CN219875426U - Full-automatic winding system of stator coil - Google Patents

Abstract

The utility model provides a full-automatic winding system of stator coils, which aims at the defects that the existing winding system of stator coils is not fully automatic due to manual assistance, devices in the system are optimized, an automatic feeding and discharging device, a binding device and a wiring structure of a robot are designed, the automatic feeding and discharging device of the robot takes wires and clamps the coils to be transferred to the binding device, the binding device automatically binds the coils, and after the binding is completed, the automatic feeding and discharging device of the robot transfers the coils to a conveyor belt to be transferred to the next procedure. When the wire feeding mechanism feeds the lead wire, the lead wire clamping device stretches out, and manual auxiliary wire feeding is not needed. The full-automatic winding system of the stator coil comprises a paying-off device, a wire feeding device, a wire shearing device, a winding device, an automatic robot feeding and discharging device and a ribbon device, wherein the paying-off device, the wire feeding device, the wire shearing device, the winding device, the automatic robot feeding and discharging device and the ribbon device are tightly connected, manual operation is not needed in the whole process, automation is realized in the whole process, and production efficiency is greatly improved.

Description

Full-automatic winding system of stator coil

Technical Field

The utility model relates to the technical field of coil winding, in particular to a full-automatic winding system of a stator coil.

Background

The winding of the motor coil is an important procedure in the motor manufacturing process, wherein the winding of the high-voltage stator coil (such as a spindle coil, a ship coil and a runway coil) comprises the procedures of paying-off, wire feeding, wire winding, shearing, binding tape, wire taking and the like, wherein the paying-off, wire feeding, wire winding and shearing are automatically completed by machinery, and the binding tape and wire taking are manually completed. Ribbon and wire take: after winding is completed, the coil is locked by a manual binding belt to prevent loosening, and then is manually taken down. And in the wire feeding process, when the wire feeding device clamps the wire and feeds the wire to the wire clamping device of the winding device, the wire feeding device can interfere with the rotating arm or the right die holder of the winding device, so that the wire end clamped by the wire feeding device is longer. In the practical application process, the wire feeding device clamps the lead wire and sends the lead wire to the chuck pressing block, and the copper wire can droop downwards after being clamped due to soft texture of the copper wire. Therefore, the winding system of the entire stator coil is not fully automatic, which is disadvantageous for efficient production.

The utility model patent with the application number of 202211102057.3 and the name of an exciter stator magnetic pole coil winding device comprises a wire feeding mechanism and a winding machine, wherein a winding die is arranged on an output shaft of the winding machine and comprises a winding shaft, a first baffle, a first die core, a second die core and a second baffle are sequentially arranged on the winding shaft, the first die core and the second die core can be combined to form a cuboid-shaped main die core, coil materials conveyed by the wire feeding mechanism can be wound on the main die core when the main die core rotates, and grooves axially penetrating along the winding shaft are formed in the first baffle, the first die core, the second die core and the second baffle. The utility model has the advantages that: the setting of recess can be convenient carry out the ligature with the coil of coiling to prevent to pull down the coil back coil and scatter, ensure coil quality. In this technical scheme, after the wire winding is accomplished, adopt artifical ribbon, the coiling of coil can not realize the full automatization.

The utility model provides a patent number 200820158510.1 of the inventor, and the patent name is a motor stator coil fusiform winding device, which comprises a wire feeding and shearing mechanism and a winding mechanism, wherein the wire feeding and shearing mechanism consists of a wire feeding clamp, a shearing clamp and a movable workbench; the winding mechanism consists of a servo motor, a transmission screw rod and a rotating arm. The rotary arm is fixed with a right die holder with an automatic chuck, and the right die holder is also provided with a chuck pressing block and a chuck driving device. Before the rotating arm rotates to wind, the wire feeding and shearing mechanism automatically sends the lead wire of the copper wire to the chuck pressing block on the right die holder, and the chuck driving device drives the chuck pressing block to clamp the lead wire. The left die holder and the right die holder are respectively arranged on the rotating arm, the distance between the left die holder and the right die holder is adjustable according to the length of the fusiform coil, and the chuck pressing block on the right die holder cannot be arranged at the extreme end of the rotating arm, so that the wire feeding and cutting mechanism for feeding wires can interfere with the rotating arm or the right die holder, and the wire leading end clamped by the wire feeding and cutting mechanism is longer, as shown in fig. 6. In the practical application process, the upper wire and the clamping lead wire of the shearing mechanism are sent to the chuck pressing block, and because the copper wire is soft in texture, after clamping, the copper wire can droop downwards, and when the copper wire is fed, the copper wire is required to be placed into the chuck pressing block by manual assistance, so that automatic wire feeding cannot be truly realized.

Disclosure of Invention

The utility model provides a full-automatic winding system of a stator coil, which aims at the defect that full automation cannot be realized in the winding process of the stator coil in the prior art.

The above object of the present utility model is achieved by the following technical solutions:

a full-automatic winding system of stator coils comprises a paying-off device, a wire feeding device, a wire shearing device and a winding device; the automatic feeding and discharging device of the robot and the ribbon device are also included; the robot automatic feeding and discharging device is arranged between the winding device and the ribbon device and comprises a six-axis robot and a coil gripper; the binding belt device comprises a workbench and an automatic binding belt head arranged on the workbench, and at least one row of automatic binding belt heads are arranged on the workbench; the coil tongs include anchor clamps mounting panel, anchor clamps and anchor clamps drive arrangement, and the anchor clamps mounting panel is connected with six robots, and anchor clamps drive arrangement all install in the anchor clamps mounting panel, and anchor clamps drive arrangement drive anchor clamps press from both sides the coil tightly.

The automatic coil winding and unwinding device is provided with the automatic coil winding and unwinding device and the ribbon winding device, the coil winding device is provided with the coil grippers, the coil winding device is transferred to the ribbon winding device after the coil winding is taken down, the coil grippers grip the coil, and the automatic ribbon winding head on the ribbon winding device is used for ribbon winding of the coil, so that the automation of the whole process from paying-off to ribbon winding is realized.

The automatic binding belt head comprises a belt disc mechanism, a belt pulling mechanism, a shearing mechanism and a binding mechanism, wherein the adhesive belt for binding the coil is arranged on the belt disc mechanism, and the belt disc is provided with tension to prevent slipping during automatic belt pulling; the tape pulling mechanism is driven by a servo motor to unwind the adhesive tape each time with a fixed length; the shearing mechanism adopts a pneumatic structure to precisely cut the adhesive tape with fixed length at the same position each time; the binding mechanism enables the adhesive tape to accurately bind the coil and enable the adhesive tape surface to be tightly bound. The automatic strapping heads are commercially available, are generally used in packaging, and are applied to a winding system of a stator coil in an original way.

Further, a first driving device is also installed on the clamp mounting plate, and the clamp comprises two clamps, namely a first clamp and a second clamp; the first clamp is fixed with the clamp mounting plate, the second clamp is fixed with the output end of the first driving device, and the first driving device drives the second clamp to move so as to adjust the distance between the two clamps.

Further, the first driving device comprises a motor and a screw pair, one end of a screw of the screw pair is connected with the motor, and the second clamp is fixed with a nut of the screw pair.

Further, the clamp comprises a connecting plate, a cushion block, an upper clamping plate and a lower clamping plate, and the clamp driving device comprises a first clamp driving device and a second clamp driving device; the connecting plate of the first clamp is fixed with the clamp mounting plate, and the connecting plate of the second clamp is fixed with the output end of the first driving device; the cushion block is fixed with the connecting plate, and the thickness of the cushion block is equal to the span of the coil; the cushion block is positioned between the upper clamping plate and the lower clamping plate, the upper clamping plate is connected with the output end of the first clamp driving device, and the lower clamping plate is connected with the output end of the second clamp driving device; when clamping the coil, the first clamp driving device drives the upper clamp plate to move towards the direction of the cushion block, and the second clamp driving device drives the lower clamp plate to move towards the direction of the cushion block to clamp the coil. The splint structure is suitable for coils with smaller spans, such as racetrack coils.

Further, the first clamp driving device and the second clamp driving device are both arranged on the cushion block.

When the coil span is larger, a coil gripper with the following structure can be used, and further, the clamp comprises a connecting plate and two pairs of clamping plates which are arranged up and down, the connecting plate of the first clamp is fixed with the clamp mounting plate, and the connecting plate of the second clamp is fixed with the output end of the first driving device; two pairs of clamping plates respectively clamp two opposite straight edges of the coil; each pair of clamping plates is provided with a clamp driving device; the two pairs of clamping plates comprise a fixed plate and a movable plate, the fixed plate is fixed with the connecting plate, the clamp driving device is arranged on the fixed plate, and the movable plate is connected with the output end of the clamp driving device.

Further, the fixed plate is fixed with the connecting plate through a guide rail; the guide rail is arranged along the width direction of the coil, the fixed plate is connected with the guide rail through fasteners, and at least two groups of fastener mounting holes are formed in the guide rail along the extending direction of the guide rail, so that the position of the fixed plate is adjusted.

Further, a row of automatic binding heads are arranged on the workbench, the automatic feeding and discharging device of the robot further comprises a rotating device, the fixture mounting plate is connected with the six-axis robot through the rotating device, and the rotating device drives the coil gripper to rotate 180 degrees.

A row of automatic strapping heads are arranged on the workbench, and the row of automatic strapping heads comprises two. The shuttle-shaped coil, the ship-shaped coil and the runway-shaped coil comprise two straight edges, the robot automatically loads and unloads the coil and transfers the coil to the bundling device, and after bundling is completed on one straight edge by the automatic bundling head, the rotating device rotates 180 degrees, and bundling is performed on the other straight edge by the automatic bundling head. After the binding tape is completed on the two straight edges, the coil of the automatic feeding and discharging device of the robot is clamped by the coil gripper and is placed on the conveying belt to be conveyed to the next station.

The distance between the two automatic binding heads can be adjusted to adapt to coils with different lengths. A second driving device is arranged between the two automatic binding heads, the second driving device is provided with two output ends, the two output ends are respectively connected with a screw rod, and the automatic binding heads are fixed on nuts on the screw rods. And starting the driving device II, rotating the two screw rods, opening the two automatic strapping heads to two sides, and adjusting the distance between the two automatic strapping heads.

The utility model preferably has one row of automatic strapping heads, each row of two automatic strapping heads, and more than two automatic strapping heads can be used. There may be two or more rows of two or more. When there are two rows of automatic binding heads, two straight edges are simultaneously bound, and the automatic feeding and discharging device of the robot does not need to be provided with a rotating device to turn up edges of the coil grippers. Whether to use two rows of ribbon heads is determined by the span of the coil, when the coil span is too small, the distance between the two rows of ribbon heads may be larger than the coil span, and the ribbon cannot be completed. The row of tie heads is more universal in connection with the 180 degree rotation of the rotation device.

The winding device comprises a rotating arm, a left die holder and a right die holder, wherein the left die holder and the right die holder are arranged on the rotating arm, the left die holder is fixed with the rotating arm, a sliding block and a lead clamping device are arranged on the right die holder, the right die holder is movably connected with the rotating arm through the sliding block, and the lead clamping device comprises a chuck pressing block and a clamp driving device.

Further, the winding device also comprises a wiring structure, wherein the wiring structure comprises a wiring mounting plate, a driving device III and a driving device IV; the wiring mounting plate is arranged on one side of the right die holder, and the lead clamping device and the driving device are arranged on the wiring mounting plate; the third driving device is arranged on the sliding block, the output end of the third driving device is fixed with the wiring mounting plate, the wiring mounting plate is movably connected with the sliding block, and the third driving device drives the wiring mounting plate to stretch and retract towards the direction perpendicular to the rotating arm; the driving device drives the lead clamping device to enable the lead clamping device to be close to the right die holder or far away from the right die holder.

According to the utility model, on the basis of the prior art, the lead clamping device is moved out from the right die holder to one side of the right die holder, then an automatic wiring structure is arranged to extend the lead clamping device, when the wire feeding device feeds the lead, the lead clamping device extends, and the wire feeding device and the rotating arm or the right die holder cannot interfere. Therefore, the wire feeding device can clamp the shorter lead ends, the condition that the lead sags does not occur, and the wire feeding device can directly feed the lead into the chuck pressing block. Because the lead clamping device moves out to one side of the right die holder, the utility model also provides a driving device IV for moving the lead clamping device to the specified lead position on the right die holder.

Preferably, the mounting plate of the wiring structure is located on the side of the right die holder close to the end of the rotating arm, i.e. on the outer side of the right die holder. The wiring structure is arranged at such a position that the winding of the coil is not hindered when winding. The arrangement of the winding mould on the inner side, the upper side and the lower side of the winding mould can cause interference to winding.

Further, the driving device IV is connected with the lead clamping device through a transmission part, the transmission part comprises a rack, a gear shaft and a connecting rod, the output end of the driving device IV is connected with the rack, and the rack is meshed with a gear on the gear shaft; one end of the gear shaft without a gear is fixed with the connecting rod; the other end of the connecting rod is fixed with a lead clamping device. The driving device drives the rack to move, and the rack enables the gear to rotate, so that the connecting rod and the lead clamping device on the connecting rod are driven to rotate, and the chuck pressing block is enabled to be close to the right die holder or far away from the right die holder. When wiring, the lead clamping device is positioned at one side of the right die holder, the wire feeding device sends the leads to the chuck pressing block, and the chuck driving device drives the chuck pressing block to clamp the leads. And then, the driving device four drives the lead clamping device to rotate to the right die holder to start winding.

In the utility model, the mounting plate is positioned at the outer side (right side) of the right die holder, namely, the left side of the mounting plate is the right die holder, so that the positions of the lead clamping devices can be positioned above, below and right side of the mounting plate, and the driving device four drives the lead clamping devices to rotate to the positions required by design.

Preferably, the rack is disposed along a width direction of the rotating arm. The rack of the transmission part can be arranged along the width direction of the rotating arm and can also be arranged along the length direction of the rotating arm, and the rack can be meshed with the gear on the gear shaft. Preferably, the rack is disposed along the width direction of the rotating arm.

Further, racks in the driving device III, the driving device IV and the transmission part are all positioned on the back surface of the wiring mounting plate, and one end of the gear shaft without a gear passes through the wiring mounting plate to be connected with the connecting rod.

The components of the wiring structure are positioned on the back surface of the mounting plate as much as possible, and interference between the components and the wire feeding device is prevented. Because the collet briquetting is shifted out from the right die holder, after the collet briquetting receives the lead, the collet briquetting also needs to be moved to the specified lead position on the right die holder, and the parts are arranged on the back surface of the mounting plate, so that interference with the movement of the collet briquetting can be avoided.

Furthermore, a guide structure is arranged on the wiring mounting plate and comprises a guide rail and a guide block matched with the guide rail, one side of the guide block is movably matched with the guide rail, a rack is fixed on the other side of the guide block, and the rack is connected with the output end of the driving device IV through the guide block.

Further, a limiting plate is further arranged on the wiring mounting plate and limits two positions of the lead clamping device. The lead clamping device has only two positions, namely a position far away from the wiring of the right die holder and a position returning to the right die holder after wiring.

Further, the lead clamping device is located on the right side of the mounting plate, the connecting rod is arranged along the length direction of the rotating arm, the limiting plate is located above the connecting rod, and the limiting plate is parallel to the length direction of the rotating arm. The limiting plate limits the rotation of the connecting rod, namely, the lead clamping device fixed at the end part of the connecting rod is limited, and the connecting rod is ensured to rotate 180 degrees. Preferably, an anti-collision block, such as a soft material like a rubber block, is provided on a side of the limiting plate facing the link.

Further, a guide rod is fixed on one side of the wiring installation plate, which faces the sliding block, and the guide rod penetrates through the sliding block, and is used for guiding when the three driving devices drive the wiring installation plate to stretch and retract in the direction perpendicular to the rotating arm. The guide rod is a linear bearing guide rod.

Further, the wire feeding device and the wire cutting device are integrated and are called a wire cutting and feeding integrated machine, and the wire cutting and feeding integrated machine is arranged on the position adjusting device; the position adjusting device comprises an X-axis adjusting mechanism capable of moving along the X-axis direction, a Y-axis adjusting mechanism capable of moving along the Y-axis direction and a Z-axis adjusting mechanism capable of moving along the Z-axis direction; the wire cutting and feeding integrated machine comprises a mounting seat, a driving device V, a sliding seat, a pressing plate and a cutter, wherein the driving device V, the sliding seat, the pressing plate and the cutter are arranged on the mounting seat, and the mounting seat is connected with the position adjusting device; the output end of the driving device V is fixed with a sliding seat; the pressing plate comprises two pressing plates, namely an upper pressing plate and a lower pressing plate; the sliding seat is elastically connected with the upper pressing plate, and the lower pressing plate is arranged below the upper pressing plate; the sliding seat is also provided with a cutter, and the cutting edge of the cutter faces the direction of the lower pressing plate; when the sliding seat and the upper pressing plate are not pressed, the distance from the cutter to the lower pressing plate is larger than the distance from the upper pressing plate to the lower pressing plate.

In the automatic winding device in the prior art, winding is automatically completed by each coil successively, copper wires wound on the rotating arm 53 come from the paying-off mechanism, after one coil is wound, the copper wires are cut off by the wire cutting device, and then the wire feeding device sends the next lead wire to the chuck pressing block to start winding of the next coil. In another case, one coil has a plurality of leads, and after winding a set length, the wire cutting device cuts the copper wire, and the wire feeding device then sends the next lead to the collet press block to start the subsequent winding. In either case, the copper wire is cut off first and then the wire is fed to the chuck press block during automatic winding. The wire cutting device and the wire feeding device in the prior art are two separate mechanisms, and a distance is reserved between the wire cutting device and the wire feeding device, so that a lead clamped by the wire feeding device is longer, and the wire cutting device is also suitable for the situation that a wire feeding and cutting mechanism used for feeding wires can interfere with a rotating arm or a right die holder, and lead ends clamped by the wire feeding and cutting devices are longer in the background art.

After the structure of the lead clamping device is improved, the lead clamping device can extend out, and correspondingly, the utility model integrally designs the wire cutting device and the wire feeding device, and after the wire cutting device and the wire feeding device are integrated, no distance exists between the wire cutting device and the wire feeding device, so that the end part of a lead can be clamped, and the lead is sent to a chuck pressing block extending from the rotating arm 53. The full-automatic winding is realized in a true sense.

Further, the Y-axis adjusting mechanism is arranged on the X-axis adjusting mechanism, the Z-axis adjusting mechanism is arranged on the Y-axis adjusting mechanism, and the wire shearing and feeding integrated machine is arranged on the Z-axis adjusting mechanism.

Further, the installation seat of the wire cutting and feeding integrated machine comprises a connecting seat, an upper installation seat and a lower installation seat which are installed on the connecting seat, a sliding seat is installed between the upper installation seat and the lower installation seat, the connecting seat is movably connected with a Z-axis adjusting mechanism in the Z-axis direction, a driving device five is installed on the upper installation seat, a guide rod which is arranged along the Z-axis is fixed between the upper installation seat and the lower installation seat, and the sliding seat is movably connected with the guide rod; the lower pressing plate is arranged on the lower mounting seat.

The utility model has the following beneficial effects:

the full-automatic winding system of the stator coil, provided by the utility model, aims at the defects that the existing winding system of the stator coil is manually assisted and full-automatic is not realized, optimizes devices in the system, and particularly improves wire taking, binding and wire feeding automatically. The automatic unloading device and the ribbon device of going up of robot have been designed at first, and automatic unloading device of going up of robot gets the line and the centre gripping coil has been sent to ribbon device department, and ribbon device carries out automatic ribbon to the coil. After the binding belt is completed, the robot automatic feeding and discharging device transfers the coil onto the conveyor belt to be conveyed to the next working procedure. Further, according to actual conditions, improve winding device, set up wiring structure on winding device, wiring structure stretches out lead wire clamping device, when sending the lead wire with the lead wire mechanism of sending, lead wire clamping device stretches out, send wire mechanism and swinging boom or right die holder can not produce the interference. Therefore, the wire feeding mechanism can clamp the shorter lead ends, the condition that the lead sags does not occur, the wire feeding mechanism can directly feed the lead into the chuck pressing block, and manual assistance is not needed.

The full-automatic winding system of the stator coil comprises a paying-off device, a wire feeding device, a wire shearing device, a winding device, an automatic robot feeding and discharging device and a ribbon device, wherein the paying-off device, the wire feeding device, the wire shearing device, the winding device, the automatic robot feeding and discharging device and the ribbon device are tightly connected, manual operation is not needed in the whole process, automation is realized in the whole process, and production efficiency is greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 is a structural diagram of a fully automatic winding system of stator coils.

Fig. 2 is a structural diagram of an automatic loading and unloading device of a robot.

Fig. 3 is a structural view of the band device.

Fig. 4 is a structural diagram of a jig of embodiment 1.

Fig. 5 is a structural diagram of a jig of embodiment 2.

Fig. 6 is a schematic diagram of a prior art wire feeder wire clip location.

Fig. 7 is a schematic view of the wire clamp position of the wire feeding device of example 1.

Fig. 8 is a structural view of a prior art winding device.

Fig. 9 is a structural view of the winding device.

Fig. 10 is a structural view of the rotary arm, the right die holder, the lead clamping device and the wiring structure.

Fig. 11 is a view (front face) of the wiring structure and the wire holding device.

Fig. 12 is a view (back surface) of the wiring structure and the wire holding device.

Fig. 13 is a structural view of the wire cutting and feeding integrated machine and the position adjusting device.

Fig. 14 is a block diagram (perspective view) of the wire cutting and feeding integrated machine and the Z-axis adjusting mechanism.

Fig. 15 is a block diagram (front view) of the wire cutting and feeding integrated machine and the Z-axis adjusting mechanism.

Fig. 16 is a block diagram (right side view) of the wire cutting and feeding integrated machine and the Z-axis adjusting mechanism.

Pay-off 1, leveling alignment mechanism 2, unsteady reason line mechanism 3.

The wire cutting and feeding integrated machine 4 comprises a driving device five 41a, an upper pressing plate 41b, a lower pressing plate 41c, a cutter 41d, a sliding seat 41e, a mounting seat, a connecting seat 41f, an upper mounting seat 41g, a lower mounting seat 41h and a guide rod 41i; an X-axis adjusting mechanism, a base 42a, an X-direction guide rail 42b, a first flat plate 42c, a sixth driving device 42d and a rack 42e; a Y-axis adjusting mechanism, a box body 43a, a Y-direction guide rail 43b, a second flat plate 43c and a seventh driving device 43d; z-axis adjusting mechanism, box 44a, driving device eight 44b, Z-direction guide rail 44c, and screw 44d.

The wire winding device 5, the left die holder 51, the right die holder 52, the rotating arm 53, the sliding block 54, the lead clamping device 55, the chuck pressing block 55a, the clamp driving device 55b, the wire connection structure 56, the mounting plate 56a, the driving device three 56b, the driving device four 56c, the rack 56d, the gear shaft 56e, the connecting rod 56f, the guide rail 56g, the guide block 56h, the limiting plate 56i, the anti-collision block 56j and the guide rod 56k.

The robot automatic feeding and discharging device 6, the six-axis robot, the coil gripper, the clamp mounting plate 61, the clamp 62, the upper clamping plate 62a, the lower clamping plate 62b, the cushion block 62c, the connecting plate 62d, the first guide rod 62e, the clamp driving device 63, the first clamp driving device 63a, the second clamp driving device 63b, the first driving device 64, the rotating device 65, the second guide rod 66 and the rotating device 67 of the embodiment 1; the connecting plate 62e, the clamping plate, the fixed plate 62f, the movable plate 62g, the first guide rail 62h, and the mounting hole 62i of embodiment 2.

The binding device 7, a workbench 71, an automatic binding head 72, a second driving device 73 and a second guide rail 74.

The wire feeding mechanism comprises a wire clamping position A of the wire feeding mechanism in the prior art and a wire clamping position B of the wire feeding mechanism.

Detailed Description

Embodiments of the utility model are described in detail below with reference to the attached drawings, but the utility model can be implemented in a number of different ways, which are defined and covered by the claims.

Example 1

A full-automatic winding system of a stator coil is shown in fig. 1, and comprises a paying-off device 1, a leveling and straightening mechanism 2, a floating wire arranging mechanism 3, a wire shearing and feeding integrated machine 4, a winding device 5, an automatic robot feeding and discharging device 6 and a ribbon device 7. Paying off device 1 pays off, leveling alignment mechanism 2 and unsteady reason line mechanism 3 guarantee that get into cut line send line copper line of line all-in-one 4 again flat and straight not bending. The wire cutting and feeding integrated machine 4 sends the lead wire of the copper wire to the winding device 5. The wire cutting and feeding integrated machine 4 cuts the copper wire after the winding device 5 winds the set length. The robot automatic feeding and discharging device 6 comprises a six-axis robot and a coil gripper; the binding device 7 comprises a workbench 71 and an automatic binding head 72 arranged on the workbench 71, wherein a row of two automatic binding heads 72 are arranged on the workbench 71; the coil tongs include anchor clamps mounting panel 61, anchor clamps 62 and anchor clamps drive arrangement 63, and anchor clamps mounting panel 61 is connected with six robots, and anchor clamps 62 and anchor clamps drive arrangement 63 all install in anchor clamps mounting panel 61, and anchor clamps drive arrangement 63 drive anchor clamps press from both sides the coil.

In this embodiment, the fixture driving device is an air cylinder.

The fixture mounting plate 61 is further provided with a first driving device 64, as shown in fig. 4, and the fixture comprises two fixtures, namely a first fixture and a second fixture; the first clamp is fixed with the clamp mounting plate 61, the second clamp is fixed with the output end of the first driving device 64, and the first driving device 64 drives the second clamp to move so as to adjust the distance between the two clamps. The first driving device 64 comprises a motor and a screw pair, one end of a screw of the screw pair is connected with the motor, and the second clamp is fixed with a nut of the screw pair.

The automatic binding belt head comprises a belt disc mechanism, a belt pulling mechanism, a shearing mechanism and a binding mechanism, wherein the adhesive belt for binding the coil is arranged on the belt disc mechanism, and the belt disc is provided with tension to prevent slipping during automatic belt pulling; the tape pulling mechanism is driven by a servo motor to unwind the adhesive tape each time with a fixed length; the shearing mechanism adopts a pneumatic structure to precisely cut the adhesive tape with fixed length at the same position each time; the binding mechanism enables the adhesive tape to accurately bind the coil and enable the adhesive tape surface to be tightly bound. The automatic strapping heads are commercially available, are generally used in packaging, and are applied to a winding system of a stator coil in an original way.

As shown in fig. 4, the clamp includes a connecting plate 62d, a pad 62c, an upper clamping plate 62a and a lower clamping plate 62b, and the clamp driving device 63 includes a first clamp driving device 63a and a second clamp driving device 63b; the connecting plate 62d of the first clamp is fixed with the clamp mounting plate 61, and the connecting plate 62d of the second clamp is fixed with the output end of the first driving device 64; the cushion block 62c is fixed with the connecting plate 62d, and the thickness of the cushion block 62c is equal to the span of the coil; the cushion block 62c is positioned between the upper clamping plate 62a and the lower clamping plate 62b, the upper clamping plate 62a is connected with the output end of the first clamp driving device 63a, and the lower clamping plate 62b is connected with the output end of the second clamp driving device 63b; when clamping the coil, the first clamp driving device 63a drives the upper clamp plate 62a to move towards the direction of the cushion block 62c, and the second clamp driving device 63b drives the lower clamp plate 62b to move towards the direction of the cushion block 62c to clamp the coil. The splint structure is suitable for coils with smaller spans, such as racetrack coils. Two straight sides of the coil are clamped between the upper clamping plate 62a and the cushion block 62c on one side and between the lower clamping plate 62b and the cushion block 62c on the other side. The thickness of the spacer 62c can be adjusted by increasing and decreasing the number of spacers according to the span of the coil. The first clamp driving device 63a and the second clamp driving device 63b are respectively arranged on the upper clamp plate 62a and the lower clamp plate 62b, and a first guide rod 62e is respectively arranged on the upper clamp plate 62a and the lower clamp plate 62b, and passes through the middle cushion block 62c to respectively guide the movement of the upper clamp plate 62a and the lower clamp plate 62 b.

As shown in fig. 4, one end of the screw rod is connected with the motor, a first clamp is fixed on a nut of the screw rod pair, and a second clamp is installed near the other end of the screw rod. A pair of guide rods II 66 parallel to the screw rod are further arranged on two sides of the screw rod, a sliding block is arranged on one side of a connecting plate of the first clamp and is matched with the guide rods II 66, and a limiting block is further arranged at the end part of the screw rod.

The automatic feeding and discharging device of the robot further comprises a rotating device 67, the clamp mounting plate 61 is connected with the six-axis robot through the rotating device 67, and the rotating device 67 drives the coil gripper to rotate 180 degrees.

The distance between the two automatic strapping heads 72 is adjustable to accommodate coils of different lengths. As shown in fig. 3, a second driving device 73 is disposed between the two automatic strapping heads 72, the second driving device 73 has two output ends, the two output ends are respectively connected with a screw rod, and the automatic strapping heads 72 are fixed on nuts on the screw rods. And a second driving device 73 is started, the two screw rods rotate, the two automatic strapping heads 72 are opened to two sides, and the distance between the two automatic strapping heads 72 is adjusted.

The winding device comprises a rotating arm 53, a left die holder 51 and a right die holder 52 which are arranged on the rotating arm 53, the left die holder 51 is fixed with the rotating arm 53, a sliding block 54 and a lead clamping device 55 are arranged on the right die holder 52, the right die holder 52 is movably connected with the rotating arm 53 through the sliding block 54, and the lead clamping device 55 comprises a chuck pressing block 55a and a clamp driving device 55b; the wire connecting structure 56 is further included, and the wire clamping device 55 is installed on the wire connecting structure 56; specifically: the wiring structure 56 includes a wiring mounting plate 56a, a third driving device 56b, and a fourth driving device 56c; a wiring mounting plate 56a is mounted on one side of the right die holder 52, and a lead clamping device 55 and a driving device four 56c are mounted on the wiring mounting plate 56 a; the third driving device 56b is arranged on the sliding block 54, the output end of the third driving device 56b is fixed with the wiring installation plate 56a, the wiring installation plate 56a is movably connected with the sliding block 54, and the third driving device 56b drives the wiring installation plate 56a to stretch and retract towards the direction vertical to the rotating arm 53; the fourth driving device 56c drives the wire holding device 55 so that the wire holding device 55 is close to the right die holder 52 or far from the right die holder 52.

The wiring structure 56 is provided, so that the lead clamping device 55 can be extended from the rotating arm 53 to facilitate wiring. In addition, the wire connection structure 56 cannot interfere with the winding and the wire is put in a desired position during the winding, so that the wire connection structure 56 is also responsible for transferring the wire holding device 55. The utility model sets up the fourth 56c of the driving device, and set up the driving part to transmit the power of the fourth 56c of the driving device, specifically, as shown in figure 12, the driving part includes rack 56d, gear shaft 56e and connecting rod 56f, rack 56d is set up along the width direction of the rotating arm 53, the output end of the fourth 56c of the driving device is connected with rack 56d, the rack 56d is meshed with gear on the gear shaft 56 e; one end of gear shaft 56e without gears is fixed to link 56f; the other end of the link 56f is fixed with a wire holding device 55. The fourth driving device 56c rotates the wire holding device 55 via the transmission member.

In order to avoid interference between the wiring structure 56 and the wire feeding mechanism, the wiring structure 56 is arranged on the back surface of the wiring mounting plate 56a as much as possible, wherein the back surface faces to one surface of the rotating arm 53; as shown in fig. 11 and 12, the third driving device 56b, the fourth driving device 56c and the rack 56d of the transmission member are all positioned on the back surface of the wiring mounting plate 56 a; one end of the gear shaft 56e with a gear is positioned at the back of the wiring mounting plate 56a, and one end without the gear passes through the wiring mounting plate 56a and is connected with a connecting rod 56f; the collet block 55a and the clamp driving device 55b of the wire clamping device 55 are integrated, and before winding, the wire clamping device 55 is positioned on one side of the wire mounting plate 56a away from the right die holder 52.

As shown in fig. 12, a guiding structure is mounted on the wiring mounting plate 56a, the guiding structure comprises a guide rail 56g and a guiding block 56h matched with the guide rail 56g, one side of the guiding block 56h is movably matched with the guide rail 56g, a rack 56d is fixed on the other side of the guiding block, and the rack 56d is connected with the output end of the fourth driving device 56c through the guiding block 56 h.

As shown in fig. 11, the wiring mounting plate 56a is further provided with a limiting plate 56i, the limiting plate 56i is located above the connecting rod 56f, and the limiting plate 56i is parallel to the length direction of the rotating arm 53. The side of the stopper plate 56i facing the link 56f is also provided with an impact block 56j. The stop plate 56i ensures that each automatic wire connection is in the same position and ensures that the wire holding device 55 is automatically rotated 180 ° steadily.

A guide rod 56k is fixed to the wire mounting plate 56a on the side facing the slider 54, the guide rod 56k penetrating through the slider 54, and the guide rod 56k being used for guiding when the third driving device 56b drives the wire mounting plate 56a to stretch in a direction perpendicular to the rotating arm 53. The guide bar 56k is a linear bearing guide bar 56k.

In the initial state, the lead clamping device 55 is located at one side of the right die holder 52, as shown in fig. 9, on the right side of the right die holder 52; the third driving device 56b drives the wiring mounting plate 56a to extend outwards, meanwhile, the wire feeding mechanism clamps the end part of the wire as shown in fig. 7 to feed the wire to the wire clamping device 55, no interference problem exists between the wire feeding device and the wire clamping device 55, the wire can be well fed between the clamping head pressing blocks 55a of the wire clamping device 55, and the clamping head pressing blocks 55a are driven by the clamping head driving device 55b to clamp the wire. After the wire feeding device is removed, the driving device four 56c drives the rack 56d, the gear and the gear shaft 56e and the connecting rod 56f to drive the wire clamping device 55 to rotate 180 degrees, and as shown in fig. 11, the wire clamping device rotates 180 degrees clockwise to a position on the right die holder 52, wherein the limiting plate 56i limits the rotation of the connecting rod 56 f.

Compared with the prior art, each time the wire is fed, the manual auxiliary is needed, special guard equipment is needed, one coil is further provided with a plurality of leads, when more coils are wound, a great amount of work is conceivable, and the manual paying-off has installation hidden danger, such as a rotating arm 53, the rotating arm 53 is large and long, the rotating speed is high, and the manual winding is easy to hurt. In this embodiment, due to the arrangement of the wire connection structure 56, the wire feeding device and the wire winding device do not interfere, the wire feeding mechanism can clamp the end of the lead, and the lead is directly sent between the chuck pressing blocks 55a, so that manual auxiliary paying-off is not needed, and automatic wire winding is truly realized.

The wire cutting device and the wire feeding device are integrated and are called a wire cutting and feeding integrated machine 4, and the wire cutting and feeding integrated machine 4 is arranged on the position adjusting device; the position adjusting device comprises an X-axis adjusting mechanism capable of moving along the X-axis direction, a Y-axis adjusting mechanism capable of moving along the Y-axis direction and a Z-axis adjusting mechanism capable of moving along the Z-axis direction; the wire cutting and feeding integrated machine 4 comprises a mounting seat, a driving device five 41a mounted on the mounting seat, a pressing plate and a cutter 41d; as shown in fig. 14, the pressing plates include two, an upper pressing plate 41b and a lower pressing plate 41c, respectively; the upper pressing plate 41b is connected with the output end of the fifth driving device 41a, and the lower pressing plate 41c is arranged below the upper pressing plate 41 b; a cutter 41d is also arranged on one side of the upper pressing plate 41b, and the cutting edge of the cutter 41d faces the direction of the lower pressing plate 41c; as shown in fig. 15, when the sliding seat 41e and the upper platen 41b are not pressed, the distance from the cutter 41d to the lower platen 41c is greater than the distance from the upper platen 41b to the lower platen 41 c.

The Y-axis adjusting mechanism is arranged on the X-axis adjusting mechanism, the Z-axis adjusting mechanism is arranged on the Y-axis adjusting mechanism, and the wire shearing and feeding integrated machine 4 is arranged on the Z-axis adjusting mechanism.

As shown in fig. 16, the installation base of the wire cutting and feeding integrated machine 4 comprises a connection base 41f, an upper installation base 41g and a lower installation base 41h which are installed on the connection base 41f, a sliding base 41e is installed between the upper installation base 41g and the lower installation base 41h, the connection base 41f is movably connected with a Z-axis adjusting mechanism in the Z-axis direction, a fifth driving device 41a is installed on the upper installation base 41g, a guide rod 41i which is arranged along the Z-axis is fixed between the upper installation base 41g and the lower installation base 41h, and the sliding base 41e is movably connected with the guide rod 41i; the lower platen 41c is mounted on the lower mount 41 h.

The moving direction of the Y-axis adjusting mechanism is identical to the moving direction of the wiring structure 56, that is, the moving direction of the wiring structure 56 is the Y-axis direction.

As shown in fig. 13, the X-axis adjustment mechanism: the base 42a, the base 42a is symmetrically provided with X-direction guide rails 42b, two X-direction guide rails 42b are erected with a flat plate 42c, and the Y-axis adjusting mechanism and the Z-axis adjusting mechanism are installed on the flat plate 42 c. The first flat plate 42c is also provided with a driving device six 42d, a rack 42e which is arranged in the same direction as the X-direction guide rail 42b is arranged between the two guide rails, a gear is fixed at the output end of the driving device six 42d, the gear is meshed with the rack 42e, and the first flat plate 42c moves back and forth along the X-direction guide rail 42 b.

As shown in fig. 13, a box 43a is placed on the first plate 42c for placing the electric device, and the Y-axis adjusting mechanism is mounted on the box 43 a: the Y-direction guide rails 43b symmetrically arranged on the box body 43a, a flat plate two 43c is erected on the two Y-direction guide rails 43b, the Z-axis adjusting mechanism is arranged on the flat plate two 43c, the flat plate two 43c is connected with the Y-direction guide rails 43b in a sliding way, a gap is formed between the flat plate two 43c and the box body 43a, a driving device seven 43d is arranged in the gap, and the driving device seven 43d drives the flat plate two 43c to move along the Y-direction guide rails 43 b.

As shown in fig. 13, the Z-axis adjustment mechanism is mounted on the second plate 43 c: the box body 44a is used for installation, the eight driving devices 44b are installed in the box body 44a, the wire cutting and feeding integrated machine 4 is installed on the box body 44a, the Z-axis guide rail 44c is installed on the box body 44a, and the connecting seat 41f is movably connected with the Z-axis adjusting mechanism in the Z-axis direction; the wire cutting and feeding integrated machine 4 is further provided with a screw rod 44d, the screw rod 44d penetrates through an upper mounting seat 41g and a lower mounting seat 41h of the wire cutting and feeding integrated machine 4, the upper mounting seat 41g is in threaded connection with the screw rod 44d, and a driving device eight 44b drives the screw rod 44d to rotate so as to drive the upper mounting seat 41g and a part connected with the upper mounting seat 41g to move in the Z direction.

When feeding wires, the driving device five 41a drives the sliding seat 41e to drive the upper pressing plate 41b to move downwards to clamp the wires, the position adjusting device adjusts the positions of the wires, and the wires are fed to the winding device, wherein the X-axis adjusting mechanism moves along the X-axis direction, the Y-axis adjusting mechanism moves along the Y-axis direction, and the Z-axis adjusting mechanism moves along the Z-axis direction. After the wire is fed, the driving device five 41a drives the upper pressing plate 41b to move upwards, the wire is loosened, and the wire cutting and feeding integrated machine 4 is moved away. After the copper wire is wound to the set length, the copper wire is clamped again by the wire cutting and feeding integrated machine 4, the driving device five 41a drives the sliding seat 41e to drive the pressing plate to clamp the copper wire, the output end of the driving device five 41a further moves downwards, an elastic part between the sliding seat 41e and the upper pressing plate 41b is pressed, and the cutter 41d moves downwards to cut off the copper wire.

Copper wires are led out from a wire coil on the paying-off device, the leveling straightening device and the floating wire arranging mechanism ensure that the copper wires entering the wire feeding device are flat and straight without bending, the end parts of the copper wires clamped by the wire feeding device are sent to the winding device, meanwhile, three driving wire clamping devices of a wiring structure on the winding device extend out and clamp the wires sent by the wire feeding device, the four driving wire clamping devices of the driving device rotate 180 degrees to send the wires to the right die holder, and the rotating arm 53 rotates to start winding. After winding to the set length, the wire cutting and feeding integrated machine clamps the copper wires and cuts the copper wires, one coil is provided with a plurality of leads, and the wire cutting and feeding integrated machine repeats the actions. After winding of one coil is completed, the automatic feeding and discharging device of the robot is started, the coil on the winding arm is clamped by the coil gripper, the coil is transferred to the binding device, and one straight line side of the coil is aligned with two automatic binding heads for binding; after the coil is tied on one straight edge, the robot automatically moves the coil gripper on the feeding and discharging device, the rotating device drives the coil gripper to rotate 180 degrees, and the robot automatically moves the coil to the automatic tying head to tie the other straight edge. After the binding tape is completed on two straight edges of the coil, the robot automatic feeding and discharging device transfers the coil onto a conveyor belt to be conveyed to the next process. The whole coil winding process does not need manual operation, and automation is realized in the whole process, so that the production efficiency is greatly improved.

Example 2

Embodiment 2 is different from embodiment 1 in that the structure of the jig is different, and the jig of this embodiment is suitable for a coil having a large span, such as a shuttle coil. As shown in fig. 5, the clamp includes a connecting plate 62e and two pairs of clamping plates arranged up and down, the connecting plate 62e of the first clamp is fixed with the clamp mounting plate 61, and the connecting plate 62e of the second clamp is fixed with the output end of the first driving device 64; two pairs of clamping plates respectively clamp two opposite straight edges of the coil; each pair of clamping plates is provided with a clamp driving device; the two pairs of clamping plates comprise a fixed plate 62f and a movable plate 62g, the fixed plate 62f is fixed with the connecting plate 62e, the clamp driving device is arranged on the fixed plate 62f, and the movable plate 62g is connected with the output end of the clamp driving device.

The fixed plate 62f is fixed with the connecting plate 62e through a first guide rail 62 h; the first rail 62h is provided in the coil width direction, and the fixing plate 62f is connected to the first rail 62h by fasteners, and at least two sets of fastener mounting holes 62i are provided in the rail along the rail extending direction, thereby adjusting the position of the fixing plate 62 f.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the scope of the present utility model.

Claims (10)

1. A full-automatic winding system of stator coils comprises a paying-off device, a wire feeding device, a wire shearing device and a winding device; the automatic feeding and discharging device is characterized by further comprising an automatic feeding and discharging device and a bundling device of the robot; the robot automatic feeding and discharging device is arranged between the winding device and the ribbon device and comprises a six-axis robot and a coil gripper; the binding belt device comprises a workbench and an automatic binding belt head arranged on the workbench, and at least one row of automatic binding belt heads are arranged on the workbench; the coil tongs include anchor clamps mounting panel, anchor clamps and anchor clamps drive arrangement, and the anchor clamps mounting panel is connected with six robots, and anchor clamps drive arrangement all install in the anchor clamps mounting panel, and anchor clamps drive arrangement drive anchor clamps press from both sides the coil tightly.

2. The fully automatic winding system of stator coils according to claim 1, wherein the fixture mounting plate is further provided with a first driving device, and the fixture comprises two fixtures, namely a first fixture and a second fixture; the first clamp is fixed with the clamp mounting plate, the second clamp is fixed with the output end of the first driving device, and the first driving device drives the second clamp to move so as to adjust the distance between the two clamps.

3. The fully automatic winding system of the stator coil according to claim 2, wherein the first driving device comprises a motor and a screw pair, one end of a screw of the screw pair is connected with the motor, and the second clamp is fixed with a nut of the screw pair.

4. The fully automatic winding system of stator coils according to claim 2, wherein the jig comprises a connection plate, a cushion block, an upper clamping plate and a lower clamping plate, and the jig driving device comprises a first jig driving device and a second jig driving device; the connecting plate of the first clamp is fixed with the clamp mounting plate, and the connecting plate of the second clamp is fixed with the output end of the first driving device; the cushion block is fixed with the connecting plate, and the thickness of the cushion block is equal to the span of the coil; the cushion block is positioned between the upper clamping plate and the lower clamping plate, the upper clamping plate is connected with the output end of the first clamp driving device, and the lower clamping plate is connected with the output end of the second clamp driving device; when clamping the coil, the first clamp driving device drives the upper clamp plate to move towards the direction of the cushion block, and the second clamp driving device drives the lower clamp plate to move towards the direction of the cushion block to clamp the coil.

5. The fully automatic winding system of stator coils as claimed in claim 4, wherein the first and second jig driving devices are mounted to the spacer.

6. The full-automatic winding system of the stator coil according to claim 2, wherein the clamp comprises a connecting plate and two pairs of clamping plates arranged up and down, the connecting plate of the first clamp is fixed with the clamp mounting plate, and the connecting plate of the second clamp is fixed with the output end of the first driving device; two pairs of clamping plates respectively clamp two opposite straight edges of the coil; each pair of clamping plates is provided with a clamp driving device; the two pairs of clamping plates comprise a fixed plate and a movable plate, the fixed plate is fixed with the connecting plate, the clamp driving device is arranged on the fixed plate, and the movable plate is connected with the output end of the clamp driving device.

7. The fully automatic winding system of stator coils as claimed in claim 6, wherein the fixing plate is fixed with the connection plate through a guide rail; the guide rail is arranged along the width direction of the coil, the fixed plate is connected with the guide rail through fasteners, and at least two groups of fastener mounting holes are formed in the guide rail along the extending direction of the guide rail, so that the position of the fixed plate is adjusted.

8. The fully automatic winding system of the stator coil according to claim 1, wherein a row of automatic binding heads are arranged on the workbench, the automatic feeding and discharging device of the robot further comprises a rotating device, the fixture mounting plate is connected with the six-axis robot through the rotating device, and the rotating device drives the coil gripper to rotate 180 degrees.

9. The fully automatic winding system of stator coils of claim 1, wherein the winding device comprises a wiring structure comprising a wiring mounting plate, a third driving device and a fourth driving device; the wiring mounting plate is arranged on one side of the right die holder, and the lead clamping device and the driving device are arranged on the wiring mounting plate; the third driving device is arranged on the sliding block, the output end of the third driving device is fixed with the wiring mounting plate, the wiring mounting plate is movably connected with the sliding block, and the third driving device drives the wiring mounting plate to stretch and retract towards the direction perpendicular to the rotating arm; the driving device drives the lead clamping device to enable the lead clamping device to be close to the right die holder or far away from the right die holder.

10. The fully automatic winding system of stator coils according to claim 9, wherein the wire feeding device and the wire cutting device are integrated and called a wire cutting and feeding integrated machine, and the wire cutting and feeding integrated machine is installed on the position adjusting device; the position adjusting device comprises an X-axis adjusting mechanism capable of moving along the X-axis direction, a Y-axis adjusting mechanism capable of moving along the Y-axis direction and a Z-axis adjusting mechanism capable of moving along the Z-axis direction; the wire cutting and feeding integrated machine comprises a mounting seat, a driving device V, a sliding seat, a pressing plate and a cutter, wherein the driving device V, the sliding seat, the pressing plate and the cutter are arranged on the mounting seat, and the mounting seat is connected with the position adjusting device; the output end of the driving device V is fixed with a sliding seat; the pressing plate comprises two pressing plates, namely an upper pressing plate and a lower pressing plate; the sliding seat is elastically connected with the upper pressing plate, and the lower pressing plate is arranged below the upper pressing plate; the sliding seat is also provided with a cutter, and the cutting edge of the cutter faces the direction of the lower pressing plate; when the sliding seat and the upper pressing plate are not pressed, the distance from the cutter to the lower pressing plate is larger than the distance from the upper pressing plate to the lower pressing plate.