WO2020211342A1

WO2020211342A1 - Winding apparatus and winding method thereof

Info

Publication number: WO2020211342A1
Application number: PCT/CN2019/117178
Authority: WO
Inventors: 魏晓慧; 梁羽; 廖天发; 陈玉泉; 梅恩铭; 吴巍; 马力祯
Original assignee: 惠州学院
Priority date: 2019-04-17
Filing date: 2019-11-11
Publication date: 2020-10-22
Also published as: CN110164682A; CN110164682B

Abstract

A winding apparatus and a winding method thereof. The winding apparatus comprises: a rotating assembly (1) configured to fix a coil frame (2) on which a wire is to be wound; a servo driver configured to drive the rotating assembly (1) to rotate and perform servo control on the rotation; a manipulator (5) configured to perform winding position guide and servo control; a numerical control module (4) configured to automatically control the manipulator (5) and the servo driver; and a tension pay-off means (6) configured for winding. According to the winding apparatus and the winding method thereof, by means of cooperation between a winding guide means (51) and the tension pay-off means (6), a wound wire (8) is attached onto the coil frame (2) according to a designated path, and the rotation of the rotating assembly (1) and the movement of the manipulator (5) are precisely and synchronously controlled by means of the numerical control module (4), so that a coil in a complex shape can be wound and the winding is high in speed and precision.

Description

Winding device and winding method thereof

Technical field

The invention relates to the technical field of winding machines, in particular to a winding device and a winding method thereof.

Background technique

Commonly used coil types, such as solenoid coils, racetrack coils, etc., have relatively simple shapes and can be wound by conventional winding machines and simple tooling. However, this winding method is only suitable for simple revolving winding, and it is difficult to wind a coil with a complicated shape and structure. In many cases, complex-shaped coils are required. For example, in order to obtain high-demand and high-quality magnetic fields, the corresponding coil shapes often become extremely complicated and require extremely high winding accuracy. Conventional winding devices will no longer be applicable. , The manual winding process cannot guarantee the placement accuracy of the conductive wire position, and the coil mold with special requirements poses new challenges to the machining equipment. The pay-off device is difficult to provide a constant winding tension, and the coil is prone to lose turns and row Line unequal phenomenon.

Summary of the invention

The object of the present invention is to provide a winding device and a winding method for winding according to the layout of the conductive wire of the coil to be wound.

A winding device, which includes a pay-off device for providing conductive wire, a manipulator for sending the conductive wire provided by the pay-off device to a preset position, a rotating assembly for fixing a coil frame, and a drive The rotating component rotates and the servo driver performs servo control on the rotating movement, and the numerical control module. The numerical control module is used to automatically control the manipulator and the servo driver according to the pre-stored wire path of the coil to be wound to ensure that the manipulator and the rotating assembly are always in a linked state for winding.

As an implementation manner, the numerical control module includes: a computer and a motion controller electrically connected with the computer. Wherein, the servo driver is electrically connected to the motion controller, the manipulator is connected to a computer through a network port, and the computer is fed by the motion controller according to the rotation angle information of the rotating component fed back by the servo driver and the The position information of the tool end of the manipulator fed back by the controller of the manipulator controls the manipulator and the servo driver.

Preferably, the tool end of the manipulator is provided with a displacement sensor for detecting the spatial position information where the end of the tool end of the manipulator is located, so as to confirm the spatial position information of the wound conductive wire.

Preferably, the manipulator is provided with a winding guide device, and the winding guide device includes a wire crimping module provided on the end of the manipulator tool and a wiring guide provided on the arm or joint of the manipulator. Channel guide.

As an embodiment, the manipulator is an industrial six-axis manipulator.

Preferably, the pay-off device is a tension pay-off device, and the tension pay-off device can provide a constant winding tension.

As an embodiment, the rotating assembly is provided with a rotating platform that rotates under the drive of the servo driver.

A winding method of the above-mentioned winding device includes:

Step 1. The numerical control module determines the time-varying relationship of the position of the conductive wire wound during the winding process according to the pre-stored wire path of the coil to be wound and the parameters of the rotating component, thereby further determining the rotation The relationship between the rotation angle of the component and the position of the manipulator and time; the wire path has a coordinate expression in the global coordinate system;

Step 2. The numerical control module issues an initialization instruction to make the rotating assembly drive the coil former to rotate to the initial position, and the manipulator moves to the initial position;

Step 3.1: The numerical control module issues a winding instruction to the rotating assembly and the manipulator according to the rotation angle of the rotating assembly and the change relationship between the position of the manipulator and the time obtained in step 1.

Step 3.2. The numerical control module samples the rotation angle of the rotating assembly and the position information of the manipulator during the winding process to obtain feedback information, and adjusts the rotation speed of the rotating assembly and the position of the manipulator according to the feedback information, So that the actual rotation angle of the rotating component and the actual position of the manipulator are consistent with the rotation angle of the rotating component and the position of the manipulator obtained in step 1 and the change relationship with time; and

Step 4. The winding is completed, and the numerical control module issues a stop instruction to stop the rotation of the rotating assembly, and the manipulator stops moving, to obtain the wound coil.

Further, the tool end of the manipulator is provided with a displacement sensor for detecting the spatial position information of the wound conductive wire, and the winding method is used to wind the conductive wire into a coil of a desired shape. The winding method also includes:

Step 3.3: The displacement sensor detects the spatial position information of the conductive wire wound in real time during the winding process and transmits it to the numerical control module for recording; and

Step 5: Obtain the spatial lattice cloud image distribution of the actual coil according to the spatial position information of the wound conductive wire, compare with the wire path in step 1, and output the comparison result.

The winding device and the winding method of the present invention precisely and synchronously control the space position of the manipulator and the rotation angle of the rotating assembly through the numerical control module, and cooperate with the pay-off device to make the wound conductive wire fit in accordance with the preset wire path of the coil On the bobbin on the rotating assembly, the winding of complex-shaped coils can be completed with fast winding speed and high precision.

Description of the drawings

Fig. 1 is a schematic structural diagram of a winding device according to an embodiment of the present invention.

2 is a schematic diagram of the circuit structure of a winding device according to an embodiment of the present invention.

Fig. 3 is a winding flow chart of the winding device in an embodiment of the invention.

detailed description

In order to facilitate those skilled in the art to understand the present invention, the present invention will be further described in detail below in conjunction with specific embodiments and drawings.

As shown in Figures 1 and 2, a winding device includes a rotating assembly for fixing the bobbin 2 and driving the bobbin to rotate, a tension pay-off device 6 that provides a constant winding tension, and a winding device. The servo-controlled manipulator 5 of the guide device 51. The tool end 52 of the manipulator 5 is provided with a displacement sensor 7 for detecting the spatial position information of the conductive wire around. The part where the manipulator 5 installs the tool is called the tool end of the manipulator, which is generally the end of the manipulator. The displacement sensor 7 and The tool end of the manipulator moves synchronously, so as to record the spatial position information of the wound coil in real time. In this embodiment, the manipulator 5 is an industrial six-axis manipulator, and the displacement sensor 7 is a laser displacement sensor. In FIG. 1, for the convenience of observation, the displacement sensor 7 is enlarged and separately displayed below the tool end 52 of the manipulator 5. In this embodiment, the displacement sensor 7 is fixed on the tool end 52, and the laser light outputted by the displacement sensor 7 is directed toward the end of the tool end 52 to detect the position where the tool end 52 actually sends the conductive wire. In other embodiments, the displacement sensor 7 may be fixed at a position close to the tool end 52 of the manipulator 5, as long as the laser light output by it can be directed to the end of the tool end without obstacles.

The winding guide device 51 includes, for example, but not limited to, a crimping module 53 provided at the tool end of the manipulator, and a guide device provided on the arm or joint of the manipulator for providing a routing channel, such as a pressure roller or a wire. Claws or wire guides or tubes or rings through which wires are passed. During the winding process, the conductive wire discharged by the wire pay-off device 6 is pressed by the wire pressing module 53 to the end of the tool end 52 of the manipulator 5 after passing through the guide device 51, and is attached to the pre-set of the bobbin 2 Set location.

The tension pay-off device 6 can provide a constant winding tension during the winding process, so that the parts of the wound coil are uniform and not easily deformed.

The rotating assembly 1 includes a rotating platform 11 with a fixed part (hidden by the coil former 2 in FIG. 1) for fixing the coil former 2 and a servo drive for servo-controlling the rotation of the rotating platform 11 (can be accommodated) In the space below the rotating platform 11). The bobbin 2 is fixed on the fixed part of the rotating platform 1 during winding. Please also refer to FIG. 2, the winding device also includes a numerical control module 4 that automatically controls the movement of the manipulator 5 and the rotation movement of the rotating assembly 1. In this embodiment, the numerical control module 4 includes a computer and a motion controller electrically connected to the computer, the servo driver is electrically connected to the motion controller, and the manipulator is connected to the motion controller through a network port, and then through motion The controller is controlled by a computer. The computer controls the manipulator and the servo driver by the motion controller according to the rotation angle information of the rotating component fed back by the servo driver and the position information of the manipulator tool end fed back by the controller of the manipulator. In this implementation, the communication connection between the computer and the motion controller and the manipulator 5 is realized through a network cable.

Specifically, to facilitate coil forming, in this embodiment, a wire slot 3 is provided on the surface of the bobbin 2 along a predetermined wire path, and the wire slot 3 is provided corresponding to the cross-sectional size of the conductive wire 8 and the shape of the coil. In an alternative embodiment, in order to facilitate the forming of the coil, curing glue may be applied to the position of the conductive wire on the surface of the bobbin 2 (ie the wire path). When curing glue is applied to the surface of the bobbin 2, the manipulator 5 An ultrasonic heating device or a light curing device can be fixed, so that the conductive wire 8 can be bonded to the bobbin 2 by means of ultrasonic heating or light curing while the conductive wire 8 is being wound.

In the following, in conjunction with the application scenario of winding the conductive wire into a special-shaped magnet coil, a winding method using the above-mentioned winding device for winding is introduced. Please also refer to Figure 3, the winding method includes the following steps:

Step 1. The numerical control module determines the time-varying relationship of the position of the conductive wire to be wound during the winding process according to the required wire path of the coil to be wound and the rotation speed of the rotating assembly, so as to further obtain the The rotation angle of the rotating component and the relationship between the position of the manipulator and time; the wire path has a coordinate expression in the global coordinate system;

Step 2. The numerical control module issues an initialization instruction to cause the rotating assembly to drive the coil former 2 to rotate to the initial position, and the manipulator 5 to move to the initial position;

Step 3.1. The numerical control module sends winding instructions to the rotating assembly and the manipulator according to the rotation angle of the rotating assembly and the relationship between the position and time of the manipulator obtained in step (1), and Time causes the rotating assembly to rotate to a corresponding angle and the manipulator to move to a corresponding position; since the bobbin 2 in this embodiment is a regular cylindrical shape, the depth of the wire groove 3 on its surface is constant, so the manipulator only needs It suffices to move up and down along the surface of the bobbin 2 (defined as the Z-axis direction), so that the numerical control module only needs to control the correspondence between the time t, the angle θ of the rotation assembly and the space coordinate Z of the manipulator;

Step 3.2. The numerical control module samples the rotation angle of the rotating assembly and the position information of the manipulator at regular intervals during the winding process (for example, but not limited to 0.5s), and adjusts the rotation of the rotating assembly in real time according to the sampling information. Rotation speed and the position of the manipulator, so that the actual rotation angle of the rotating assembly, the actual position of the manipulator, and the rotation angle of the rotating assembly obtained in step 1 and the position of the manipulator are changed with time Match.

Step 3.3: The displacement sensor 7 detects the spatial position information of the conductive wire wound in real time during the winding process and transmits it to the numerical control module for recording;

Step 4. When the winding is completed, the numerical control module issues a stop instruction to stop the rotation of the rotating assembly and the manipulator 5 to stop moving to obtain the wound coil.

Step 5: Process the spatial position information of the wound conductive wire obtained in Step 3.3 to obtain the spatial lattice cloud map distribution of the actual coil, compare it with the wire path in Step 1, and output the comparison result. The comparison result can be used to guide the appearance detection and magnetic field correction of the electric coil.

Although the description of the present invention is made in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such substitutions, improvements and changes are included in the scope of the appended claims.

Claims

A winding device, characterized in that it comprises:

Pay-off device for providing conductive wire;

A manipulator for sending the conductive wire provided by the pay-off device to a preset position;

Rotating components for fixing the coil former;

A servo driver for driving the rotation of the rotating assembly and servo-controlling the rotation; and

The numerical control module is used to automatically control the manipulator and the servo driver according to the pre-stored wire path of the coil to be wound to ensure that the manipulator and the rotating assembly are always in a linked state for winding.
The winding device according to claim 1, wherein the numerical control module comprises:

Computer; and

A motion controller electrically connected to the computer;

Wherein, the servo driver is electrically connected to the motion controller, the manipulator is connected to a computer through a network port, and the computer is fed by the motion controller according to the rotation angle information of the rotating component fed back by the servo driver and the The position information of the tool end of the manipulator fed back by the controller of the manipulator controls the manipulator and the servo driver.
The winding device according to claim 2, wherein the tool end of the manipulator is provided with a displacement sensor for detecting the spatial position information of the end of the tool end of the manipulator, so as to confirm the spatial position information of the wound conductive wire.
The winding device according to claim 3, wherein the manipulator is provided with a winding guide device, and the winding guide device comprises a crimping module provided on the tool end of the manipulator and a winding guide on the manipulator. A guide device provided on the arm or joint to provide a routing channel.
The winding device according to claim 4, wherein the manipulator is an industrial six-axis manipulator.
The winding device according to claim 4, wherein the pay-off device is a tension pay-off device, and the tension pay-off device can provide a constant winding tension.
The winding device according to claim 2, wherein the rotating assembly is provided with a rotating platform that rotates under the drive of the servo driver.
A winding method of a winding device according to claim 1, characterized in that it comprises:

Step 1. The numerical control module determines the time-varying relationship of the position of the conductive wire wound during the winding process according to the pre-stored wire path of the coil to be wound and the parameters of the rotating component, thereby further determining the rotation The relationship between the rotation angle of the component and the position of the manipulator and time; the wire path has a coordinate expression in the global coordinate system;

Step 2. The numerical control module issues an initialization instruction to make the rotating assembly drive the coil former to rotate to the initial position, and the manipulator moves to the initial position;

Step 3.1: The numerical control module issues a winding instruction to the rotating assembly and the manipulator according to the rotation angle of the rotating assembly and the change relationship between the position of the manipulator and the time obtained in step 1.

Step 3.2. The numerical control module samples the rotation angle of the rotating assembly and the position information of the manipulator during the winding process to obtain feedback information, and adjusts the rotation speed of the rotating assembly and the position of the manipulator according to the feedback information, So that the actual rotation angle of the rotating component and the actual position of the manipulator are consistent with the rotation angle of the rotating component and the position of the manipulator obtained in step 1 and the change relationship with time; and

Step 4. The winding is completed, and the numerical control module issues a stop instruction to stop the rotation of the rotating assembly, and the manipulator stops moving, to obtain the wound coil.
The winding method according to claim 8, characterized in that a displacement sensor for detecting the spatial position information of the wound conductive wire is provided on the tool end of the manipulator, and the winding method is used to wind the conductive wire into a For coils that require a shape, the winding method further includes:

Step 3.3: The displacement sensor detects the spatial position information of the conductive wire wound in real time during the winding process and transmits it to the numerical control module for recording; and

Step 5: Obtain the spatial lattice cloud image distribution of the actual coil according to the spatial position information of the wound conductive wire, compare with the wire path in step 1, and output the comparison result.