nozzle the upper surface of support, defeated line frame is fixed on the first manipulator, defeated line frame is last to set gradually coil installation roller, defeated line wheel, scissors, outlet nozzle from top to bottom, the axis of coil installation roller is on a parallel with the upper surface of support, defeated line wheel the axis with the upper surface parallel of support, the top of outlet nozzle all sets up in the both sides that the axis of outlet nozzle is relative defeated line wheel, the cutting edge of scissors is on a parallel with the upper surface of support.

Preferably, correspond every on the support the ring guide rail is equipped with protects the line board, it is equipped with the notch that runs through the upper and lower surface that protects the line board to protect on the line board, protect running through between the both ends of line board with a lateral wall of ring guide rail, the one end of notch is in the top at the center of ring guide rail, the axis of ring guide rail is in the notch.

Compared with the prior art, the beneficial effects of this application are:

1. this application adopts and sets up two sets of insides and all includes first manipulator, the stay wire manipulator, the second manipulator, the ring guide rail, drive arrangement, collude the traditional thread binding putting, the mode of the spooler of stay wire manipulator, a full-automatic annular duplex position coiling machine has been designed, can pick up the magnetic ring through first manipulator is automatic on the second manipulator, make the second manipulator, the ring guide rail, drive arrangement, collude the traditional thread binding putting, the line conveying device, the stay wire manipulator is mutually supported and is twined the copper line on the magnetic ring, the problem of the machine of copper line winding on the magnetic ring at present not having automatically has been solved.

2. This application is located first manipulator on the support to make first manipulator and second manipulator have certain distance, make simultaneously first manipulator also with the ring rail has certain distance, make like this that an individual part on the whole full-automatic annular duplex position butterfly-shaped winding machine links as an organic wholely, conveniently carries and more trades the job scene.

3. This application is through setting up carousel and stand for can be through artifical with the magnetic ring cover establish supply first manipulator clamp get on the stand, and after so designing, make a carousel of design alright get to press from both sides with the first manipulator of supplying two sets of spoolers, needn't respectively establish a carousel for every group of spooler, practiced thrift the manufacturing cost of a carousel.

4. This application goes to cooperate the transmission line device and collude the traditional thread binding putting with copper wire winding on the magnetic ring through first splint of first thumb cylinder control and second splint.

Drawings

Fig. 1 is a schematic structural diagram of a magnetic ring (product) wound with copper wires in the background art;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic structural diagram of the present application;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic structural diagram of the first manipulator and the thread transferring device;

FIG. 6 is a schematic view of a second robot;

FIG. 7 is a schematic view of the thread hooking device;

fig. 8 is a schematic structural view of the wire pulling robot.

Wherein, 1, a bracket; 2. a first manipulator; 3. a circular guide rail; 4. a turntable; 5. a column; 6. a servo motor; 7. a first splint; 8. a second splint; 9. a first thumb cylinder; 10. an upper clamping portion; 11. a lower clamping portion; 12. a second thumb cylinder; 13. a jacking rod; 14. a base body; 15. a U-shaped groove; 16. rotating the motor; 17. a slide rail; 18. a drive motor; 19. a holder; 20. a transmission rod; 21. a lifting device; 22. hooking a needle; 23. a coil mounting roller; 24. a wire conveying wheel; 25. a wire outlet nozzle; 26. a wire conveying frame; 27. scissors; 28. a wire protecting plate; 29. a copper wire; 30. a magnetic ring; 31. a notch; 32. a telescopic cylinder.

Detailed Description

Referring to fig. 1-8, a full-automatic annular double-station winding machine comprises a support 1, two groups of winders are arranged on the support 1, each group of winders comprises a first manipulator 2, a wire pulling manipulator, a second manipulator, a circular guide rail 3 and a driving device, the support 1 is provided with the second manipulator, the circular guide rail 3 and the driving device, the circular guide rail 3 is arranged on the upper surface of the support 1, the plane where the circular guide rail 3 is located is parallel to the upper surface of the support 1, the circular guide rail 3 is provided with the second manipulator in a sliding mode through the driving device, the support 1 is provided with wire hooking devices and wire conveying devices matched with the second manipulators, and the support 1 is located in the intersection of the stroke range of the first manipulator 2 and the stroke range of the wire pulling manipulator.

In this embodiment, when in use, the first mechanical hand 2 clamps the magnetic ring 30, and since the end face of the magnetic ring 30 is in contact with the supporting surface (a basket for containing the magnetic ring 30 or a conveyor belt for conveying the magnetic ring 30) when the magnetic ring 30 is normally in the placement state, there are only two modes when the first mechanical hand 2 clamps the magnetic ring 30 from the supporting surface, one mode is an internal bracing mode, and when the internal bracing mode is adopted, the contact surfaces of the first mechanical hand 2 and the magnetic ring 30 are two inner surfaces opposite to each other in the magnetic ring 30; the other mode is that an external clamping mode is adopted, and when the external clamping mode is adopted, the contact surfaces of the first mechanical hand 2 and the magnetic ring 30 are two opposite positions on the outer circumferential surface of the magnetic ring 30; in any way, the copper wire 29 is prevented from being wound on the magnetic ring 30, so that the first mechanical hand 2 needs to hand over the magnetic ring 30 to the second mechanical hand, and the purpose is to change the clamped part of the magnetic ring 30, so that the second mechanical hand clamps the upper and lower surfaces of the magnetic ring 30 when clamping the magnetic ring 30, and the copper wire 29 can be conveniently wound on the magnetic ring 30; after the second manipulator clamps the magnetic ring 30, the wire delivering device arranged on the bracket 1 and matched with the second manipulator conveys one end of the copper wire 29 to penetrate through the center of the magnetic ring 30, then the wire drawing manipulator pulls one end of the copper wire 29 penetrating through the center of the magnetic ring 30 to the upper part of the center of the magnetic ring 30 from the outside of the magnetic ring 30, and then the wire hooking device arranged on the bracket 1 and matched with the second manipulator pulls one end of the copper wire 29 above the center of the magnetic ring 30 into the center of the magnetic ring 30, so that one end of the copper wire 29 pulled above the center of the magnetic ring 30 by the wire drawing manipulator penetrates through the center of the magnetic ring 30 to reach the lower part of the magnetic ring 30; then, the line hooking device and the line pulling manipulator follow the operation rule and repeat the operation, the driving device drives the second manipulator to move on the circular guide rail 3 arranged on the upper surface of the bracket 1, and the copper wire 29 is wound on the magnetic ring 29 by matching with the line hooking device and the line pulling manipulator; in this way, not only the magnetic ring 30 clamped on the first manipulator 2 can be handed over to the second manipulator within the stroke range of the first manipulator 2, but also the stroke range of the support 1 on the wire drawing manipulator is ensured, so that the wire drawing manipulator can wind the copper wire 29 on the magnetic ring 30 in cooperation with the wire hooking device; and be equipped with two sets of spoolers on the support 1 to all include first manipulator 2, the manipulator of acting as go-between, second manipulator, ring guide 3, drive arrangement in every group spooler, consequently can independently twine two magnetic rings 30 simultaneously in this application every time.

As a preferable mode, the first manipulator 2 is arranged on the support 1, a gap is preset between the first manipulator 2 and the second manipulator, a gap is preset between the first manipulator 2 and the circular guide rail 3, and the second manipulator is within a stroke range of the first manipulator 2. Originally, as long as guarantee support 1 is in the intersection of the stroke range of first manipulator 2 and the stroke range of the manipulator of acting as go-between can, but locate first manipulator 2 on the support 1 to make first manipulator 2 and second manipulator have certain distance, make simultaneously first manipulator 2 also with circular guide rail 3 has certain distance, make like this that a whole is connected as an organic wholely to a part on the full-automatic annular duplex position butterfly winding machine, conveniently carry and change the job scene.

As an optimal mode, be equipped with a carousel 4 on the support 1, carousel 4 and every all predetermine the clearance between the ring guide 3, there are a plurality of stands 5 around centre of a circle circumference array on the carousel 4, be equipped with servo motor 6 on the support 1, servo motor 6 transmission is connected carousel 4, on the carousel 4 stand 5 equally divide the stroke scope at the first manipulator 2 of two spoolers. Due to the arrangement mode, the magnetic ring can be manually sleeved on the stand column 5 to be clamped by the first mechanical hand 2, and after the design is carried out, one rotary disc 4 can be designed to be clamped by the first mechanical hand 2 which can supply two groups of wire winders, so that one rotary disc 4 does not need to be arranged for each group of wire winders, and the manufacturing cost of one rotary disc 4 is saved.

As a preferred mode, the wire drawing manipulator includes a first thumb cylinder 9, a first clamping plate 7 and a second clamping plate 8, the output end of the first thumb cylinder 9 is respectively and axially fixedly connected with the first clamping plate 7 and the second clamping plate 8, the first clamping plate 7 is parallel to the second clamping plate 8, and the connecting line segment between the first clamping plate 7 and the second clamping plate 8 is parallel to the upper surface of the bracket 1. By means of the arrangement, the first clamping plate 7 and the second clamping plate 8 are controlled by the first thumb cylinder 9 to match with a wire conveying device and a wire hooking device to wind the copper wire 29 on the magnetic ring 30.

As a preferable mode, the second manipulator includes an upper clamping portion 10, a lower clamping portion 11, and a second thumb cylinder 12, an output end of the second thumb cylinder 12 is provided with the upper clamping portion 10 and the lower clamping portion 11, the upper clamping portion 10 is located right above the lower clamping portion 11, a lifting rod 13 is further provided on the second thumb cylinder 12, the lifting rod 13 is perpendicular to a connection line segment between the upper clamping portion 10 and the lower clamping portion 11, a telescopic direction of the lifting rod 13 is perpendicular to a connection line segment between the upper clamping portion 10 and the lower clamping portion 11, and the second thumb cylinder 12 is slidably connected to the circular guide rail 3. By arranging the upper clamping part 10 and the lower clamping part 11, when the second manipulator receives the magnetic ring 30 sent by the first manipulator 2, the upper end surface and the lower end surface of the magnetic ring are clamped, so that the copper wire 29 is not prevented from being wound on the magnetic ring 30, the lifting rod 13 is arranged to adjust the position of the magnetic ring 30 clamped by the second manipulator, the situation that the free end of the second manipulator extends into the central position of the magnetic ring 30 to block the copper wire 29 from penetrating through the magnetic ring 30 when the second manipulator clamps the magnetic ring 30 is avoided, the second thumb cylinder 12 slides on the circular guide rail 3 to enable the magnetic ring 30 to rotate around the central shaft of the magnetic ring 30, and therefore the copper wire 29 can be wound on the ring of the magnetic ring 29 (except the position clamped by the second manipulator) fully is avoided.

As a preferable mode, the second manipulator further includes a base 14, the second thumb cylinder 12 is rotatably disposed on the base 14, a rotation axis of the second thumb cylinder 12 rotatably connected to the base 14 is parallel to the upper surface of the support 1, the rotation axis of the second thumb cylinder 12 rotatably connected to the base 14 points to the axis of the circular guide rail 3, the base 14 is slidably connected to the circular guide rail 3, a U-shaped groove 15 matched with the tail end of the second thumb cylinder 12 is disposed beside each circular guide rail 3 on the support 1, a closed end of the U-shaped groove 15 is fixedly connected to an output end of the rotating motor 16, the support 1 is slidably connected to the base 14 through a slide rail 17, the slide rail 17 points to the axis of the circular guide rail 3 and is parallel to the upper surface of the support 1, and the support 1 is provided with a telescopic cylinder 32 for driving the base 14 to move along the slide rail. Through the arrangement of the seat body 14, the slide rail 17 and the telescopic cylinder 32, the U-shaped groove 15 can move towards the circular guide rail 3 to clamp the second thumb cylinder 12, and the U-shaped groove 15 can move towards the circular guide rail 3 to release the second thumb cylinder 12.

Preferably, the driving device includes a driving motor 18, the driving motor 18 is disposed below the circular guide rail 3, an output shaft of the driving motor 18 is coaxial with the circular guide rail 3, a transmission rod 20 is fixedly connected to the output shaft of the driving motor 18 through a radial fixer 19, the transmission rod 20 is parallel to the output shaft of the driving motor 18, and one end of the transmission rod, which is far away from the output shaft of the driving motor 18, penetrates through the circular guide rail 3 and is then fixedly connected to the second thumb cylinder 12. Due to the arrangement of the holder 19, a distance is generated between the transmission rod 20 and the output shaft of the driving motor 18, so that the transmission rod 20 is deviated from the axis of the circular guide 3, so that the transmission rod 20 does not affect the winding of the copper wire 29 on the magnetic ring 30, and the movement of the transmission rod 20 is relatively not interfered with the driving of the upper and lower clamping portions 10 and 11 by the second thumb cylinder 12.

As a preferable mode, the thread hooking device includes a lifting device 21 and a hook 22, the lifting device 21 is located below the circular guide rail 3, the top end of the lifting device 21 is provided with the vertically upward hook 22, the hook 22 is coaxial with the circular guide rail 3, and the center of the circular guide rail 3 is within the stroke range of the hook 22. The lifting device 21 drives the hook needle 22 to move axially, so that the copper wire 29 is hooked in the center of the magnetic ring 30.

As a preferred mode, the thread conveying device includes a coil mounting roller 23, a thread conveying wheel 24, a thread outlet nozzle 25, a thread conveying frame 26 and scissors 27, the axis of the thread outlet nozzle 25 is perpendicular to the upper surface of the support 1, the thread conveying frame 26 is fixed on the first manipulator 2, the coil mounting roller 23, the thread conveying wheel 24, the scissors 27 and the thread outlet nozzle 25 are sequentially arranged on the thread conveying frame 1 from top to bottom, the axis of the coil mounting roller 23 is parallel to the upper surface of the support 1, the axis of the thread conveying wheel 24 is parallel to the upper surface of the support 1, the thread outlet nozzle 25 is arranged on two opposite sides of the axis of the thread outlet nozzle 25, the thread conveying wheel 24 is arranged on two opposite sides of the axis of the thread outlet nozzle 25, and the cutting edge of the scissors 27 is parallel to the upper surface of the support 1. After winding one magnetic ring 30, the copper wire 29 between the wound magnetic ring 30 and the outlet nozzle 25 is cut off by the scissors 27.

As a preferred mode, correspond every on the support 1 the ring guide rail 3 is equipped with line protection board 28, be equipped with the notch 31 that runs through line protection board 28's upper and lower surface on the line protection board 28, run through between line protection board 28's the both ends with a lateral wall of ring guide rail 2, the one end of notch 31 is in the top at the center of ring guide rail, the axis of ring guide rail 2 is in the notch 31. The wire protecting plate 28 is provided to prevent the surface of the copper wire 29 from being scratched during the process of winding the copper wire 29 around the magnet ring 30.

Claims (10)

1. The utility model provides a full-automatic annular duplex position coiling machine, includes support (1), its characterized in that, be equipped with two sets of spoolers on support (1), every group all include first manipulator (2), act as go-between manipulator, second manipulator, ring guide rail (3), drive arrangement in the spooler, set up second manipulator, ring guide rail (3), drive arrangement on support (1), the plane at the annular place that upper surface and ring guide rail (3) of support (1) were located in ring guide rail (3) is on a parallel with the upper surface of support (1), slide through drive arrangement on ring guide rail (3) and set up the second manipulator, be equipped with on support (1) with every second manipulator complex colludes traditional thread binding putting and defeated line device, support (1) is in the stroke range of first manipulator (2) and the intersection of the stroke range of act as go-between manipulator.

2. The full-automatic annular double-station winding machine according to claim 1, wherein the first manipulator (2) is arranged on the support (1), a preset gap is formed between the first manipulator (2) and the second manipulator, a preset gap is formed between the first manipulator (2) and the annular guide rail (3), and the second manipulator is within a stroke range of the first manipulator (2).

3. The full-automatic annular double-station winding machine according to claim 1 or 2, characterized in that a turntable (4) is arranged on the support (1), a gap is preset between the turntable (4) and each annular guide rail (3), a plurality of columns (5) are arranged on the turntable (4) around the circumference of the circle center, a servo motor (6) is arranged on the support (1), the servo motor (6) is in transmission connection with the turntable (4), and the columns (5) on the turntable (4) are equally divided within the stroke range of the first manipulators (2) of the two winding machines.

4. The full-automatic annular double-station winding machine according to claim 1, wherein the wire pulling manipulator comprises a first thumb cylinder (9), a first clamping plate (7) and a second clamping plate (8), an output end of the first thumb cylinder (9) is respectively and fixedly connected with the first clamping plate (7) and the second clamping plate (8) in the axial direction, the first clamping plate (7) and the second clamping plate (8) are parallel to each other, and a connecting line segment between the first clamping plate (7) and the second clamping plate (8) is parallel to the upper surface of the support (1).

5. The full-automatic annular double-station winding machine according to claim 1, wherein the second manipulator comprises an upper clamping portion (10), a lower clamping portion (11) and a second thumb cylinder (12), the output end of the second thumb cylinder (12) is provided with the upper clamping portion (10) and the lower clamping portion (11), the upper clamping portion (10) is located right above the lower clamping portion (11), a jacking rod (13) is further arranged on the second thumb cylinder (12), the jacking rod (13) is perpendicular to a connecting line segment between the upper clamping portion (10) and the lower clamping portion (11), the telescopic direction of the jacking rod (13) is perpendicular to a connecting line segment between the upper clamping portion (10) and the lower clamping portion (11), and the second thumb cylinder (12) is in sliding connection with the annular guide rail (3).

6. The full-automatic annular double-station winding machine according to claim 5, wherein the second manipulator further comprises a base (14), the second thumb cylinder (12) is rotatably arranged on the base (14), a rotating shaft of the second thumb cylinder (12) rotatably connected with the base (14) is parallel to the upper surface of the support (1), a rotating shaft of the second thumb cylinder (12) rotatably connected with the base (14) points to the axis of the circular guide rail (3), the base (14) is slidably connected with the circular guide rail (3), a U-shaped groove (15) matched with the tail end of the second thumb cylinder (12) is arranged beside each circular guide rail (3) on the support (1), the closed end of the U-shaped groove (15) is fixedly connected with the output end of a rotating motor (16), the support (1) is slidably connected with the base (14) through a sliding rail (17), the sliding rail (17) points to the axis of the circular guide rail (3) and is parallel to the axis of the support (1), and a sliding rail (14) driving cylinder (32) is arranged on the upper surface of the support (14).

7. The full-automatic annular double-station winding machine according to claim 5, wherein the driving device comprises a driving motor (18), the driving motor (18) is arranged below the circular guide rail (3), an output shaft of the driving motor (18) is coaxial with the circular guide rail (3), a transmission rod (20) is fixedly connected to the output shaft of the driving motor (18) through a radial fixer (19), the transmission rod (20) is parallel to the output shaft of the driving motor (18), and one end, far away from the output shaft of the driving motor (18), of the transmission rod penetrates through the circular guide rail (3) and then is fixedly connected with the second thumb cylinder (12).

8. The full-automatic annular double-station winding machine according to claim 1, wherein the thread hooking device comprises a lifting device (21) and a hooking needle (22), the lifting device (21) is located below the circular guide rail (3), the hooking needle (22) is vertically arranged at the top end of the lifting device (21), the hooking needle (22) is coaxial with the circular guide rail (3), and the center of the circular guide rail (3) is within the stroke range of the hooking needle (22).

9. The full-automatic annular double-station winding machine according to claim 1, characterized in that the wire conveying device comprises a coil mounting roller (23), a wire conveying wheel (24), a wire outlet nozzle (25), a wire conveying frame (26) and scissors (27), wherein the axis of the wire outlet nozzle (25) is perpendicular to the upper surface of the support (1), the wire conveying frame (26) is fixed on the first manipulator (2), the coil mounting roller (23), the wire conveying wheel (24), the scissors (27) and the wire outlet nozzle (25) are sequentially arranged on the wire conveying frame (1) from top to bottom, the axis of the coil mounting roller (23) is parallel to the upper surface of the support (1), the axis of the wire conveying wheel (24) is parallel to the upper surface of the support (1), the wire outlet nozzle (25) is arranged on two opposite sides of the axis of the wire outlet nozzle (25), and the cutting edge of the scissors (27) is parallel to the upper surface of the support (1).

10. The full-automatic annular double-station winding machine according to claim 1, wherein a wire protecting plate (28) is arranged on the bracket (1) corresponding to each annular guide rail (3), notches (31) penetrating through the upper surface and the lower surface of the wire protecting plate (28) are formed in the wire protecting plate (28), a side wall of the annular guide rail (2) penetrates between two ends of the wire protecting plate (28), one end of each notch (31) is located above the center of the annular guide rail, and the axis of the annular guide rail (2) is located in each notch (31).

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