CN117614221A

CN117614221A - Winding machine, application of winding machine in automatic winding of motor coil and robot

Info

Publication number: CN117614221A
Application number: CN202311632336.5A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shanghai Zhiyuan Xinchuang Technology Co ltd
Current assignee: Shanghai Zhiyuan Xinchuang Technology Co ltd
Priority date: 2023-11-30
Filing date: 2023-11-30
Publication date: 2024-02-27

Abstract

The application provides a coiling machine and application and robot in motor coil's automation coiling thereof, the coiling machine includes the lead wire device, the lead wire device includes: the movable end of the lead platform is used for moving and/or rotating at least one degree of freedom; the wire outlet nozzle module is used for being arranged at the movable end of the wire leading platform and comprises at least one wire outlet nozzle, each wire outlet nozzle is provided with a first through hole allowing wires to pass through, and one or more wire outlet nozzles are used for rotating and/or moving relative to the movable end of the wire leading platform so as to change the direction and/or the wire outlet position of the wires. According to the wire outlet nozzle module, the wire outlet nozzle module is arranged at the movable end of the wire leading platform, and the wire outlet nozzles can relatively rotate and/or relatively move relative to the movable end of the wire leading platform so as to change the direction and/or the wire outlet position of the wire, so that the wire outlet nozzle module is suitable for automatic winding of flat wires, and the section direction and the wire outlet position of the wire can be easily changed.

Description

Winding machine, application of winding machine in automatic winding of motor coil and robot

Technical Field

The application relates to the technical field of winding machines and robot motors, in particular to a winding machine and application thereof in automatic winding of motor coils and a robot.

Background

In the winding process of the motor coil, the direction of the wire needs to be changed sometimes, and the wire winding machine of the related art has difficulty in changing the direction and/or the wire outlet position of the wire.

Based on this, the present application provides a winding machine and its application and robot in the automated winding of motor coils to improve the related art.

Disclosure of Invention

The utility model provides a coiling machine and application and robot in motor coil's automation coiling, convenient direction and/or the wire outlet position of adjusting the wire rod.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides a winding machine comprising a lead arrangement comprising:

the movable end of the lead platform is used for moving and/or rotating at least one degree of freedom;

the wire outlet nozzle module is used for being arranged at the movable end of the wire leading platform and comprises at least one wire outlet nozzle, each wire outlet nozzle is provided with a first through hole allowing wires to pass through, and one or more wire outlet nozzles are used for rotating and/or moving relative to the movable end of the wire leading platform so as to change the direction and/or the wire outlet position of the wires.

In a second aspect, the present application provides the use of any one of the winding machines described above for the automated winding of motor coils.

In a third aspect, the present application provides a robot comprising at least one articulated motor, the motor coils of one or more articulated motors being wound using any of the winding machines described above.

The utility model provides a coiling machine and application and robot in motor coil's automation coiling thereof, lead wire platform can remove and rotate in one or more direction to adapt to different wire winding demands. The wire outlet nozzle module is arranged on the movable end of the wire leading platform, and the wire outlet nozzles can relatively rotate and/or relatively move relative to the movable end of the wire leading platform so as to change the direction and/or the wire outlet position of the wire. The winding machine is suitable for automatic winding of flat wires, and the section direction and the wire outlet position of the wires can be easily changed by relatively rotating and/or moving the wire outlet nozzle. The winding machine can be provided with a plurality of wire outlet nozzles, each wire outlet nozzle corresponds to one station, a plurality of coils are wound on the same machine at the same time, and production efficiency is improved.

Drawings

The application is further described below with reference to the drawings and detailed description.

Fig. 1 is a perspective view of a winding machine according to an embodiment of the present application.

Fig. 2 is a perspective view of a wire guide, a bobbin, and a wire according to an embodiment of the present application.

Fig. 3 is a perspective view of a lead frame according to an embodiment of the present application.

Fig. 4 is a perspective view of a tap module, a spool, and a wire according to an embodiment of the present application.

Fig. 5 is a perspective view of an outlet provided in an embodiment of the present application.

Fig. 6 is a front view of a nozzle module, a spool, and a wire provided in an embodiment of the present application.

Fig. 7 is a perspective view of a nozzle, sleeve and first synchronizing wheel according to an embodiment of the present application.

Fig. 8 is a perspective view of a bushing provided in an embodiment of the present application.

Fig. 9 is a perspective view of a winding device according to an embodiment of the present application.

Fig. 10 is a perspective view of another winding device according to an embodiment of the present application.

Fig. 11 is a schematic coaxial view of a fixed side shaft and a movable side shaft according to an embodiment of the present application.

Fig. 12 is a schematic coaxial view of another fixed side shaft and movable side shaft provided in an embodiment of the present application.

Fig. 13 is a perspective view of a wire cutting device and jaw ram portion provided in an embodiment of the present application.

Fig. 14 is a perspective view of another wire cutting apparatus and jaw ram portion provided in an embodiment of the present application.

Fig. 15 is an exploded view of a Y-axis degree of freedom component provided in an embodiment of the present application.

Fig. 16 is an exploded view of an X-axis degree of freedom component provided in an embodiment of the present application.

Fig. 17 is an exploded view of a Z-axis degree of freedom component provided in an embodiment of the present application.

Fig. 18 is an exploded view of a nozzle module according to an embodiment of the present application.

Fig. 19 is an exploded view of a winding device, a loading and unloading device, a wire cutting device and a winding bottom plate according to an embodiment of the present application.

Fig. 20 is an exploded view of a wire cutting apparatus according to an embodiment of the present application.

Fig. 21 is an exploded view of a winding device according to an embodiment of the present application.

Fig. 22 is a perspective view of a fixed side shaft according to an embodiment of the present application.

Fig. 23 is a cross-sectional view of a stationary side shaft according to an embodiment of the present application.

In the figure: 100. a lead wire device; 110. a lead platform; 111. a Y-axis degree of freedom component; 1111. a first motor; 1112. a coupling; 1113. the first screw rod module; 1114. a first base plate; 1115. a first slide rail module; 112. an X-axis degree of freedom component; 1121. a second motor; 1122. a first synchronous pulley module; 1123. the second screw rod module; 1124. a second base plate; 1125. the second sliding rail module; 113. a Z-axis degree of freedom component; 1131. a third motor; 1132. a second synchronous pulley module; 1133. a third screw rod module; 1134. the third sliding rail module; 1135. a third base plate; 120. a wire outlet nozzle module; 121. a wire outlet nozzle; 1211. a first through hole; 122. a shaft sleeve; 1221. a second through hole; 1222. an observation window; 123. a first synchronizing wheel; 124. a wire outlet nozzle base; 125. a fourth motor; 200. a winding device; 210. a fixed side portion; 211. fixing the side rotating shaft; 212. a fixed side bearing; 213. fixing the side seat board; 214. a second synchronizing wheel; 215. a second timing belt; 216. a fifth motor; 217. a fixed side flange seat; 218. fixing a side bearing seat; 220. a movable side portion; 221. a movable side rotating shaft; 222. a movable side bearing; 223. a movable side seat plate; 224. a third synchronizing wheel; 225. a third timing belt; 226. a transmission rotating shaft; 227. a sixth cylinder module; 228. a floating joint; 229. an eighth slide rail module; 230. a jaw bump portion; 231. an eighth cylinder module; 232. a tenth slide rail module; 233. a bump mounting plate; 234. a bump body; 240. a winding bottom plate; 241. a movable side flange seat; 242. a movable side bearing block; 243. a seventh cylinder module; 244. a core-pulling fixing plate; 245. pulling a core pulling plate; 246. a core die body; 247. a mandrel pull rod; 248. a ninth slide rail module; 249. a connecting shaft; 250. a rotating shaft body; 300. a thread cutting device; 310. a thread cutting platform; 311. a supporting plate; 312. a clamping jaw upper and lower straight shaft mounting seat; 313. a first cylinder module; 314. a second cylinder module; 315. a third cylinder module; 316. a fourth slide rail module; 317. a fifth slide rail module; 318. a sixth slide rail module; 320. a wire cutting clamp module; 321. a shear clip mounting plate; 322. a fourth cylinder module; 323. cutting wire clamps; 3231. a clamping jaw pressing block; 3232. a clamping jaw cutter; 400. a work table; 500. a bobbin; 600. a wire rod; 700. and feeding and discharging devices.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the skill of the art without inventive effort.

In the description of the embodiments of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the winding process of the motor coil, the direction of the wire needs to be changed sometimes, and the wire winding machine of the related art has difficulty in changing the direction and/or the wire outlet position of the wire. The application provides a winding machine and application thereof in automatic winding of motor coils and a robot for improving related technologies.

Although the present application is exemplified by the robot joint motor coil winding scenario, the present application may be applied to other joint motor coil winding scenarios, such as mechanical arms, industrial machines, automation equipment, etc. of various configurations, and the present application is not limited thereto. The robot arm may be, for example, a serial robot arm, a parallel robot arm, a SCARA robot arm, a Delta robot arm, a flexible robot arm, a slide robot arm, a cooperative robot arm, or the like, and the robot may be, for example, a humanoid robot (biped robot), a multiped robot (e.g., quadruped robot), a wheeled robot, or the like.

Besides joint motor coil winding, the method and the device can be applied to other motor coil winding scenes and non-motor coil winding scenes, and are not limited in this respect.

(winding machine)

Referring to fig. 1 to 5, fig. 1 is a perspective view of a winding machine provided in an embodiment of the present application, fig. 2 is a perspective view of a wire guiding device 100, a wire winding frame 500 and a wire 600 provided in an embodiment of the present application, fig. 3 is a perspective view of a wire guiding platform 110 provided in an embodiment of the present application, fig. 4 is a perspective view of a wire outlet nozzle module 120, a wire winding frame 500 and a wire 600 provided in an embodiment of the present application, and fig. 5 is a perspective view of a wire outlet nozzle 121 provided in an embodiment of the present application.

As shown in fig. 1, the embodiment of the present application provides a winding machine, which includes a wire guiding device 100, a winding device 200, a wire cutting device 300, a workbench 400, and a loading and unloading device 700 (not shown in the drawings).

As shown in fig. 2, the lead assembly 100 includes a lead platform 110 and a nozzle module 120.

As shown in fig. 3, the movable end of the lead platform 110 is configured to move and/or rotate in at least one degree of freedom.

As shown in fig. 2 and 4, the outlet nozzle module 120 is configured to be disposed at a movable end of the lead platform 110, and the outlet nozzle module 120 includes at least one outlet nozzle 121. Referring to fig. 5, each outlet nozzle 121 is provided with a first through hole 1211 for allowing the wire 600 to pass through, and one or more outlet nozzles 121 are used for rotating and/or moving relative to the movable end of the wire platform 110 to change the direction and/or outlet position of the wire 600.

The number of the nozzles 121 in the nozzle module 120 is not limited in this embodiment, and may be, for example, 1, 2, 3, 4, 5, 6, 8, 10, 12, 15, 20, 30, etc. As an example, each outlet nozzle 121 corresponds to one station, and the plurality of outlet nozzles 121 correspond to a plurality of stations, so that the winding machine can realize multi-station operation, and winding efficiency is improved. When the number of the outlet nozzles 121 is 4, the winding machine may be a four-station winding machine as shown in fig. 1.

In this embodiment, the cross section of the wire 600 may be rectangular, trapezoidal, triangular, polygonal, or irregularly shaped.

As shown in fig. 4, in some embodiments, the wire 600 is a flat wire. As shown in fig. 5, the first through hole 1211 of the outlet nozzle 121 is a rectangular through hole, and the winding machine is used for automatically winding the flat wire.

Referring to fig. 6 to 8, fig. 6 is a front view of a tap module 120, a bobbin 500, and a wire 600 provided in an embodiment of the present application, fig. 7 is a perspective view of a tap 121, a bushing 122, and a first synchronizing wheel 123 provided in an embodiment of the present application, and fig. 8 is a perspective view of a bushing 122 provided in an embodiment of the present application.

As shown in fig. 6, referring to fig. 4, in some embodiments, the outlet module 120 may further include an outlet base 124, where the outlet base 124 is configured to be disposed on the movable end of the lead platform 110, and each outlet 121 is configured to be disposed on the outlet base 124.

As shown in fig. 7 and 8, in some embodiments, the nozzle module 120 further includes a hollow boss 122 corresponding to each nozzle 121; each shaft sleeve 122 is provided with a second through hole 1221 allowing the outlet nozzle 121 to pass through, and the shaft sleeve 122 is sleeved on the circumferential direction of the outlet nozzle 121 and is close to the corresponding outlet position.

As shown in fig. 8, in some embodiments, the sleeve 122 is provided with a viewing window 1222 for viewing the direction of the wire 600. The sleeve 122 has an observation window 1222 for observing the direction of the wire 600, and for conveniently monitoring the position and direction of the wire 600 to ensure the accuracy and quality of winding.

As further shown in fig. 8, in some embodiments, the viewing window 1222 extends through the sleeve 122 to facilitate viewing of the wire 600 from both sides in the direction of the wire. In other embodiments, the viewing window 1222 exposes the wire 600 and does not extend through the sleeve 122.

In some embodiments, the viewing window 1222 is rectangular in shape. In other embodiments, the viewing window 1222 has a triangular, trapezoidal, diamond-shaped, or irregular shape.

In this embodiment, the movable end of the lead platform 110 has at least one degree of freedom of movement and/or rotation, i.e., the lead platform 110 can move and rotate in one or more directions to accommodate different winding requirements. The outlet nozzle module 120 is disposed on the movable end of the lead platform 110 and includes at least one outlet nozzle 121. Each tap 121 has a first through hole 1211 allowing the wire 600 to pass therethrough. The plurality of nozzles 121 may be relatively rotated and/or moved with respect to the movable end of the lead platform 110 to change the direction and/or the position of the wires 600.

The winding machine provided by the embodiment is suitable for automatic winding of flat wires, and the wound flat wires can be used in motor coils and other applications and have wide application prospects. The design of the outlet nozzle module 120 allows flexible adjustment of the direction of the wire 600 to meet different coil winding requirements. The cross-sectional direction and the wire outlet position of the wire 600 can be easily changed by relatively rotating and/or moving the outlet nozzle 121. The winding machine can be provided with a plurality of outlet nozzles 121, each outlet nozzle 121 corresponds to one station, a plurality of coils are wound on the same machine at the same time, and production efficiency is improved. Through flexible wire 600 direction adjustment and viewing window 1222 design, use of wire 600 can be more precisely controlled, waste of wire 600 is reduced, and production cost is reduced.

Referring to fig. 3, in some embodiments, the movable end of the lead platform 110 is configured to move in three degrees of freedom. The lead stage 110 may include, for example, an X-axis degree of freedom component 112, a Y-axis degree of freedom component 111, and a Z-axis degree of freedom component 113. The X-axis degree-of-freedom section 112 and the Y-axis degree-of-freedom section 111 are for providing two degrees of freedom in the horizontal direction, and the Z-axis degree-of-freedom section 113 is for providing one degree of freedom in the vertical direction. This design provides a high degree of flexibility to allow the lead platform 110 to move freely in three directions to meet different coil winding requirements.

In other embodiments, the movable end of the lead platform 110 is configured to move in two degrees of freedom. In still other embodiments, the movable end of the lead platform 110 is configured to move in one degree of freedom. This design can be tailored to specific winding requirements, reducing complexity while still providing sufficient degrees of freedom to accommodate different operating scenarios.

In still other embodiments, the movable end of the lead platform 110 is configured to perform movement in K degrees of freedom, K being an integer greater than 3. This design can be used for specific winding requirements, for example in cases where extremely high precision coil winding or complex wiring arrangements are required.

The movable end of the lead platform 110 may have different degrees of freedom. Specifically, the movable end of the lead platform 110 may perform three degrees of freedom movement, or two degrees of freedom, one degree of freedom, or even more degrees of freedom movement, depending on practical application requirements. The multiple degree of freedom motion design of the lead platform 110 enables the winder to accommodate different coil winding tasks. The winding machine can be customized to meet diversified requirements, and the cost of purchasing multiple machines is reduced, whether three-dimensional winding or simpler two-dimensional or one-dimensional winding is required. The multiple degree of freedom movement allows the machine to make small precise adjustments in multiple directions, thereby improving the accuracy of winding. The machine can simultaneously perform multi-station winding by moving in different degrees of freedom, and the production efficiency is improved.

In some embodiments, one or more nozzles 121 are configured to rotate relative to the movable end of the lead platform 110 to redirect the wire 600. In other embodiments, one or more of the outlet nozzles 121 are configured to move relative to the movable end of the lead platform 110 to change the position of the wire 600 being routed. In still other embodiments, one or more of the wire taps 121 are configured to rotate and move relative to the movable end of the wire platform 110 to change the direction and position of the wire 600.

In this embodiment, the nozzle 121 may be moved relative to the movable end of the lead platform 110 in a different manner.

One or more of the wire taps 121 may be rotated relative to the movable end of the wire platform 110 to indicate that the wire tap 121 may be rotated about an axis to change the direction of winding of the wire 600. This relative rotation can achieve flexible adjustment of the winding direction of the wire 600, adapting to different winding requirements.

One or more of the nozzles 121 may be moved relative to the movable end of the wire guide platform 110 to indicate that the nozzle 121 may be moved linearly in a particular direction to change the wire guide position of the wire 600. This relative movement may be used to adjust the layout and wire exit position of wire 600 to meet specific winding requirements.

One or more of the nozzles 121 may be capable of both relative rotation and relative movement with the movable end of the lead platform 110, indicating that the nozzle 121 may simultaneously change the direction and the position of the wire 600, providing more degrees of freedom.

Different coil winding tasks often require different wire 600 directions and wire outlet positions, and these various requirements can be met by the relatively moving wire outlet nozzle 121, so that the machine is suitable for various application scenarios.

In some embodiments, the wire outlet 121 which rotates relatively is a rotatable wire outlet 121, and a plurality of rotatable wire outlets 121 are used for synchronous or independent relative rotation with the movable end of the wire platform 110.

In some embodiments, a plurality of rotatable wire taps 121 are used to synchronize relative rotation with the movable end of the wire platform 110. In other embodiments, a plurality of rotatable nozzles 121 are configured to rotate independently of the movable end of the lead platform 110.

The plurality of rotatable taps 121 are designed to be rotated synchronously with the movable end of the wire platform 110, meaning that the taps 121 can be rotated together to adjust the winding direction of the wire 600. This synchronized relative rotation may be used in applications requiring multiple outlet nozzles 121 to cooperate to synchronously wind multiple coils to ensure consistent wire 600 orientation.

The plurality of rotatable taps 121 are designed to be independently rotatable with respect to the movable end of the lead frame 110, meaning that each tap 121 can be independently rotated to individually adjust the winding direction of the wire 600. Such independent relative rotation may be used in applications requiring different wire 600 orientations to meet the simultaneous winding requirement of multiple coils that are not synchronized.

The plurality of rotatable wire outlet nozzles 121 are adopted to realize synchronous relative rotation or independent relative rotation, so that the winding machine can cope with different winding demands of wires 600 and adapt to different winding tasks. Independent or simultaneous operation of each rotatable nozzle 121 allows for precise adjustment of the winding direction of wire 600. The synchronous relative rotation or the independent relative rotation enables the wire winder to simultaneously process a plurality of wires 600, thereby improving the production efficiency.

In some embodiments, the nozzle module 120 further includes a first driving component and a first transmission component, where the first driving component is configured to drive the plurality of rotatable nozzles 121 to synchronously rotate with the movable end of the wire platform 110 through the first transmission component.

As shown in fig. 6, in some embodiments, the number of rotatable nozzles 121 is N, and the first transmission member includes n+1 first synchronizing wheels 123 and a first synchronizing belt (not shown), where N is an integer greater than 1; the n+1 first synchronizing wheels 123 are used to realize synchronous rotation by the first synchronizing belt, wherein the N first synchronizing wheels 123 are also used to connect to the N rotatable wire-out nozzles 121 in a one-to-one correspondence, and the remaining one first synchronizing wheel 123 is also used to connect to the first driving part.

The present embodiment is not limited to N, and may be, for example, 2, 3, 4, 5, 6, 8, 10, 12, 15, 20, 30, or the like.

As shown in fig. 7 and 8, referring to fig. 4, in some embodiments, the nozzle module 120 further includes a hollow sleeve 122 corresponding to each rotatable nozzle 121; each of the bosses 122 is provided with a second through hole 1221 allowing the rotatable outlet nozzle 121 to pass therethrough, the bosses 122 are sleeved on the circumference of the rotatable outlet nozzle 121 near the corresponding outlet position, and each of the first synchronizing wheels 123 is adapted to be connected to the corresponding rotatable outlet nozzle 121 through the bosses 122.

In this embodiment, the first driving member may be, for example, a servo motor or a cylinder group. The first drive means may be a power supply mechanism such as a servo motor or cylinder block for supplying power to drive the relative rotation of the rotatable nozzle 121. The power generated by the first driving part is transmitted to the first transmission part. The first synchronizing wheel 123 is rotated synchronously by the first synchronizing belt. Each first synchronizing wheel 123 is coupled to a rotatable nozzle 121 via a bushing 122 such that each rotatable nozzle 121 is rotatable along its axis relative to the movable end of the lead platform 110. One of the first synchronizing wheels 123 is adapted to be coupled to the first driving member to transmit power to the first synchronizing wheels 123 of the N rotatable outlet nozzles 121 to ensure synchronized relative rotation between the plurality of rotatable outlet nozzles 121.

Through synchronous rotation, the winder can process a plurality of wires 600 simultaneously, and the number N of the rotatable wire outlet nozzles 121 can be adjusted according to the needs to adapt to the needs of different winding tasks. Efficient power transmission can be achieved by using the transmission mode of the first synchronizing belt and the first synchronizing wheel 123, and synchronous movement of the rotatable nozzle 121 is ensured.

In other embodiments, the outlet module 120 further includes a second driving component and a second transmission component corresponding to each rotatable outlet 121, where the second driving component is configured to drive the corresponding rotatable outlet 121 to synchronously or respectively independently rotate relative to the movable end of the lead platform 110 through the second transmission component.

In this embodiment, the second driving component may be, for example, a servo motor or a cylinder group, and the second transmission component may include, for example, a coupling 1112, a screw module, a slide rail module, and the like. That is, separate power supply mechanisms and power transmission mechanisms are provided for each outlet nozzle 121.

The second drive member is responsible for providing power and transmitting power to the second drive member, which transmits power to the corresponding rotatable outlet 121. The specific design of the second transmission component depends on the application requirement and can comprise a screw rod module, a sliding rail module and the like.

In still other embodiments, the nozzle module 120 further includes a third driving member corresponding to each rotatable nozzle 121 for driving the corresponding rotatable nozzle 121 to rotate synchronously or independently relative to the movable end of the lead platform 110.

In this embodiment, the third driving member may be, for example, a servo motor or a cylinder group. That is, a separate power supply mechanism is provided for each outlet nozzle 121, and the outlet nozzle 121 is powered in a direct drive manner.

By providing each rotatable outlet nozzle 121 with an individual second drive member and second drive member or third drive member, independent control of each rotatable outlet nozzle 121 can be achieved, providing greater flexibility to meet the winding demands of different wires 600, thereby improving winding accuracy and efficiency. The third driving part adopting the direct driving mode can provide higher power transmission efficiency, reduces energy loss, reduces the abrasion of mechanical parts and prolongs the service life of corresponding parts. Independent control of each rotatable nozzle 121 allows for simultaneous processing of multiple wires 600 and simultaneous or independent relative rotation, thereby improving production efficiency and being suitable for large-scale coil winding.

Referring to fig. 9 to 12, fig. 9 is a perspective view of a winding device 200 according to an embodiment of the present application, fig. 10 is a perspective view of another winding device 200 according to an embodiment of the present application, fig. 11 is a schematic coaxial view of a fixed side rotating shaft 211 and a movable side rotating shaft 221 according to an embodiment of the present application, and fig. 12 is a schematic coaxial view of another fixed side rotating shaft 211 and a movable side rotating shaft 221 according to an embodiment of the present application.

As shown in fig. 9, referring to fig. 6, in some embodiments, the winding machine further includes a winding device 200, where the winding device 200 includes a rotating shaft component corresponding to each outlet nozzle 121, and one or more rotating shaft components are used to compress the bobbin 500 corresponding to the outlet nozzle 121 from two sides.

As shown in fig. 10, in some embodiments, the rotating shaft part of the bobbin 500 is an adjustable rotating shaft part including a fixed side rotating shaft 211 and a movable side rotating shaft 221, and the movable side rotating shaft 221 of the plurality of adjustable rotating shaft parts is used for synchronous or independent movement. The fixed side rotary shaft 211 and the movable side rotary shaft 221 are coaxial, and as shown in fig. 11 and 12, the movable side rotary shaft 221 is used to move in an axial direction to adjust a distance between the movable side rotary shaft 221 and the fixed side rotary shaft 211 to press the bobbin 500 from both sides.

In some embodiments, the winding device 200 further includes a fourth driving component and a third transmission component, where the fourth driving component is configured to drive the movable side rotating shaft 221 of the plurality of adjustable rotating shaft components to move synchronously through the third transmission component.

As shown in fig. 11 and 12, in some embodiments, the winding device 200 further includes a fixed side seat plate 213, a movable side seat plate 223, a fixed side bearing 212 corresponding to each fixed side rotation shaft 211, and a movable side bearing 222 corresponding to each movable side rotation shaft 221; each fixed side rotating shaft 211 is connected to the fixed side seat plate 213 through a fixed side bearing 212, each movable side rotating shaft 221 is connected to the movable side seat plate 223 through a movable side bearing 222, and the fourth driving part is used for driving the movable side seat plate 223 to move through the third driving part to realize relative movement between the movable side seat plate 223 and the fixed side seat plate 213, thereby realizing relative movement between the movable side rotating shaft 221 and the fixed side rotating shaft 211.

As further shown in fig. 11 and 12, in some embodiments, the winding device 200 further includes a fixed-side flange seat 217, a movable-side flange seat 241, a fixed-side bearing seat 218, and a movable-side bearing seat 242, the fixed-side rotary shaft 211 is configured to be connected to the winding frame 500 through the fixed-side flange seat 217, the movable-side rotary shaft 221 is configured to be connected to the winding frame 500 through the movable-side flange seat 241, the fixed-side rotary shaft 211 is configured to be connected to the fixed-side bearing seat 218 through the fixed-side bearing seat 212, the fixed-side bearing seat 218 is mounted on the fixed-side seat plate 213, the movable-side rotary shaft 221 is configured to be connected to the movable-side bearing seat 242 through the movable-side bearing 222, and the movable-side bearing seat 242 is mounted on the movable-side seat plate 223.

The fourth drive element may be, for example, a cylinder block or an electric motor.

Each of the adjustable hinge parts includes a fixed side hinge 211 and a movable side hinge 221 at both sides of the bobbin 500, wherein the movable side hinge 221 is used to move synchronously or independently to adjust a distance between the movable side hinge 221 and the fixed side hinge 211, thereby adjusting a compression degree of the bobbin 500 to facilitate control of a pressure applied to the bobbin 500. Through adjustable pivot part, the winding device 200 can compress tightly it from the two sides of bobbin 500, helps guaranteeing the accurate application of pressure to realize the location to bobbin 500, ensure the accurate position of bobbin 500, thereby promote whole wire winding precision. The synchronous or independent movement of the movable side rotary shafts 221 enables the operator to flexibly adjust the pressure arrangement of the respective bobbins 500 as needed.

In other embodiments, the winding device 200 further includes a fifth driving part and a fourth driving part corresponding to each movable side shaft 221, where the fifth driving part is used to drive the corresponding movable side shaft 221 to move through the fourth driving part.

In still other embodiments, the winding device 200 further includes a sixth driving part corresponding to each movable-side rotary shaft 221, and the sixth driving part is used for driving the corresponding movable-side rotary shaft 221 to move.

As shown in fig. 10, in some embodiments, the fixed-side rotating shaft 211 and the movable-side rotating shaft 221 of the plurality of adjustable rotating shaft parts are used for synchronous rotation, the number of the adjustable rotating shaft parts being M, M being an integer greater than 1; the winding device 200 further includes a fifth transmission component, where the fifth transmission component includes m+1 second synchronizing wheels 214, M second synchronizing belts 215, a transmission rotating shaft 226, m+1 third synchronizing wheels 224, and M third synchronizing belts 225; the m+1 second synchronizing wheels 214 are used for implementing synchronous rotation by M second synchronizing belts 215, wherein the M second synchronizing wheels 214 are also used for being connected to the fixed side rotating shafts 211 in the M adjustable rotating shaft parts in a one-to-one correspondence manner, and the other one second synchronizing wheel 214 is also used for being respectively connected to the fourth driving part and the transmission rotating shaft 226; the m+1 third synchronizing wheels 224 are used for achieving synchronous rotation by M third synchronizing belts 225, wherein the M third synchronizing wheels 224 are further used for being connected to the movable side rotating shafts 221 of the M adjustable rotating shaft members in a one-to-one correspondence, and the remaining one third synchronizing wheel 224 is further used for being connected to the remaining one second synchronizing wheel 214 by the transmission rotating shaft 226, so that the remaining one third synchronizing wheel 224 is connected to the fourth driving member.

The present embodiment is not limited to M, and may be, for example, 2, 3, 4, 5, 6, 8, 10, 12, 15, 20, 30, or the like.

In the present embodiment, m+1 second synchronizing wheels 214 are synchronously rotated by M second synchronizing belts 215, wherein M second synchronizing wheels 214 correspond to the fixed side rotating shafts 211 in the adjustable rotating shaft part, and another second synchronizing wheel 214 is connected to the fourth driving part and the transmission rotating shaft 226, respectively. The m+1 third synchronizing wheels 224 are synchronously rotated by M third synchronizing belts 225, wherein the M third synchronizing wheels 224 correspond to the movable-side rotating shaft 221 of the adjustable rotating shaft part, and the other third synchronizing wheel 224 is connected to the other second synchronizing wheel 214 by a transmission rotating shaft 226 so as to be connected to the fourth driving part. By the arrangement of the fifth transmission member, the fixed side rotary shaft 211 and the movable side rotary shaft 221 among the plurality of adjustable rotary shaft members can be rotated in synchronization, thereby cooperating to complete the winding task. The number M of the adjustable rotating shaft parts can be adjusted according to specific requirements of winding tasks.

Referring to fig. 13 and 14, fig. 13 is a perspective view of one wire cutting device 300 and jaw striker portion 230 provided in an embodiment of the present application, and fig. 14 is a perspective view of another wire cutting device 300 and jaw striker portion 230 provided in an embodiment of the present application.

As shown in fig. 13, in some embodiments, the winding device 200 further includes a jaw strike portion 230. As shown in fig. 14, referring to fig. 13, the jaw ram portion 230 includes an eighth cylinder module 231, a tenth rail module 232, a ram mounting plate 233, and a ram body 234. The piston rod portion of the eighth cylinder module 231 moves to drive the striker mounting plate 233 to move, thereby realizing the forward and backward movement of the striker mounting plate 233 in the axial direction.

In some embodiments, the wire winding machine further comprises a wire cutting device 300, wherein the wire cutting device 300 comprises a wire cutting platform 310 and a wire cutting clamp module 320, and the movable end of the wire cutting platform 310 is used for performing at least one degree of freedom of movement and/or rotation. The clip module 320 includes at least one clip 323, and one or more clips 323 are configured to be disposed at a movable end of the clip platform 310. In some embodiments, the clip module 320 may further include a clip mounting plate 321, the clip mounting plate 321 being disposed at a movable end of the clip platform 310, at least one clip 323 being mounted on the clip mounting plate 321. In some embodiments, the shear clip 323 includes a jaw press 3231 and a jaw cutter 3232. The jaw pressing block 3231 cooperates with the jaw cutter 3232 to open and close the cutting clamp 323, thereby precisely cutting the wire 600. When the wire is cut after winding, the movable wire cutting platform 310 is used to enable the wire cutting clamp 323 to be closer to the coil when the wire is cut, so that the length of the wire head can be controlled to be about 3 cm, and consumption of the wire 600 is saved.

In some embodiments, the movable end of the scissor platform 310 is configured to move in three degrees of freedom.

Referring to fig. 15 to 23, fig. 15 is an exploded view of a Y-axis degree of freedom member 111 provided in the present embodiment, fig. 16 is an exploded view of an X-axis degree of freedom member 112 provided in the present embodiment, fig. 17 is an exploded view of a Z-axis degree of freedom member 113 provided in the present embodiment, fig. 18 is an exploded view of a nozzle module 120 provided in the present embodiment, fig. 19 is an exploded view of a winding device 200, a loading and unloading device 700, a wire cutting device 300 and a winding base 240 provided in the present embodiment, fig. 20 is an exploded view of a wire cutting device 300 provided in the present embodiment, fig. 21 is an exploded view of a winding device 200 provided in the present embodiment, fig. 22 is a perspective view of a fixed-side rotary shaft 211 provided in the present embodiment, and fig. 23 is a cross-sectional view of a fixed-side rotary shaft 211 provided in the present embodiment.

As shown in fig. 1 to 20, in a specific application scenario, the embodiment of the present application further provides a winding machine, where the winding machine includes a wire guiding device 100, a winding device 200, a wire cutting device 300, a loading and unloading device 700, and a workbench 400. The wire 600 wound by the winding machine is a flat wire, for example, a flat copper wire. The first through hole 1211 of the outlet nozzle 121 is a rectangular through hole, and the winding machine may be, for example, a four-station flat wire winding machine, which is used for automatic winding of a frameless motor coil.

The first portion, the top portion, includes the lead assembly 100. The lead assembly 100 includes a lead platform 110 and a nozzle module 120, as shown in fig. 2.

Referring to fig. 3, the movable end of the lead platform 110 is configured to perform three degrees of freedom movement. At this time, the lead stage 110 may be regarded as a three-axis slide table device. The three-axis slide table device may include, for example, an X-axis degree of freedom member 112, a Y-axis degree of freedom member 111, and a Z-axis degree of freedom member 113, as shown in fig. 3. As shown in fig. 15, the Y-axis degree of freedom component 111 includes a first motor 1111, a coupling 1112, a first screw module 1113, a first base 1114, and a first slide rail module 1115. As shown in fig. 16, the X-axis degree of freedom member 112 includes a second motor 1121, a first synchronous pulley module 1122, a second lead screw module 1123, a second base plate 1124, and a second slide rail module 1125. As shown in fig. 17, the Z-axis degree of freedom component 113 includes a third motor 1131, a second timing pulley module 1132, a third lead screw module 1133, a third slide rail module 1134, and a third base plate 1135. The slider portion of the third rail module 1134 is connected to the nozzle base 124 as the movable end of the lead platform 110. In each degree of freedom component, a motor is used as a driving component, and the corresponding slide rail module is driven to slide on the corresponding bottom plate through transmission components such as a coupler 1112, a screw rod module and a synchronous pulley module. The sliding rail module can be, for example, a linear sliding rail module.

The connection mode and the power transmission process of the triaxial slipway device are as follows.

Referring to fig. 15, for the Y-axis degree of freedom component 111, the nut portion of the first screw rod module 1113 and the track portion of the first slide rail module 1115 are mounted on the first base plate 1114; an output shaft of the first motor 1111 is connected to a lead screw portion of the first lead screw module 1113 through a coupling 1112; the screw part of the first screw rod module 1113 is connected with the slide block part of the first slide rail module 1115; the slider portion of the first sliding rail module 1115 is connected to the second base plate 1124. The output shaft of the first motor 1111 rotates to drive the screw portion of the first screw module 1113 to rotate and move, and drive the slider portion of the first slide rail module 1115 to move, and drive the second base plate 1124 to move, thereby realizing single-degree-of-freedom horizontal movement between the second base plate 1124 and the first base plate 1114.

Referring to fig. 16, for the X-axis degree of freedom component 112, a nut portion of the second screw module 1123 and a rail portion of the second slide rail module 1125 are mounted on the second base plate 1124; an output shaft of the second motor 1121 is connected to a screw portion of the second screw module 1123 through the first synchronous pulley module 1122; the screw rod part of the second screw rod module 1123 is connected with the slide block part of the second slide rail module 1125; the slider portion of the second slide rail module 1125 is connected to the third bottom plate 1135. The output shaft of the second motor 1121 rotates to drive the screw part of the second screw rod module 1123 to rotate and move, and drive the slide block part of the second slide rail module 1125 to move, and drive the third bottom plate 1135 to move, thereby realizing single-degree-of-freedom horizontal movement between the third bottom plate 1135 and the second bottom plate 1124.

Referring to fig. 17, for the Z-axis degree of freedom component 113, a nut portion of the third screw module 1133 and a track portion of the third slide rail module 1134 are mounted on the third base plate 1135; an output shaft of the third motor 1131 is connected with a screw part of the third screw module 1133 through a second synchronous pulley module 1132; the lead screw part of the third lead screw module 1133 is connected with the slide block part of the third slide rail module 1134; the slider portion of the third rail module 1134 is coupled to the nozzle base 124. The output shaft of the third motor 1131 rotates to drive the screw part of the third screw rod module 1133 to rotate and move, drive the slide block part of the third slide rail module 1134 to move, and drive the outlet nozzle base 124 to move, thereby realizing single-degree-of-freedom vertical movement between the outlet nozzle base 124 and the third bottom plate 1135.

As can be seen from fig. 15 to 17, relative sliding movement between nozzle base 124 and first floor 1114 in three directions is thereby achieved. In practice, the lead platform 110 may also employ an articulated robotic arm system to provide three-directional motion or even higher degrees of freedom motion.

As shown in fig. 18, referring to fig. 6 and 7, the wire outlet module 120 is configured to be disposed at a movable end of the wire outlet platform 110, and the wire outlet module 120 includes a wire outlet base 124, a plurality of wire outlets 121, a first driving member, a first transmission member, and a hollow shaft sleeve 122 corresponding to each rotatable wire outlet 121. Each of the tap-out nozzles 121 is provided with a first through hole 1211 allowing the wire 600 to pass therethrough, as shown in fig. 8. The plurality of nozzles 121 are adapted to rotate synchronously with the movable end of the wire guide plate 110 to change the direction of the wire 600. At this time, the nozzle module 120 may be regarded as a parallel nozzle rotating device.

The first drive component may be, for example, a servo motor, such as the fourth motor 125. The number of the outlet nozzles 121 is, for example, 4, and when all the outlet nozzles 121 are rotatable, the number of the rotatable outlet nozzles 121 is also 4. The four outlet nozzles 121 include, for example, a first outlet nozzle 121, a second outlet nozzle 121, a third outlet nozzle 121, and a fourth outlet nozzle 121.

Each shaft sleeve 122 is provided with a second through hole 1221 allowing the rotatable outlet nozzle 121 to pass through, and the shaft sleeve 122 is sleeved on the circumference of the rotatable outlet nozzle 121 and is close to the corresponding outlet position. The sleeve 122 is provided with a viewing window 1222 for viewing the direction of the wire 600, the viewing window 1222 penetrates the sleeve 122, and the viewing window 1222 is rectangular in shape.

Referring to fig. 6, the outlet nozzles 121 that rotate relatively are rotatable outlet nozzles 121, where the number of rotatable outlet nozzles 121 is N, where N is an integer greater than 1, and N is, for example, 4. The fourth motor 125 is configured to drive the plurality of rotatable nozzles 121 to rotate through the first transmission member. The first transmission part comprises 5 first synchronizing wheels 123 and a first synchronizing belt (not shown in the figures); the 5 first synchronous wheels 123 are used for realizing synchronous rotation through the first synchronous belt, wherein 4 first synchronous wheels 123 are also used for being connected to the N rotatable wire outlet nozzles 121 in a one-to-one correspondence through the shaft sleeve 122, and the other first synchronous wheels 123 are also used for being connected to the fourth motor 125.

As shown in fig. 6, the connection mode and the power transmission process of the parallel outlet nozzle rotating device are as follows: the outlet nozzle base 124 is connected with a motor fixing seat of a fourth motor 125; the 4 first synchronous wheels 123 are connected with 4 wire outlet nozzles 121 through shaft sleeves 122; the 4 first synchronizing wheels 123 are also connected to the rightmost first synchronizing wheel 123 in fig. 6 by a timing belt (not shown in the drawing); the rightmost first synchronizing wheel 123 is also connected to the output shaft of the fourth motor 125. The output shaft of the fourth motor 125 rotates to drive the rightmost first synchronizing wheel 123 to rotate, thereby simultaneously driving the rest 4 first synchronizing wheels 123 to rotate, and realizing the simultaneous rotation of the 4 outlet nozzles 121.

Referring to fig. 2, it can be seen that in this embodiment, the function of the wire guiding device 100 is to implement simultaneous and synchronous movement of the four degrees of freedom (xyz triaxial+horizontal rotation axis/Yaw axis) of the space of the plurality of parallel flat wire outlet nozzles 121 at the end of the device, so as to implement the accuracy of the cross-section direction when the flat wire is being led out, thereby improving the precision of flat wire winding. The lead wire device 100 comprises a triaxial slipway device at the rear part and a parallel wire outlet nozzle rotating device at the tail end of the slipway.

The three-axis sliding table device can realize three-degree-of-freedom (xyz) linear motion of the tail end. The linear motion with single degree of freedom can realize corresponding functions through driving components such as a servo motor, transmission components such as a screw rod module and a synchronous pulley module, and motion functional components such as a sliding rail module. The degrees of freedom inclusion relationship of the three-axis sliding table device is, for example, x-y-z, and other degrees of freedom inclusion relationships can also realize functions and are equivalent structures.

The parallel outlet nozzle rotating device is used for realizing the simultaneous horizontal rotation (rotation of the Yaw shaft) of a plurality of end parallel outlet nozzles 121. Thereby simultaneously controlling the Yaw freedom degree movement of the wire outlet sections of the flat wires. The parallel outlet nozzle rotating device is arranged at the tail end of the triaxial slipway device (namely the movable end of the lead platform 110), and the driving part drives the plurality of outlet nozzles 121 to rotate in parallel or independently through the transmission part. The driving part may be single or multiple. The single driving part can drive the plurality of outlet nozzles 121 to rotate at the same time, or can drive only a single outlet nozzle. The plurality of outlet nozzles 121 may be rotated in parallel or independently. The above are all equivalent. The driving means is, for example, a motor, and as an example, a servo motor may be used as the driving means.

Referring to fig. 6, specifically, each outlet nozzle 121 is mounted on a rotation plane through a bearing (or a sleeve 122) to implement rotation of the Yaw shaft, for example, by mounting a transmission device such as a synchronizing wheel. The driving rotation mode can be a transmission mode such as a gear, a synchronous belt, a chain and the like, and can also be a direct drive mode of a motor. Referring to fig. 5, a rectangular through hole (i.e., a first through hole 1211) allowing a flat copper wire to pass through is formed in the middle of the inside of the wire outlet nozzle 121, the flat copper wire passes through the wire outlet nozzle 121 through the pulley block support, and the cross section direction of the flat copper wire can be changed by rotating the wire outlet nozzle 121. The rotation direction of the outlet nozzle 121 is not necessarily a horizontal direction, and may be any direction. The rotation directions of the plurality of outlet nozzles 121 are not necessarily the same, and may be independent.

The second part, the middle part, comprises a winding device 200 (also called a multi-station spindle device), a wire cutting device 300 and a loading and unloading device 700, as shown in fig. 1 and 19.

As shown in fig. 19, referring to fig. 9, the winding device 200 includes a winding base 240, a fixed side portion 210, a movable side portion 220, and a jaw striker portion 230. As shown in fig. 10, referring to fig. 21, the stationary-side part 210 includes a stationary-side rotating shaft 211 (which may also be referred to as a stationary-side main shaft), a stationary-side bearing 212, a stationary-side seat plate 213, a stationary-side synchronous pulley module, a fifth motor 216, a seventh cylinder module 243, a core back fixing plate 244, a core back pulling plate 245, and a ninth slide rail module 248. The movable-side portion 220 includes a movable-side rotating shaft 221 (also referred to as a pressing-side main shaft), a movable-side bearing 222, a movable-side seat plate 223, a movable-side timing pulley module, a transmission rotating shaft 226, a sixth cylinder module 227, a floating joint 228, and an eighth slide rail module 229. The jaw ram portion 230 includes an eighth cylinder module 231, a tenth slide rail module 232, a ram mounting plate 233, and a ram body 234. Wherein the fifth motor 216 may be a stepper motor.

Referring to fig. 11 and 12, the rotating shaft parts of the bobbin 500 are compressed from both sides to be adjustable rotating shaft parts, wherein the number of the adjustable rotating shaft parts is M, M is an integer greater than 1, and M is, for example, 4. The fixed side rotary shaft 211 and the movable side rotary shaft 221 of the adjustable rotary shaft part are used to double-side press the bobbin 500 corresponding to the tap 121. The fixed side rotary shaft 211 and the movable side rotary shaft 221 in the adjustable rotary shaft part are coaxial, and the movable side rotary shaft 221 is used for moving in the axial direction to adjust the distance between the movable side rotary shaft 221 and the fixed side rotary shaft 211 to press the bobbin 500 from both sides. The plurality of movable-side rotary shafts 221 are used for performing synchronous movement. The fixed side rotary shaft 211 and the movable side rotary shaft 221 may have a hollow structure, for example. Each fixed side rotary shaft 211 is connected to the fixed side seat plate 213 through a fixed side bearing 212, each movable side rotary shaft 221 is connected to the movable side seat plate 223 through a movable side bearing 222, and the sixth cylinder module 227 is configured to drive the movable side seat plate 223 to move to achieve relative movement between the movable side seat plate 223 and the fixed side seat plate 213, thereby achieving relative movement between the movable side rotary shaft 221 and the fixed side rotary shaft 211.

As shown in fig. 10, not only the plurality of movable-side rotating shafts 221 but also the plurality of fixed-side rotating shafts 211 and the plurality of movable-side rotating shafts 221 can be synchronously moved. The fixed-side pulley module includes 5 second timing pulleys 214 and 4 second timing belts 215. The movable-side pulley module includes 5 third timing pulleys 224 and 4 third timing belts 225. The 5 second synchronizing wheels 214 are used for realizing synchronous rotation by 4 second synchronizing belts 215, wherein the 4 second synchronizing wheels 214 are also used for being connected to the fixed side rotating shafts 211 in the 4 adjustable rotating shaft parts in a one-to-one correspondence, and the other second synchronizing wheels 214 are also used for being respectively connected to the fifth motor 216 and the transmission rotating shaft 226. The 5 third synchronizing wheels 224 are used for synchronizing rotation by means of 4 third synchronizing belts 225, wherein the 4 third synchronizing wheels 224 are further used for one-to-one connection to the movable side rotating shaft 221 of the 4 adjustable rotating shaft parts, and the remaining one third synchronizing wheel 224 is further used for connection to the remaining one second synchronizing wheel 214 by means of the transmission rotating shaft 226, such that the remaining one third synchronizing wheel 224 is connected to the fifth motor 216. The fifth motor 216 can transmit power to one third synchronizing wheel 224 through one second synchronizing wheel 214 and a transmission rotating shaft 226, the second synchronizing wheel 214 receiving power can drive the other 4 second synchronizing wheels 214 to synchronously rotate, the third synchronizing wheel 224 receiving power can drive the other 4 third synchronizing wheels 224 to synchronously rotate, and the rotation of the 5 second synchronizing wheels 214 and the rotation of the 5 third synchronizing wheels 224 are synchronous with the rotation of the transmission rotating shaft 226, so that the rotation of the 5 second synchronizing wheels 214 is synchronous with the rotation of the 5 third synchronizing wheels 224, and then the rotation of the fixed side rotating shafts 211 corresponding to the 5 second synchronizing wheels 214 is synchronous with the rotation of the movable side rotating shafts 221 corresponding to the 5 third synchronizing wheels 224, thereby realizing the synchronous rotation of the 5 fixed side rotating shafts 211 and the 5 movable side rotating shafts 221.

As shown in fig. 22 and 23, the fixed-side rotating shaft 211 may include an inner portion and an outer portion, for example. The outer portion includes a plurality of spindle bodies 250. The inner portion includes a core mold body 246, a core mold drawbar 247, and a connecting shaft 249 corresponding to each of the spindle bodies 250. The core mold body 246 is connected to the core mold pull rod 247 by, for example, a connecting shaft 249, and the core mold body 246 rotates along with the rotation shaft body 250. The core mold pull rods 247 are provided at the axially rear portion of the core mold body 246 in one-to-one correspondence for drawing back the core mold body 246. For example, one cylinder may be used to drive the plurality of core mold levers 247 at the same time, or a plurality of cylinders (for example, the seventh cylinder module 243) may be used to drive the plurality of core mold levers 247, respectively. And, the core mold pull rod 247 is connected to the cylinder not to rotate along with the rotation shaft body 250. The core mold body 246 has a front portion in the axial direction where the spool 500 is located and a rear portion in the axial direction where the core mold tie rod 247 is located.

The core module body 246 is used for fixing the winding frame 500 when extending, so that the winding frame 500 can rotate along with the rotating shaft body 250, winding operation is convenient, and when the core module body 246 is pulled backwards and the movable side rotating shaft 221 is loosened, the motor coil can be separated from the rotating shaft body 250 through gravity. At this time, the bobbin 500 completes winding, resulting in a motor coil that has been wound. The spindle body 250 may be driven by a stepper motor, for example, and one stepper motor drives the spindle bodies 250 to rotate simultaneously by a transmission manner such as a synchronous belt.

As shown in fig. 21, please refer to fig. 10 and 12, specifically, the connection manner and the power transmission process of the fixed side portion 210 are as follows: the fixed side shaft 211 is connected to the fixed side seat plate 213 through the fixed side bearing 212, and the fixed side seat plate 213 is mounted on the winding base plate 240; the motor fixing seat of the fifth motor 216 is mounted on the winding bottom plate 240, an output shaft of the fifth motor 216 is connected with a fixed-side synchronous pulley module, and the fixed-side synchronous pulley module is connected with a plurality of fixed-side rotating shafts 211; the core mold body 246 is installed at the inner center of the fixed-side rotating shaft 211, and the rear end of the core mold body 246 is connected to the core pulling plate 245 through the core mold pulling rod 247; the core pulling plate 245 is also connected to the core pulling fixing plate 244 through a ninth sliding rail module 248, and the core pulling fixing plate 244 is installed on the winding bottom plate 240; the cylinder body portion of the seventh cylinder module 243 is connected to the core back fixing plate 244, and the piston rod portion of the seventh cylinder module 243 is connected to the core back pulling plate 245; the cylinder portion of the eighth cylinder module 231 is connected to the fixed side seat plate 213, and the piston rod portion of the eighth cylinder module 231 is connected to the ram mounting plate 233 through the tenth slide rail module 232; the ram body 234 is mounted on the ram mounting plate 233. The fifth motor 216 rotates to drive the fixed-side synchronous pulley module to move, thereby driving the plurality of fixed-side rotating shafts 211 to rotate. The piston rod part of the seventh cylinder module 243 moves to drive the core pulling plate 245 to move and the core pulling rod 247 to move and the core die body 246 to move, so that the core die body 246 moves back and forth in the axial direction inside the fixed side rotating shaft 211. The piston rod portion of the eighth cylinder module 231 moves to drive the striker mounting plate 233 to move, thereby realizing the forward and backward movement of the striker mounting plate 233 in the axial direction.

Referring to fig. 10, the connection method and power transmission process of the movable side portion 220 are as follows: the fixed side synchronous pulley module is connected with a transmission rotating shaft 226, the transmission rotating shaft 226 is connected with a movable side synchronous pulley module (comprising a third synchronous pulley 224 and a third synchronous belt 225), and the movable side synchronous pulley module is connected with a plurality of movable side rotating shafts 221, so that simultaneous and synchronous rotation of the plurality of movable side rotating shafts 221 is realized; the movable-side rotating shaft 221 is connected to a movable-side seat plate 223 via a movable-side bearing 222; the cylinder portion of the sixth cylinder block 227 is connected to the winding bottom plate 240, and the piston rod portion of the sixth cylinder block 227 is connected to the movable side seat plate 223 through the floating joint 228 and the eighth slide rail block 229. The sixth cylinder module 227 moves to drive the floating joint 228 to move, and the floating joint 228 drives the movable side seat plate 223 to move through the eighth slide rail module 229 to realize the forward and backward movement between the movable side seat plate 223 and the fixed side seat plate 213 along the axial direction.

As shown in fig. 13, the thread cutting device 300 includes a thread cutting platform 310 and a thread cutting clip module 320. Referring to fig. 20, the wire cutting platform 310 includes a supporting plate 311, a vertical axis mounting base 312 of a clamping jaw, a first cylinder module 313, a second cylinder module 314, a third cylinder module 315, a fourth slide rail module 316, a fifth slide rail module 317 and a sixth slide rail module 318. The sliding block portion of the sixth sliding rail module 318 is used as a movable end of the wire cutting platform 310 and is connected to the wire cutting clamp mounting plate 321, so that the wire cutting clamp mounting plate 321 can move in three degrees of freedom. Referring to fig. 14, the clip module 320 includes a clip mounting plate 321, a fourth cylinder module 322, and a plurality of clips 323, where the clip mounting plate 321 is configured to be disposed at a movable end of the clip platform 310. Each shear clip 323 includes a jaw press 3231 and a jaw cutter 3232.

As shown in fig. 19 and 20, the connection manner and the power transmission process of the thread cutting deck 310 are as follows.

The cylinder portion of the first cylinder module 313 and the rail portion of the fourth rail module 316 are mounted on the winding floor 240; the piston rod portion of the first cylinder module 313 is connected to the slider portion of the fourth slide rail module 316; the slider portion of the fourth slide rail module 316 is also connected to the jaw up and down straight axle mount 312. The piston rod part of the first cylinder module 313 moves to drive the sliding block part of the fourth sliding rail module 316 to move to drive the clamping jaw up-down straight shaft mounting seat 312 to move, so that the clamping jaw up-down straight shaft mounting seat 312 and the winding bottom plate 240 move back and forth along the axial direction.

The cylinder part of the second cylinder module 314 and the track part of the fifth slide rail module 317 are mounted on the clamping jaw upper and lower straight shaft mounting seats 312; the piston rod portion of the second cylinder module 314 is connected to the slider portion of the fifth slide rail module 317; the slider portion of the fifth rail module 317 is also connected to the pallet 311. The piston rod part of the second cylinder module 314 moves to drive the sliding block part of the fifth sliding rail module 317 to move to drive the supporting plate 311 to move, so as to realize the up-and-down movement between the supporting plate 311 and the clamping jaw up-and-down straight shaft mounting seat 312.

The cylinder part of the third cylinder module 315 and the rail part of the sixth slide rail module 318 are mounted on the pallet 311; the piston rod portion of the third cylinder module 315 is connected to the slider portion of the sixth slide rail module 318; the slider portion of the sixth slide rail module 318 is also connected to a shear clip mounting plate 321. The piston rod part of the third cylinder module 315 moves to drive the sliding block part of the sixth sliding rail module 318 to move and drive the clip mounting plate 321 to move, so as to realize left-right movement between the clip mounting plate 321 and the supporting plate 311.

Thereby, the relative sliding between the clip mounting plate 321 and the winding base plate 240 in three directions can be realized. In practice, the wire cutting platform 310 may also employ an articulated robotic arm system to provide movement in three directions or even higher degrees of freedom.

Referring to fig. 13 and 14, the connection mode and the power transmission process of the clip module 320 are as follows: a cylinder part of the fourth cylinder module 322 and jaw press blocks 3231 of the plurality of clip 323 are mounted on the clip mounting plate 321; the fourth cylinder module 322 includes a plurality of cylinders, a piston rod portion of each of which is connected to a jaw cutter 3232 of one of the clip 323 for controlling opening and closing of the clip 323. When the wire cutting clamp 323 is closed, wire cutting operation can be performed, and a wire cutting function is achieved. The piston rod part of the fourth cylinder module 322 moves to drive the clamping jaw cutter 3232 to move, so that the relative movement between the clamping jaw cutter 3232 and the clamping jaw fixing block is realized, the opening and closing of the wire cutting clamp 323 is realized, and the wire cutting operation is completed.

As shown in fig. 19, the loading and unloading device 700 may include a material frame, a driving component and a transmission component, where the driving component may use an air cylinder, the transmission component may use a sliding rail module, and the loading and unloading device 700 may implement the front-back and up-down movement of the material frame through the air cylinder and the sliding rail.

In the present embodiment, the back-and-forth movement and the left-and-right movement are, for example, movements in the horizontal direction, wherein the back-and-forth movement is movements in the axial direction, the left-and-right movement is movements perpendicular to the axial direction, and the up-and-down movement is movements in the vertical direction, for example. The axial direction refers to the axial direction of the fixed-side rotary shaft 211 and the movable-side rotary shaft 221, which are in coaxial relation, as shown in fig. 11 and 12.

The third, bottom portion, includes a table 400, as shown in fig. 1.

The main body of the winding machine is installed on the workbench 400, and electrical equipment such as a PLC controller, a motor driver and the like is placed in the workbench 400, and a tabletop for placing materials is used for setting buttons, an indicator light panel and the like. The universal wheel can be installed at the bottom, so that the whole winding machine can be conveniently moved. The ground anchor supports are used for fixing the coiling machine on the ground.

In order to change the direction of the flat wire during the winding process, as shown in fig. 2 and 6, the embodiment realizes the four-axis movement of the wire outlet nozzle 121 through the wire guiding turntable at the top and the rotatable wire outlet nozzle 121, including the movement in xyz three directions and the rotation in the Yaw axis direction, so that the section direction and the wire outlet position of the flat wire can be changed. Specifically, the outlet nozzle 121 is a rectangular hollow cylinder, and is fixed on a cylindrical shaft sleeve 122 with a hollow shape, for example, a rectangular shape, so that the condition that the flat copper wire passes through can be conveniently observed. The sleeve 122 is also connected to first synchronizing wheels 123, and a plurality of first synchronizing wheels 123 are synchronously rotated by one first synchronizing belt. The plurality of outlet nozzles 121 may be fixed to, for example, a nozzle base 124 of a plate-like structure, and the nozzle base 124 is capable of three-axis movement.

In the related winding process, only one side is fixed, and the winding operation of the flat wire can apply pressure to the bobbin 500 during the winding process, so that the winding result is unstable. As shown in fig. 10, in the present embodiment, the position of the movable side rotating shaft 221 may be adjusted by the stroke of the sixth cylinder module 227 to position the bobbin 500, so as to further ensure the accurate position of the bobbin 500, thereby improving the overall winding accuracy.

When the wire is cut at the end of the winding, the corresponding wire end length of the related wire cutting device 300 is longer, about 5 cm. As shown in fig. 13 and 14, the movable wire cutting platform 310 is used in this embodiment to make the wire cutting clip 323 closer to the coil when cutting wires, so that the length of the wire ends is only 3 cm, and the consumption of the wire 600 is saved.

(use of winding machine in automated winding of motor coil)

The embodiment of the application also provides application of any winding machine in automatic winding of the motor coil.

In some embodiments, the motor is a frameless motor.

In some embodiments, the motor coil employs a flat wire, and the winding machine is used for performing automatic winding of the flat wire.

(robot)

The embodiment of the application also provides a robot, which comprises at least one joint motor, and motor coils of one or more joint motors are wound by adopting any winding machine.

In some embodiments, the robot is a bipedal robot or a quadruped robot.

In some embodiments, the joint motor is a hip joint motor, a knee joint motor, a shoulder joint motor, an elbow joint motor, or a wrist joint motor.

In some embodiments, the articulation motors are dual articulation motors for driving two joints. The selection of the two joints in the embodiment of the present application is not limited, and may be, for example, a hip joint and a knee joint, or a knee joint and an ankle joint, a shoulder joint and an elbow joint, an elbow joint and a wrist joint, or the like.

In some embodiments, the robot further comprises a moment sensor and an angle sensor disposed at each joint, the angle sensor for acquiring the generalized position.

In some embodiments, the robot further comprises a six-dimensional force sensor.

It will be appreciated that the specific examples in this specification are intended only to assist those skilled in the art in better understanding the embodiments of the present application and are not intended to limit the scope of the present application.

It should be understood that, in various embodiments of the present disclosure, the sequence number of each process does not mean that the execution sequence is sequential, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the present application.

It will be appreciated that the various embodiments described in this specification may be implemented either alone or in combination, and are not limited in this regard.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to limit the scope of the description. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present specification.

It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working procedures of the systems, apparatuses and units described above may refer to the corresponding procedures in the foregoing embodiments, and are not repeated here.

In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all units in the system can be selected according to actual needs to achieve the purpose of the technical scheme.

In addition, each functional unit in each embodiment of the present specification may be integrated into one processing unit, each unit may exist alone physically, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present specification may be essentially or, what contributes to the prior art, or a part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present specification. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or an optical disk, etc.

The above is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope disclosed in the present disclosure, and should be covered in the scope of the present disclosure. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A wire winding machine, the wire winding machine comprising a wire guiding device, the wire guiding device comprising:

2. The winding machine according to claim 1, wherein the wire is a flat wire, the first through hole of the wire outlet is a rectangular through hole, and the winding machine is used for automatically winding the flat wire.

3. The winding machine of claim 1, wherein the movable end of the wire platform is configured to perform three degrees of freedom movement.

4. The winding machine of claim 1 wherein one or more wire taps are configured to rotate relative to the movable end of the wire platform.

5. The winding machine of claim 4 wherein the rotatable nozzle is a rotatable nozzle and the plurality of rotatable nozzles are adapted to rotate synchronously or independently relative to the movable end of the wire guide platform.

6. The winding machine of claim 5, wherein the nozzle module further comprises a first driving member and a first transmission member, the first driving member being configured to drive the plurality of rotatable nozzles to synchronously rotate relative to the movable end of the wire guide platform via the first transmission member.

7. The winding machine according to claim 6, wherein the number of rotatable taps is N, the first transmission member includes n+1 first synchronizing wheels and one first synchronizing belt, and N is an integer greater than 1;

the N+1 first synchronous wheels are used for realizing synchronous rotation through the first synchronous belt, wherein the N first synchronous wheels are also used for being connected to the N rotatable wire outlets in a one-to-one correspondence manner, and the other first synchronous wheels are also used for being connected to the first driving component.

8. The winding machine of claim 7, wherein the nozzle module further comprises a hollow bushing corresponding to each rotatable nozzle;

each shaft sleeve is provided with a second through hole allowing the rotatable wire outlet to pass through, the shaft sleeve is sleeved on the circumference of the rotatable wire outlet and is close to the corresponding wire outlet position, and each first synchronous wheel is used for being connected to the corresponding rotatable wire outlet through the shaft sleeve.

9. The winding machine according to claim 8, wherein the bushing is provided with an observation window for observing the direction of the wire.

10. The winding machine according to claim 9, wherein the viewing window extends through the bushing.

11. The winding machine according to claim 10, wherein the viewing window is rectangular in shape.

12. The winding machine according to claim 5, wherein the wire outlet module further comprises a second driving part and a second transmission part corresponding to each rotatable wire outlet, and the second driving part is used for driving the corresponding rotatable wire outlet to synchronously or respectively and independently rotate relative to the movable end of the wire leading platform through the second transmission part.

13. The winding machine of claim 5 wherein the nozzle module further comprises a third drive member associated with each rotatable nozzle for effecting synchronous or independent relative rotation of the respective rotatable nozzle with the movable end of the wire platform.

14. A winding machine according to claim 1, further comprising a winding device including a rotary shaft member corresponding to each outlet nozzle, one or more rotary shaft members for bilaterally pressing a bobbin corresponding to the outlet nozzle.

15. The winding machine according to claim 14, wherein the rotating shaft part of the winding frame is an adjustable rotating shaft part, and the adjustable rotating shaft part comprises a fixed side rotating shaft and a movable side rotating shaft, and the movable side rotating shafts in the plurality of adjustable rotating shaft parts are used for synchronous or independent movement;

the fixed side rotating shaft and the movable side rotating shaft are coaxial, and the movable side rotating shaft is used for moving along the axial direction to adjust the distance between the movable side rotating shaft and the fixed side rotating shaft so as to compress the winding frame from two sides.

16. The winding machine according to claim 15, further comprising a fourth driving part and a third transmission part, wherein the fourth driving part is configured to drive the movable side shaft of the plurality of adjustable shaft parts to move synchronously through the third transmission part.

17. The winding machine according to claim 16, wherein the winding device further includes a fixed side seat plate, a movable side seat plate, a fixed side bearing corresponding to each fixed side rotation shaft, and a movable side bearing corresponding to each movable side rotation shaft;

each fixed side rotating shaft is connected to the fixed side seat plate through a fixed side bearing, each movable side rotating shaft is connected to the movable side seat plate through a movable side bearing, and the fourth driving part is used for driving the movable side seat plate to move through the third transmission part so as to realize the relative movement between the movable side seat plate and the fixed side seat plate, thereby realizing the relative movement between the movable side rotating shaft and the fixed side rotating shaft.

18. The winding machine according to claim 15, further comprising a fifth driving part and a fourth transmission part corresponding to each movable-side rotary shaft, wherein the fifth driving part is used for driving the corresponding movable-side rotary shaft to move through the fourth transmission part.

19. The winding machine according to claim 15, further comprising a sixth driving part corresponding to each movable side rotary shaft for moving the corresponding movable side rotary shaft.

20. The winding machine according to claim 15, wherein the fixed-side rotary shaft and the movable-side rotary shaft of the plurality of adjustable rotary shaft parts are used for synchronous rotation, the number of the adjustable rotary shaft parts being M, M being an integer greater than 1;

the winding device further comprises a fifth transmission part, wherein the fifth transmission part comprises M+1 second synchronous wheels, M second synchronous belts, a transmission rotating shaft, M+1 third synchronous wheels and M third synchronous belts;

the M+1 second synchronous wheels are used for realizing synchronous rotation through M second synchronous belts, wherein the M second synchronous wheels are also used for being connected to fixed side rotating shafts in the M adjustable rotating shaft parts in a one-to-one correspondence manner, and the other second synchronous wheels are also used for being respectively connected to the fourth driving part and the transmission rotating shaft;

The M+1 third synchronizing wheels are used for realizing synchronous rotation through M third synchronizing belts, wherein the M third synchronizing wheels are also used for being connected to movable side rotating shafts in the M adjustable rotating shaft parts in a one-to-one correspondence manner, and the rest of the third synchronizing wheels are also used for being connected to the rest of the second synchronizing wheels through the transmission rotating shafts so that the rest of the third synchronizing wheels are connected to the fourth driving part.

21. The wire winding machine of claim 1, further comprising a wire cutting device, the wire cutting device comprising:

the movable end of the thread cutting platform is used for moving and/or rotating at least one degree of freedom;

and the wire cutting clamp module comprises at least one wire cutting clamp, and one or more wire cutting clamps are used for being arranged at the movable end of the wire cutting platform.

22. Use of a winding machine according to any one of claims 1-21 for the automated winding of motor coils.

23. Use of a winding machine according to claim 22 for the automated winding of motor coils, wherein the motor is a frameless motor.

24. Use of a winding machine according to claim 22 for the automated winding of motor coils, wherein the motor coils are flat wires, for the automated winding of flat wires.

25. A robot comprising at least one articulated motor, the motor coils of one or more articulated motors being wound using the winding machine of any one of claims 1-21.