Automatic stranding wire winding method and device

Abstract

The present invention provides an automatic twisting and winding method and equipment, which includes: a guide needle movement mechanism, on which a plurality of guide needles are arranged, and the plurality of guide needles drive a plurality of strands of wire to be wound, twisted and wound on the element to be wound; a winding spindle mechanism, on which the element to be wound can be fixedly mounted, used to control the rotation angle of the element to be wound so as to carry out the winding, slotting and winding of the wire; a wire clamping mechanism, used to clamp the starting end and the ending end of the wire. The equipment integrates twisting and winding, and the entire product twisting and winding process is fully automated, which improves production efficiency and product quality.

Description

Technical Field

[0001] The present invention relates to the technical field of stranded wire winding equipment, and in particular to an automatic stranded wire winding method and equipment. Background Art

[0002] At present, the copper wire wound on the transformer skeleton is three strands of copper wire guided and twisted into one and then wound on the transformer skeleton. The existing technology can only realize automatic twisting, but cannot realize the integration of automatic twisting and automatic winding. In addition, in the process of twisting and winding, every time a certain length is wound, it is necessary to pull out a copper wire and break it (tap) and wind different strands of wire on different PIN pins; and the existing technology can only twist three strands of wire into one copper wire, which can neither tap nor wrap the pins, and often requires manual tapping and wrapping. Manual tapping and wrapping require a lot of manpower, and the hanging position is prone to errors, which poses a quality risk. In view of the above defects, it is necessary to design an integrated transformer automatic twisting and winding equipment and an integrated twisting and winding equipment that can realize automatic tapping. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes an automatic wire twisting and winding method and equipment, which integrates wire twisting and winding into one, and the entire product wire twisting and winding process is fully automated, thereby improving production efficiency and product quality.

[0004] The present invention proposes an automatic wire twisting and winding device, comprising: a guide needle movement mechanism, on which a plurality of guide needles are arranged, and the plurality of guide needles drive a plurality of wire strands to be twisted, twisted and wound on a component to be wound; a winding spindle mechanism, on which the component to be wound can be fixedly mounted, and used to control the rotation angle of the component to be wound so as to wrap the wire, insert the wire into a groove and wind the wire; and a wire clamping mechanism, used to clamp the starting end and the ending end of the wire.

[0005] The present invention also proposes an automatic twisted wire winding method, comprising the following steps: S1. loading the component to be wound onto the winding spindle mechanism; S2. cooperating the guide needle movement mechanism, the winding spindle mechanism and the wire clamping mechanism to wrap, twist and wind the multi-strand wire on the component to be wound to complete the winding of the multi-strand wire of a set length.

[0006] Beneficial effects of the present invention: The automatic wire twisting and winding method and equipment proposed in the present invention realizes the switching of the twisting and winding states of multiple strands of wires through a guide needle movement mechanism. It integrates twisting and winding into one, and the entire product twisting and winding process is fully automated, thereby improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a structural view of the automatic transformer stranding and winding equipment in an embodiment of the present invention.

[0008] Figure 2It is a structural view of the transformer automatic stranding and winding equipment except the tension control unit in the embodiment of the present invention.

[0009] Figure 3 2 is a structural view of a winding spindle mechanism in an embodiment of the present invention.

[0010] Figure 4 It is a partial structural view of the winding spindle mechanism in an embodiment of the present invention.

[0011] Figure 5 2 is a structural view of the wire winding guide needle motion mechanism in an embodiment of the present invention.

[0012] Figure 6 It is a partial structural view of the winding guide needle motion mechanism in an embodiment of the present invention.

[0013] Figure 7 It is a partial structural view of the wire clamping post mechanism in an embodiment of the present invention.

[0014] Figure 8 It is a structural view of a wire clamping column in an embodiment of the present invention.

[0015] Fig. 9 This is a structural view of the transformer skeleton.

[0016] Fig.10 This is a schematic diagram after the first layer of copper wire is wound around the transformer skeleton.

[0017] Fig.11 This is a schematic diagram of the transformer skeleton after the second layer of copper wire is wound.

[0018] Fig.12 Schematic diagram of the transformer after the transformer frame winding is completed. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below in conjunction with specific implementations and with reference to the accompanying drawings. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope of the present invention and its application.

[0020] In this embodiment, the winding element is a transformer frame as an example, and the wire to be wound is three strands of copper wire. It can be understood that in addition to the transformer frame, other winding elements that need to be wound, twisted and wound can also be used, and the wire to be wound can be other wires, such as gold wire and silver wire; the number of wound wires can be 2 strands, 4 strands, or other numbers of multi-strand wires.

[0021] like Figure 1 and 2As shown, a transformer automatic stranding and winding device comprises: a tension control unit 1, a guide needle motion mechanism 2, a winding spindle mechanism 3, a wire clamping mechanism 4 and a frame 5. The guide needle motion mechanism 2, the winding spindle mechanism 3 and the wire clamping mechanism 4 are all installed on the frame 5.

[0022] The tension control unit 1 is used to convey three strands of copper wire to the needle motion mechanism 2 and maintain tension during the stranding process. The tension control unit can be any conveying and tension maintaining unit in the prior art.

[0023] like Figure 3 As shown, the winding spindle mechanism 3 includes: an S-axis rotating unit 31, a mounting plate 32, a fixture body 33 and a fixture core 34. The S-axis rotating unit 31 can be specifically an S-axis rotating motor or an S-axis rotating cylinder, at the end of which a fixture body 33 is arranged, and the fixture body 33 is further connected to the fixture core 34, and the mounting plate 32 is also interference-connected on the fixture body 33. Figure 3 As shown, the winding spindle mechanism includes multiple winding spindle units, and each winding spindle unit includes an S-axis rotation unit, a fixture body and a fixture core connected to each other. The spacing between the multiple winding spindle units can be fixed by the mounting plate 32 to ensure the position accuracy of the multiple winding spindle units. Figure 4 As shown, the front end of the jig core 34 is used for interference fit with the transformer skeleton 6; the front end of the jig core 34 and the inner shaft of the transformer skeleton 6 are provided with chamfers, and along the chamfers, the front end of the winding jig core 34 can be slid into the transformer skeleton shaft, and because the front end of the jig core is an elastic body and the diameter is larger than the inner diameter of the transformer skeleton 6, the jig core 34 can be tightly fixed to the transformer skeleton 6. Under the action of the S-axis rotation unit 31, the jig core 34 drives the transformer skeleton 6 to rotate so as to wrap the copper wire, insert the groove, break the wire, twist the wire and wind the wire. During the process of wrapping the wire, inserting the groove and breaking the wire, the S-axis rotation unit keeps the set angle unchanged (for example, 0°), and the guide needle will move in relative position; when twisting the wire, the S-axis rotation unit controls the self-rotation of the jig core, and the guide needle moves in the set direction (such as Y+ direction); when winding the wire, the S-axis rotation unit controls the self-rotation of the winding jig core, and the guide needle moves in the set direction (such as Y+Z- direction) to wind the wire. A wire winding post 36 is also provided on the fixture body 33, which is used to wind the copper wire that does not need to be wound on the PIN.

[0024] like Figure 5 and Figure 6As shown, the needle guide movement mechanism 2 includes: a needle guide seat mounting plate 21, on which a needle guide seat 22 and a wire passing magnetic eye 210 are installed, and three guide needles 23 are installed on the needle guide seat 22, and the three guide needles are used to pass a strand of copper wire respectively; the wire passing magnetic eye 210 is arranged above the needle guide seat 22, and the copper wire passes through it and then passes into the three guide needles, and the wire passing magnetic eye can separate the copper wire and ensure that the copper wire is not entangled during the transportation process. A wire pressing column pressure rod 24 and a cutter 25 are also installed on the needle guide seat mounting plate 21; the wire pressing column pressure rod 24 is used to press and hold the wire winding column 36 so that the copper wire can fall off, and the cutter 25 is used to cut off the wire tail after the copper wire is wound around the foot.

[0025] In addition, the guide needle movement mechanism 2 also includes a first three-axis coordinate control unit, which is connected to the guide needle seat mounting plate 21 and is used to move the guide needle in the X, Y, and Z directions; specifically, Figure 5 As shown, the x-axis direction coordinate control unit 26 includes an x-axis servo motor and a lead screw, the y-axis direction coordinate control unit 27 includes a y-axis servo motor and a lead screw, and the z-axis direction coordinate control unit 28 includes a z-axis servo motor and a lead screw.

[0026] The guide needle seat mounting plate is also fixedly connected to an N1-axis rotation unit 29, which is used to control the angle switching of the guide needle in the winding state and the twisted state; in the winding state, the guide needle is in a vertical state, perpendicular to the axis of the transformer frame, and at the same time, under the control of the first three-axis coordinate control unit, the guide needle motion mechanism moves in a set direction (such as the Y+Z direction), and the S-axis rotation unit in the winding spindle mechanism controls the S-axis rotation to drive the transformer frame to rotate for winding; in the twisted state, the guide needle is in a horizontal state, parallel to the axis of the transformer frame, and at the same time, under the control of the first three-axis coordinate control unit, the guide needle motion mechanism moves in a set direction (such as the Y direction), and the S-axis rotation unit in the winding spindle mechanism controls the rotation of the winding jig core.

[0027] The wire clamping mechanism 4 includes: a wire clamping column 41, which is used to clamp the starting and ending ends of the copper wire so as to fix the copper wire at the beginning and end of winding; a second three-axis coordinate control unit 42, which is used to control the position of the wire clamping mechanism when breaking the tail wire and the angle relative to the PIN pin; an N2 axis rotation unit 43, which is used to switch the state of breaking the tail wire and discharging the waste copper wire; when the tail wire is broken, the wire clamping column faces upward; when the waste copper wire is discharged, the wire clamping column faces obliquely downward or vertically downward; an opening and closing unit 44, which is used to control the opening and closing of the wire clamping column; when opened, the guide needle movement mechanism can wrap the copper wire around the wire clamping column; when closed, the wire clamping column clamps and fixes the copper wire. The opening and closing unit 44 can use a wire clamping closing cylinder.

[0028] Not shown in the figure also includes a loading and unloading mechanism, the loading mechanism is used to load the transformer frame into the winding spindle mechanism; the unloading mechanism is used to unload the transformer after winding is completed, and it can adopt any loading and unloading mechanism in the prior art that can realize the loading and unloading functions.

[0029] The above device integrates stranding and winding, and can realize automatic tapping. The stranding winding process of the entire product is fully automated. The specific process of using the above device to realize the stranding winding of the transformer is as follows:

[0030] like Fig. 9 As shown, the transformer skeleton 6 includes 10 PIN pins, and the winding process includes:

[0031] Step 10. The tension control unit conveys three strands of copper wire to the guide needle motion mechanism, and passes the three strands of copper wire through the three guide needles respectively; the feeding mechanism feeds the transformer skeleton onto the jig core of the winding spindle mechanism.

[0032] Step 20. The guide needle movement mechanism, the winding spindle mechanism and the wire clamping mechanism cooperate to wrap the three copper wires, twist the wires and wind the three copper wires to complete the winding of the first layer of three copper wires.

[0033] The set length can be specifically set according to actual needs, and can be one layer, two layers or more layers of the inner slot 61 of the transformer skeleton.

[0034] The specific process is as follows:

[0035] Step 201. The three guide needles on the guide needle movement mechanism hang the three copper wires on the wire clamping column of the wire clamping mechanism for fixing.

[0036] The opening and closing unit of the wire clamping mechanism 4 controls the wire clamping column to open, and the first three-axis coordinate control unit on the guide needle motion mechanism drives the three guide needles to move within the outer circle of the wire clamping column, and the three strands of copper wire are wound around the wire clamping column. After the winding is completed, the guide needle moves to the waiting position, and then the opening and closing unit controls the wire clamping column to close, and the wire clamping column clamps the copper wire and fixes it.

[0037] Step 202. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the first guide needle winds the first strand of copper wire around the winding foot column of the winding spindle mechanism.

[0038] Step 203. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the second guide needle and the third guide needle respectively wind the second copper wire and the third copper wire around the PIN1 and PIN2 pins of the transformer frame for fixing.

[0039] There is a certain distance between the three guide needles, and this distance makes it possible for the three guide needles to avoid interference between the wound objects and the guide needles when the three guide needles are wound around the winding column and the PIN pin.

[0040] Step 204. Under the control of the second three-axis coordinate control unit of the wire clamping mechanism, the wire clamping column tears off the ends of the first copper wire, the second copper wire and the third copper wire, that is, the copper wires outside the winding column or the PIN pin are broken.

[0041] Under the control of the second three-axis coordinate control unit, the wire clamping column moves to a certain set position, and then moves to a second set position at a set moving speed to complete wire breaking.

[0042] After the wire clamping column tears off the wire end, it rotates under the control of the N2 axis rotation unit. When it rotates to a certain set angle (such as vertically downward or obliquely downward), the wire clamping column is opened by the wire clamping closing cylinder to discharge the waste copper wire.

[0043] Step 205. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the guide needle motion mechanism moves in the set direction, and at the same time, the S-axis rotation unit of the winding spindle mechanism drives the transformer frame to rotate, twists the three copper wires, and then lifts them to the winding position.

[0044] Under the control of the N1 axis rotation unit, the guide needle rotates to a horizontal state, that is, parallel to the axis of the transformer frame, and then under the action of the first three-axis coordinate control unit, the guide needle moves along the set direction, and at the same time, the winding spindle mechanism rotates (rotates) at the set speed to perform the wire twisting operation, and the wire twisting is completed according to the length of one layer; after the wire twisting is completed, the guide needle moves to the position to be wound. In this embodiment, when twisting the wire, the guide needle moves along the Y+ direction. In actual operation, a coordinate position will be set, and then it will move in a straight line at a uniform speed.

[0045] Step 206. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the guide needle motion mechanism moves in the set direction, and at the same time, the S-axis rotation unit of the winding spindle mechanism drives the transformer frame to rotate and wind the twisted copper wire.

[0046] Under the control of the N1 axis rotation unit, the guide needle rotates to a vertical state, that is, perpendicular to the axis of the transformer frame, and then under the action of the first three-axis coordinate control unit, the guide needle moves along the Y+Z-direction, and the winding spindle mechanism rotates (rotates) at the set speed to perform the winding operation of the twisted copper wire. In actual operation, a coordinate position will be set, and then the guide needle moves in a straight line at a uniform speed.

[0047] Step 207. After the winding is completed, the second copper wire and the third copper wire are kept connected, and under the control of the first three-axis coordinate control unit, the first guide needle winds the first copper wire to PIN8 and fixes it.

[0048] Step 208. Three guide pins are used to wrap the first copper wire around the wire clamping column and fix it. The cutter cuts off the excess copper wire wrapped around PIN8. The first layer of winding is completed. The three copper wires are kept passing through the guide pins. The first copper wire is wrapped around the wire clamping mechanism and fixed. The second and third copper wires are wrapped around the transformer frame.

[0049] The first layer of winding is completed as shown below Fig.10 shown.

[0050] Step 30. The guide needle movement mechanism, the winding spindle mechanism and the wire clamping mechanism cooperate to wrap the three copper wires, twist the wires and wind the three copper wires to complete the second layer of winding of the three copper wires.

[0051] The specific process is as follows:

[0052] Step 301. The first guide needle of the guide needle movement mechanism winds the first copper wire around PIN9 and fixes it.

[0053] Step 302: The cutter on the guide needle movement mechanism cuts off the excess portion of the first copper wire.

[0054] After the redundant part of the first copper wire is cut off, the wire clamping column rotates under the control of the second three-axis coordinate control unit, and then the wire clamping column is opened by the wire clamping closing cylinder to discharge the waste copper wire.

[0055] Step 303. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the guide needle motion mechanism moves in the set direction, and at the same time, the S-axis rotation unit of the winding spindle mechanism drives the transformer frame to rotate, twists the three copper wires, and then lifts them to the winding position.

[0056] The guide needle rotates to a position parallel to the axis of the skeleton and moves in the set direction. At the same time, the winding spindle mechanism rotates at the set speed to perform the wire twisting operation and complete the wire twisting according to the length of one layer. After the wire twisting is completed, the guide needle moves to the winding position through the first three-axis coordinate control unit.

[0057] Step 304. Under the control of the first three-axis coordinate control unit of the guide needle motion mechanism, the guide needle motion mechanism moves in the set direction, and at the same time, the S-axis rotation unit of the winding spindle mechanism drives the transformer frame to rotate and wind the twisted copper wire.

[0058] The guide needle motion mechanism drives the three guide needles to move at a constant speed in the YZ-direction for winding.

[0059] Step 305. The second guide needle and the third guide needle respectively wind the second copper wire and the third copper wire around PIN3 and PIN4 of the transformer skeleton for fixation, and the first guide needle winds the first copper wire around the winding column of the winding spindle mechanism again.

[0060] The second guide needle and the third guide needle are moved around the pins PIN3 and PIN4 by the first three-axis coordinate control unit to wrap the second and third copper wires, and then moved to the winding column to wrap the first copper wire. After the winding is completed, it is moved to a set position near the clamping column, and the clamping closing cylinder opens the clamping column. The guide needle wraps the three strands of copper wire around the cylinder of the clamping column under the control of the first three-axis coordinate control unit, and the guide needle moves to the set position again, and the clamping closing cylinder closes the clamping column.

[0061] Step 306. The first guide needle, the second guide needle and the third guide needle wind the three copper wires together and fix them on the clamping post of the wire clamping mechanism. The clamping post tears off the excess copper wire wound on PIN3, PIN4 and the winding post. The second layer of winding is completed, and the three copper wires remain in a state of passing through the guide needles and being wound on the clamping post and fixed.

[0062] Under the control of the second three-axis coordinate control unit, the wire clamping column moves to the first set position (three coordinates), and by setting the moving speed, under the control of the second three-axis coordinate control unit, it moves to the second set position to complete the wire breaking action.

[0063] The second layer of winding is completed as shown below Fig.11 shown.

[0064] Step 40. Repeat the steps of the first and second layers to complete the winding of the three strands of copper wires of the third and fourth layers; the transformer is fully wound as shown in the figure below. Fig.12 shown.

[0065] Step 50: The unloading mechanism unloads the wound transformer.

[0066] As mentioned above, the selection of PIN1, PIN2, PIN8, PIN9, PIN3, and PIN4 pins is determined according to the performance of the transformer in this embodiment; according to the different performance of the transformer, the selected PIN angle is different. For example, in the above embodiment, the length of one layer of twisted wire is changed each time, and the final transformer is wound with 4 layers. It can be understood that: the length of each twisted wire varies according to actual needs, such as: 2 layers, 3 layers or more layers; the number of layers wound by the final transformer can also vary according to actual needs.

[0067] This application realizes the switching between wire twisting and wire winding by setting an N1-axis rotation unit in the guide needle motion mechanism, so that wire twisting and wire winding are integrated together, which improves the production efficiency by more than 10 times; at the same time, a wire winding column is set in the winding spindle mechanism to cooperate with the guide needle motion mechanism to realize the automation of tapping and winding, thereby ensuring the quality of the product.

[0068] The above contents are further detailed descriptions of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can also make several substitutions or modifications to these described embodiments without departing from the concept of the present invention, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention.

Claims

1. An automatic stranding wire winding device, characterized in that: include: A guide needle movement mechanism, on which a plurality of guide needles are arranged, and the plurality of guide needles drive a plurality of wire strands to be wound, twisted and wound on the element to be wound; The winding spindle mechanism comprises a jig core, an S-axis rotation unit, a jig body and a winding column; the jig core is used to fix and install the component to be wound, the S-axis rotation unit is connected to the jig core, and is used to drive the jig core to rotate, and under the action of the S-axis rotation control unit, the jig core drives the component to be wound to rotate at different angles so as to carry out wire winding, slotting and winding; the two ends of the jig body are respectively connected to the S-axis rotation unit and the jig core, and the winding column is installed on the jig body, and is used to carry out wire winding that does not need to be wound on the PIN pin of the component to be wound; A wire clamping mechanism, used for clamping the starting end and the ending end of the wire; Wherein, the guide needle movement mechanism comprises: A first three-axis coordinate control unit, connected to the plurality of guide needles, for moving the plurality of guide needles in the X, Y, and Z directions; The N1-axis rotation unit is fixedly connected to the multiple guide needles and is used to control the angle switching of the multiple guide needles in the winding state and the twisting state; in the winding state, the guide needle is in a vertical state, perpendicular to the axis of the component to be wound, and at the same time, under the control of the first three-axis coordinate control unit, the guide needle motion mechanism moves in a set direction, and the S-axis rotation unit in the winding spindle mechanism controls the S-axis rotation to drive the component to be wound to rotate for winding; in the twisting state, the guide needle is in a horizontal state, parallel to the axis of the component to be wound, and at the same time, under the control of the first three-axis coordinate control unit, the guide needle motion mechanism moves in a set direction, and the S-axis rotation unit in the winding spindle mechanism controls the rotation of the winding jig core for twisting.

2. The device according to claim 1, characterized in that A plurality of components to be wound are mounted on the winding spindle mechanism, a plurality of groups of guide needles corresponding to the number of components to be wound are arranged on the guide needle movement mechanism, and a plurality of wire clamping columns corresponding to the number of components to be wound are arranged on the wire clamping mechanism; the conducting wire is a copper wire, and the component to be wound is a transformer skeleton.

3. The device according to claim 1, characterized in that The guide needle movement mechanism also includes: The guide needle seat mounting plate is used to install the multiple guide needles, and the guide needle seat mounting plate is also equipped with a wire pressing post pressure rod and a cutter. The wire pressing post pressure rod is used to press the wire winding post to facilitate the wire to fall off, and the cutter is used to cut off the wire tail after the wire is wound around the foot.

4. The device according to claim 1, characterized in that The wire clamping mechanism comprises: A wire clamping post is used to clamp the starting and ending ends of the wire so as to fix the wire at the beginning and end of winding; The opening and closing unit is used to control the opening and closing of the wire clamping column; when the wire clamping column is opened, the guide needle movement mechanism can wrap the wire around the wire clamping column; when the wire clamping column is closed, the wire clamping column clamps and fixes the wire.

5. The device according to claim 4, characterized in that Also includes: The second three-axis coordinate control unit is used to control the position of the wire clamping mechanism when it breaks the wire tail wire and the angle relative to the PIN pin of the component to be wound; The N2-axis rotating unit is used to switch the state of breaking the tail wire and discharging the waste wire; when the tail wire is broken, the clamping column faces upward; When the waste wires are discharged, the clamping post is tilted downward.

6. An automatic stranding method, characterized in that: The steps include: S1. Loading the components to be wound onto the winding spindle mechanism; S2. The guide needle movement mechanism, the winding spindle mechanism and the clamping mechanism cooperate to wrap the multi-strand wire around the element to be wound, twist the wire and wind the wire to complete the winding of the multi-strand wire of the set length; the step S2 includes the following steps: S21. The clamping column in the clamping mechanism clamps the starting end of the wire, and under the control of the first three-axis coordinate control unit in the guide needle motion mechanism, the guide needle drives the wire to be guided, wound and fixed on the element to be wound, and prepares to start the stranding winding action; S22. Under the control of the N1-axis rotation unit in the guide needle motion mechanism, the guide needle is rotated to the angle to be twisted; S23. Under the control of the first three-axis coordinate control unit, the guide needle moves in the set direction, and at the same time, the fixture core in the winding spindle mechanism drives the component to be wound to rotate; the guide needle movement mechanism and the winding spindle mechanism cooperate to twist the wire until the guide needle movement mechanism moves to the set coordinates to complete the twisting; S24. The guide needle movement mechanism switches the position and angle under the joint control of the first three-axis coordinate control unit and the N1 rotation axis and moves to the position to be wound; S25. The guide needle motion mechanism moves in the set direction under the control of the first three-coordinate unit, and at the same time, the fixture core in the winding spindle mechanism drives the component to be wound to rotate; the guide needle motion mechanism and the winding spindle mechanism cooperate to perform winding until the guide needle motion mechanism moves to the set coordinates to complete the winding; S26. The guide needle motion structure completes the winding and fixing of the end wire under the control of the first three-coordinate control unit to complete the winding of multiple wires of a set length.

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