A six-axis needle type winding device

Abstract

A six-axis needle-type winding device, which includes a machine table, a positioning mechanism, and a winding mechanism. The positioning mechanism includes a sliding bracket, a carrier shaft, and a clamping component. The clamping component includes a clamping disk, a clamping block, and clamping fingers. Three clamping interfaces are arranged at intervals on the clamping disk. The carrier shaft is turned over and fixed by mutual clamping between the clamping disk and the clamping fingers, and the carrier shaft can be fixed when winding pins and coils. The winding mechanism includes a substrate, a two-axis moving component, and a winding component. The two-axis moving component includes a first slide rail device and a second slide rail device. Both ends of the second slide rail device are slidably connected to two first slide rail devices. The two two-axis moving components are arranged in perpendicular directions to provide movement in multiple directions, realizing fast and stable movement of the winding action, and can also support higher speeds of high-power motors. The entire process of winding, cutting the wire, and transporting the coil skeleton is automatically completed to achieve automatic winding.

Description

Technical Field

[0001] The present invention relates to the technical field of winding machines, and particularly relates to a six-axis needle-type winding device. Background Art

[0002] A winding machine is a machine that winds linear objects around specific workpieces. For example, most electrical products need to wind enameled wires into inductance coils. Winding machines can be divided into flat wire machines, ring winding machines, fly fork winding machines, and so on. Most of the existing winding machines only have the winding function and have a single function. Even those with multiple stations have very unreasonable layouts, making the entire device extremely bulky and huge, which is not convenient for factory transportation. Moreover, during winding, generally, a three-axis moving device drives a winding guide needle to wind the coil on the coil skeleton. However, when a general three-axis moving device moves, it will drive multiple motors to move together. For example, when the X-axis moves, it will drive the components in the Y-axis module and the Z-axis module to move together, etc., resulting in a very heavy overall moving weight, which makes the overall moving speed slow. If you want to increase the moving speed, you need to increase the power of the motor. Using a high-power motor will inevitably be heavier. When moving, driving the motor to move together will also cause a part of the force to act on the driving motor, making it difficult to achieve high-speed movement, with low winding efficiency, and it is also difficult to ensure the stability of winding during high-speed movement. Summary of the Invention

[0003] In view of this, the present invention provides a six-axis needle-type winding device to solve the above technical problems.

[0004] A six-axis needle type winding device includes a machine table, a positioning mechanism arranged on the machine table, a feeding mechanism arranged on one side of the machine table, a loading and unloading mechanism arranged on the machine table, a wire cutting and clamping mechanism arranged on the machine table, and a winding mechanism arranged on the machine table. The positioning mechanism includes a linear sliding device arranged on the machine table, a sliding bracket slidably arranged on the linear sliding device, a plurality of carrier shafts rotatably arranged on the sliding bracket, and a clamping component arranged on the sliding bracket. Both ends of the carrier shaft are rotatably connected to the sliding bracket. The clamping component includes a plurality of clamping disks arranged on the carrier shaft, a clamping block slidably arranged on the sliding bracket, at least one driving cylinder for driving the clamping block to slide, and a plurality of clamping fingers arranged on the clamping block. The clamping disk is sleeved on one end of the carrier shaft close to the clamping block, and three clamping ports are arranged at intervals on the arc-shaped edge of the clamping disk. When winding the starting wire and the end wire, the carrier shaft rotates to make the pins face upward and the clamping fingers snap into the clamping ports on one side. When winding the wire, the clamping fingers snap into the clamping ports in the middle. The feeding mechanism is used for placing the coil skeleton, and the loading and unloading mechanism is used for transporting the coil skeleton. The winding mechanism includes a substrate, two two-axis moving components arranged on the substrate, and a winding component arranged on the two-axis moving components. The two-axis moving component includes a rotating motor arranged on the substrate, a first slide rail device arranged on the substrate, a second slide rail device slidably arranged on the first slide rail device, a rotating wheel rotatably arranged on the substrate, and a belt sleeved on the rotating wheel and the rotating motor. Both ends of the second slide rail device are slidably connected to the two first slide rail devices respectively. The extending direction of the second slide rail device is perpendicular to the first slide rail device. The rotating wheel is connected to the output end of the rotating motor through the belt. The belt is connected to the second slide rail device and drives the second slide rail device to move along the first slide rail device. The setting directions of the two two-axis moving components are perpendicular to each other, and the winding component is slidably connected to the second slide rail devices of the two two-axis moving components.

[0005] Further, the feeding mechanism includes a base located on one side of the machine table, two pulling components arranged on the base, and a feeding plate arranged on the base. The two pulling components include two first slide rail slider devices, a feeding slide plate slidably arranged on the first slide rail slider device, and a handle arranged on one side of the feeding slide plate. The feeding plate and the feeding slide plate are provided with a plurality of positioning pins in an array.

[0006] Further, the loading and unloading mechanism includes a first clamping component disposed on the machine table and a second clamping component disposed on the first clamping component.

[0007] Further, the first clamping component includes a rectangular frame, a loading and unloading slide plate slidably disposed on the rectangular frame, a belt conveyor disposed on the rectangular frame, a vertical moving device disposed on the loading and unloading slide plate, a mounting plate disposed on the vertical moving device, and a plurality of clamping cylinders spaced apart on the mounting plate. The rectangular frame is fixedly disposed on the machine table and above the positioning mechanism and the feeding mechanism. Both ends of the loading and unloading slide plate are slidably connected to the rectangular frame. The belt conveyor is located inside the rectangular frame and connected to the loading and unloading slide plate.

[0008] Further, the structure of the second clamping component is the same as that of the first clamping component, but its height is higher than that of the first clamping component and one end is located above the feeding mechanism.

[0009] Further, the wire cutting and clamping mechanism includes a wire cutting bracket disposed on the machine table, a bidirectional moving component disposed on the wire cutting bracket, a wire cutting and clamping mounting plate disposed on the bidirectional moving component, a plurality of wire cutting cylinders spaced apart on the wire cutting and clamping mounting plate, a plurality of finger cylinders spaced apart on the wire cutting and clamping mounting plate, two control boxes respectively disposed on the wire cutting bracket, and a plurality of control buttons disposed on the control boxes.

[0010] Further, the wire cutting bracket is located in the moving direction of the positioning mechanism. The wire cutting cylinders and the finger cylinders are arranged in a straight line, and the finger cylinders are located on one side of the wire cutting cylinders.

[0011] Further, the winding mechanism further includes two screw rod vertical moving components disposed on the substrate, two support components disposed on the machine table. The two support components are located on both sides of the substrate and include a fixed seat fixedly disposed on the machine table, two guide shafts slidably disposed on the fixed seat, two connecting rods slidably disposed on the fixed seat, and two cylinders fixedly disposed on the machine table and respectively connected to the connecting rods.

[0012] Further, the output end of the screw rod vertical moving component passes through the substrate and is inserted into the fixed seat. One end of the connecting rod is connected to the substrate, and the other end is connected to the cylinder. The cylinder always provides a force towards the substrate and performs a Z-axis movement in combination with the screw rod vertical moving component.

[0013] Furthermore, the winding assembly includes a winding frame slidably arranged on the second slide rail device, and a plurality of guide needles spaced apart on the winding frame, wherein the guide needles are arranged in a straight line, and the spacing distances between adjacent guide needles are the same.

[0014] Compared with the prior art, the six-axis needle winding equipment provided by the present invention can be turned over and fixed by the engaging plate and the engaging fingers when winding pins and coils, so that the carrier shaft can be further fixed when winding pins and coils, preventing the coil skeleton from shaking and affecting the winding quality. One end of the connecting rod of the support assembly is connected to the cylinder, and the other end is connected to the base plate. The cylinder always provides an upward force toward the base plate, so that it can work together with the vertical moving assembly of the lead screw to perform Z-axis movement to improve the speed and stability of the Z-axis movement. The two ends of the second slide rail device of the two-axis moving assembly are respectively slidably connected to the two first slide rail devices, and the second slide rail device is slidably provided with the winding assembly, thereby providing movement in two directions. Moreover, the setting directions of the two two-axis moving assemblies are perpendicular to each other, so that the moving directions of the two two-axis moving assemblies are different, which can provide the winding assembly with movement in multiple directions to achieve fast and smooth movement of the winding action. The two two-axis moving assemblies can also support the higher speed brought by the high power of the rotating motor, so that the winding assembly can perform faster winding movement. The entire process of winding, cutting and transporting the coil bobbin is completed automatically, realizing automatic winding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of a six-axis needle winding device provided by the present invention.

[0016] Figure 2 for Figure 1 Schematic diagram of the structure of the positioning mechanism of the six-axis needle winding equipment.

[0017] Figure 3 for Figure 2 An enlarged schematic diagram of the positioning mechanism A of the six-axis needle winding equipment.

[0018] Figure 4 for Figure 1 Schematic diagram of the structure of the unwinding mechanism of the six-axis needle winding equipment.

[0019] Figure 5 for Figure 1 Schematic diagram of the structure of the loading and unloading mechanism of the six-axis needle winding equipment.

[0020] Figure 6 for Figure 1Schematic structural diagram of the first feeding component of the six-axis needle-type winding equipment.

[0021] Figure 7 For Figure 1 Schematic structural diagram of the wire cutting and clamping mechanism of the six-axis needle-type winding equipment.

[0022] Figure 8 For Figure 1 Schematic structural diagram of the winding mechanism of the six-axis needle-type winding equipment.

[0023] Figure 9 For Figure 1 Schematic structural diagram of the winding mechanism of the six-axis needle-type winding equipment with the fixed seat removed.

[0024] Figure 10 For Figure 1 Schematic structural diagram of another angle of the winding mechanism of the six-axis needle-type winding equipment.

[0025] Figure 11 For Figure 1 Schematic structural diagram of the coil skeleton to be wound by the six-axis needle-type winding equipment. Detailed implementation manners

[0026] The following further details the specific embodiments of the present invention. It should be understood that the description of the embodiments of the present invention herein does not limit the protection scope of the present invention.

[0027] As Figures 1 to 11 shown, it is a schematic structural diagram of the six-axis needle-type winding equipment provided by the present invention. The six-axis needle-type winding equipment includes a machine table 10, a positioning mechanism 20 arranged on the machine table 10, a feeding mechanism 30 arranged on one side of the machine table 10, a loading and unloading mechanism 40 arranged on the machine table 10, a wire cutting and clamping mechanism 50 arranged on the machine table 10, and a winding mechanism 60 arranged on the machine table 10. It can be conceived that the six-axis needle-type winding equipment further includes some other functional modules, such as a three-axis moving mechanism, a tension adjusting device, etc., which are well-known technologies to those skilled in the art and will not be elaborated herein.

[0028] The machine table 10 is used to arrange the above-mentioned various functional components. Therefore, the machine table 10 is provided with various functional structures, such as screws, bolts, through holes, etc. to complete the installation and assembly of the above-mentioned functional modules, which can be set according to actual needs and will not be elaborated in detail herein one by one.

[0029] The positioning mechanism 20 includes a linear sliding device 21 disposed on the machine table 10, a sliding bracket 22 disposed on the linear sliding device 21, a plurality of carrier shafts 23 rotatably disposed on the sliding bracket 22, and a clamping assembly 24 disposed on the sliding bracket 22.

[0030] The positioning mechanism 20 is used to place the coil skeleton to be wound. The linear sliding device 21 is used to drive the sliding bracket 22 to move on the machine table 10, so that the carrier shaft 23 loaded with the coil skeleton moves to different working mechanisms to perform operations such as loading and unloading of the coil skeleton and winding. The linear sliding device 21 is composed of components such as a slide rail, a slider, a lead screw motor, and a lead screw, which should be prior art and will not be elaborated here.

[0031] The sliding bracket 22 has a trough-shaped structure to accommodate a plurality of the carrier shafts 23.

[0032] Both ends of the carrier shaft 23 are respectively rotatably connected to the sliding bracket 22 and are used to hold the coil skeleton. The carrier shaft 23 should also be provided with a clamping structure to fix the coil skeleton, such as a pin shaft or a magnetic attraction device.

[0033] A plurality of the carrier shafts 23 are connected to each other by a belt and are driven to rotate by a motor, so as to drive the coil skeleton to flip. When winding the side pins, the carrier of the coil skeleton needs to be flipped 90 degrees.

[0034] The clamping assembly 24 includes a plurality of clamping disks 241 disposed on the carrier shaft 23, a clamping block 242 slidably disposed on the sliding bracket 22, at least one driving cylinder 243 for driving the clamping block 242 to slide, and a plurality of clamping fingers 244 disposed on the clamping block 242.

[0035] The clamping disc 241 is sleeved on one end of the carrier shaft 23 close to the clamping block 242. The clamping disc 241 has a semi-circular structure and rotates together with the carrier shaft 23. Three clamping interfaces 245 are arranged at intervals on the arc edge of the clamping disc 241. A plurality of the clamping fingers 244 are arranged at intervals and are located on the side of the clamping block 242 close to the clamping disc 241. The number of the clamping fingers 244 is the same as that of the carrier shafts 23 and their positions correspond to each other. Each clamping disc 241 corresponds to one clamping finger 244. The driving cylinder 243 drives the clamping block 242 to slide, and the sliding direction of the clamping block 242 is close to or away from the clamping disc 241, so that the clamping fingers 244 are inserted into the clamping interfaces 245 to fix the carrier shaft 23. The clamping interface 245 located in the middle is used to cooperate with the clamping fingers 244 for clamping during the winding of the coil skeleton, so as to fix the carrier shaft 23 during winding. The clamping interfaces 245 located on both sides are used to cooperate with the clamping fingers 244 for clamping after the clamping fingers 244 are flipped, so that the carrier shaft 23 can also be fixed to prevent it from rotating during the flipping and winding of the pins of the carrier shaft 23, improving the stability of winding.

[0036] The feeding mechanism 30 includes a base 31 located on one side of the machine table 10, two pulling components 32 arranged on the base 31, and a feeding plate 33 arranged on the base 31.

[0037] The two pulling components 32 include two first slide rail slider devices 321, a feeding slide plate 322 slidably arranged on the first slide rail slider device 321, and a handle 323 arranged on one side of the feeding slide plate 322. By holding the handle 323 and moving along the direction of the first slide rail slider device 321, the feeding slide plate 322 slides on the first slide rail slider device 321, so as to laterally pull open the feeding slide plate 322. Since the feeding mechanism 30 is located below the loading and unloading mechanism 40 in order to save space, the space is relatively small and it is inconvenient for manual feeding. Therefore, the feeding slide plate 322 is pulled open from the side to make the feeding slide plate 322 extend out of the base 31, increasing the space for placing the coil skeleton without winding. The feeding plate 33 is used to place the completed coil skeleton. A plurality of positioning pins 34 are arranged in an array on the feeding plate 33 and the feeding slide plate 322. The positioning pins 34 are used to fix the coil skeleton placed on them.

[0038] The loading and unloading mechanism 40 includes a first clamping component 41 arranged on the machine table 10, and a second clamping component 42 arranged on the first clamping component 41.

[0039] The first clamping component 41 includes a rectangular frame 411, a loading and unloading slide plate 412 slidably arranged on the rectangular frame 412, a belt conveying device 413 arranged on the rectangular frame 412, a vertical moving device 414 arranged on the loading and unloading slide plate 412, a mounting plate 415 arranged on the vertical moving device 414, and a plurality of clamping cylinders 416 arranged at intervals on the mounting plate 415. The rectangular frame 411 is fixedly arranged on the machine table 10 and above the positioning mechanism 20 and the feeding mechanism 30, so as to carry the coil skeleton through the first clamping component 41 for loading and unloading movement. Both ends of the loading and unloading slide plate 412 are slidably connected to the rectangular frame 411. The belt conveying device 413 is composed of a motor, a rotating wheel, and a belt sleeved on the motor and the rotating wheel. The belt is driven by the rotation of the motor. It should be the prior art and will not be elaborated here. The belt conveying device 413 is located inside the rectangular frame 411 and connected to the loading and unloading slide plate 412, so as to drive the loading and unloading slide plate 412 to slide back and forth to transport the coil skeleton. The vertical moving device 414 is a lead screw moving device, and its moving direction is the gravity direction, that is, moving up and down, so as to drive the clamping cylinder 416 to move up and down to pick up or put down the coil skeleton. There are six clamping cylinders 416 in this embodiment, which can carry six coil skeletons at the same time. In order to better clamp the coil skeleton, clamping plates 417 are respectively arranged on two output ends of the clamping cylinder 416, and the two clamping plates 247 are driven by the clamping cylinder 416 to approach or move away from each other.

[0040] The structure of the second clamping component 42 is the same as that of the first clamping component 41, but its height is higher than that of the first clamping component 41 and one end is above the feeding mechanism 30, so as to avoid mutual interference.

[0041] During operation, the first clamping component 41 and the second clamping component 42 alternately place the coil skeletons. When the first clamping component 41 picks up a new coil skeleton from the feeding mechanism 30, the second clamping component 42 can move to the positioning mechanism 20 to take away the coil skeleton that has completed winding, and then move to the feeding plate 33 and place the coil skeleton that has completed winding on the feeding plate 33. While the second clamping component 42 clamps and places the coil skeleton that has completed winding, the first clamping component 41 can immediately place the new coil skeleton on the positioning mechanism 20. Compared with a single clamping component for loading and unloading back and forth, the loading and unloading speed is increased, and the winding work efficiency is higher.

[0042] The wire cutting and clamping mechanism 50 includes a wire cutting bracket 51 disposed on the machine table 10, a bidirectional moving component 52 disposed on the wire cutting bracket 51, a wire cutting and clamping mounting plate 53 disposed on the bidirectional moving component 52, a plurality of wire cutting cylinders 54 spaced apart on the wire cutting and clamping mounting plate 53, a plurality of finger cylinders 55 spaced apart on the wire cutting and clamping mounting plate 53, two control boxes 56 respectively disposed on the wire cutting bracket 51, and a plurality of control buttons 57 disposed on the control boxes 56.

[0043] The wire cutting bracket 51 is located in the moving direction of the positioning mechanism 20 and is used to arrange other components of the wire cutting and clamping mechanism 50. Therefore, when wire cutting and clamping are required, the positioning mechanism 20 will move below the wire cutting bracket 51 and perform wire cutting and clamping through the wire cutting cylinders 54 and the finger cylinders 55. The bidirectional moving component 52 is used to drive the wire cutting and clamping mounting plate 53 to move up and down and horizontally, so as to adjust the positions of the finger cylinders 55 and the wire cutting cylinders 54. The wire cutting cylinders 54 and the finger cylinders 55 are arranged in a straight line. In this embodiment, the wire cutting cylinders 54 and the finger cylinders 55 are respectively provided with six. The finger cylinders 55 are located on one side of the wire cutting cylinders 54. The wire cutting cylinders 54 are used for wire cutting, and the finger cylinders 55 are used for clamping, so as to cooperate with each other to clamp the lead wire to wind the starting end or cut off the redundant lead wire at the end of the tail wire after winding. The number of the control buttons 57 is the same as the number of the wire cutting cylinders 54. In this embodiment, there are six, and three are arranged on each control box 56. The control boxes 56 are respectively connected to the plurality of wire cutting cylinders 54 through electric wires. Each control button 57 individually controls the start or stop of one wire cutting cylinder 54, so as to realize the individual control of each wire cutting cylinder 54 and make the wire cutting control easier to control.

[0044] The wire winding mechanism 60 includes a substrate 61, two screw rod vertical moving components 62 disposed on the substrate 61, two support components 63 disposed on the machine table 10, and two two-axis moving components 64 disposed on the substrate 61, and a wire winding component 65 disposed on the two-axis moving component 64.

[0045] The substrate 61 is used to carry the above-mentioned various functional modules. The output end of the screw rod vertical moving component 62 passes through the substrate 61 and is inserted into the support component 63, and is used to drive the substrate 61 to move vertically.

[0046] The two support components 63 are located on both sides of the substrate 61, and include a fixed seat 631 fixedly arranged on the machine table 10, two guide shafts 632 slidably arranged on the fixed seat 631, two connecting rods 633 slidably arranged on the fixed seat 631, and two cylinders 634 fixedly arranged on the machine table 10 and respectively connected to the connecting rods 633.

[0047] One end of the guide shaft 632 is connected to the substrate 61, and the other end is connected to one end of the other guide shaft 632 through a connecting member. The guide shafts 632 are located at the four corners of the substrate 61. The guide shafts 632 are used to play a guiding and supporting role when the substrate 61 moves in the Z-axis direction, so as to improve the supporting ability. The connecting rod 633 is located between the two guide shafts 632. One end of the connecting rod 633 is connected to the substrate 61, and the other end is connected to the cylinder 634. The central axis of the connecting rod 633 is perpendicular to the substrate 61. The moving direction of the cylinder 634 is parallel to the central axis of the connecting rod 633, and always provides an upward force towards the substrate 61. In order to improve the moving speed of the two-axis moving component 64, the following rotating motor 641 will adopt a high-power motor, and the weight of the high-power motor is bound to be heavier. Therefore, when the screw vertical moving component 62 moves in the Z-axis direction, the cylinder 634 can provide an upward force towards the substrate 61 to lift the substrate 61 and the two-axis moving component 64, so as to jointly perform the Z-axis movement with the screw vertical moving component 62 to improve the speed and stability of the Z-axis movement. It can be imagined that in order to support the sliding of the connecting rod 633 and the guide shaft 632, a sliding sleeve should also be provided between the fixed seat 631 and the connecting rod 633 and the guide shaft 632 to support the sliding movement.

[0048] The two-axis moving component 64 includes a rotating motor 641 arranged on the substrate 61, a first slide rail device 642 arranged on the substrate 61, a second slide rail device 643 slidably arranged on the first slide rail device 642, a rotating wheel 644 rotatably arranged on the substrate 61, and a belt 645 sleeved on the rotating wheel 644 and the rotating motor 641.

[0049] The output end of the rotary motor 641 passes through the substrate 61 and is flush with the rotating wheel 644. The two first slide rail devices 642 are arranged at intervals. The two ends of the second slide rail device 643 are respectively slidably connected to the two first slide rail devices 642. The extending direction of the second slide rail device 643 is perpendicular to the first slide rail device 642. The second slide rail device 643 is used for slidably arranging the wire winding assembly 65, so that the wire winding assembly 65 can slide along the second slide rail device 643 and can also slide through the first slide rail device 642, thereby enabling the wire winding assembly 65 to provide two-directional movement to realize the circular movement of the wire winding action. The rotating wheel 644 is located between the two first slide rail devices 642 and is connected to the output end of the rotary motor 641 through the belt 645. The belt 645 is rotated by the rotation of the rotary motor 641. The belt 645 is connected to the second slide rail device 643, so as to drive the second slide rail device 643 and the wire winding assembly 65 to move along the first slide rail device 642 through the belt 645. The movement of the wire winding assembly 65 along the second slide rail device 643 is driven by another two-axis movement assembly 64.

[0050] The two two-axis movement assemblies 64 are arranged in perpendicular directions, that is, the first slide rail device 642 of one of the two-axis movement assemblies 64 is perpendicular to the first slide rail device 642 of the other two-axis movement assembly 64, so that the movement directions of the two two-axis movement assemblies 64 are different, and can provide the wire winding assembly 65 with multi-directional movement to realize the fast and stable movement of the wire winding action. The two two-axis movement assemblies 64 can also support the higher rotation speed brought by the high power of the rotary motor 641, so that the wire winding assembly 50 can perform faster wire winding movement and realize a rotation speed of one thousand RPM per minute.

[0051] The wire winding assembly 65 includes a wire winding frame 651 slidably arranged on the second slide rail device 643, and a plurality of guide pins 652 arranged at intervals on the wire winding frame 651.

[0052] The wire winding frame 651 has a T-shaped structure. The wire winding frame 651 is slidably connected to the second slide rail devices 643 of the two two-axis movement assemblies 64, and thus performs a wire winding movement under the drive of the two rotary motors 641. The guide pins 652 are arranged in a straight line, and the interval distances between adjacent guide pins 652 are the same. The guide pins 652 are used for threading wires. When the wire winding frame 651 drives the guide pins 652 to rotate, the guide pins 652 can wind the wires on the coil skeleton.

[0053] When winding the wire, the wire passes through the external tension device and then passes through the guide pin 652 and is clamped by the finger cylinder 55 to prepare for winding. First, manually pull apart the two pulling components 32, then place a plurality of coil skeletons 100 on the feeding slide plate 322 and connect them to the positioning pins 34, and then push them back to the reset position. In this embodiment, six coil skeletons can be wound at one time. After the first clamping component 41 moves above the feeding slide plate 322 to grab it, it is placed on the carrier shaft 23 and the coil skeleton 100 is fixed by the magnetic attraction device. The carrier shaft 23 rotates 90 degrees to make the pins face upward and the clamping fingers 244 are inserted into the clamping ports 245, so that the clamping disc 241 cannot rotate, further fixing the carrier shaft 23. The two-axis moving component 64 drives the winding component 65 to move in a circular motion to wind the wire around the pins on the side of the winding skeleton 100, and the finger cylinder 55 releases the wire, thus completing the winding of the starting end of the wire.

[0054] After the winding of the starting end of the wire is completed, the clamping fingers 244 withdraw from the clamping ports 245, the carrier shaft 23 resets, and the clamping fingers 244 are inserted into the middle clamping ports 245 to re-fix the carrier shaft 23. Then the two-axis moving component 64 and the screw vertical moving component 62 drive the winding component 65 to move in three axes, and the wire is wound around a plurality of winding posts of the coil skeleton 100 in sequence. The switching of the plurality of winding posts is realized by the movement of the linear sliding device 21. Then the clamping fingers 244 withdraw from the clamping ports 245, the carrier shaft 23 rotates 90 degrees to make the pins face upward, and the clamping fingers 244 are inserted into the clamping ports 245 on the side to re-fix the carrier shaft 23. The winding component 65 winds the wire around the pins to complete the winding of the tail wire. Then the finger cylinder 55 clamps the wire, and the wire cutting cylinder 54 cuts the wire to complete the winding. After the winding is completed, the second clamping component 42 takes away the completed coil skeleton 100, and the first clamping component 41 places the empty coil skeleton 100 back on the carrier shaft 23. Since the finger cylinder 55 has clamped the wire during wire cutting, repeating the above steps can directly perform winding.

[0055] Compared with the prior art, when the six-axis needle-type winding device provided by the utility model winds the winding pins and coils, the carrier shaft 23 can be turned over and fixed by the mutual clamping of the clamping disc 241 and the clamping fingers 244, so that the carrier shaft 23 can be further fixed when winding the pins and coils, preventing the coil skeleton from shaking and affecting the winding quality. One end of the connecting rod 633 of the support assembly 63 is connected to the air cylinder 634, and the other end is connected to the substrate 61. The air cylinder 634 always provides a force towards the substrate 61, that is, upwards, so that it can perform a Z-axis movement in combination with the lead screw vertical movement assembly 62 to improve the speed and stability of the Z-axis movement. Both ends of the second slide rail device 643 of the two-axis movement assembly 64 are respectively slidably connected to the two first slide rail devices 642, and the winding assembly 65 is slidably arranged on the second slide rail device 643, thereby providing two directions of movement. Moreover, the setting directions of the two two-axis movement assemblies 64 are perpendicular to each other, so that the movement directions of the two two-axis movement assemblies 64 are different, and various directions of movement can be provided for the winding assembly 65 to realize the fast and stable movement of the winding action. The two two-axis movement assemblies 64 can also support the higher rotation speed brought by the high power of the rotation motor 641, so that the winding assembly 50 can perform a faster winding movement. The entire process of winding, cutting the wire, and transporting the coil skeleton is automatically completed, realizing automatic winding.

[0056] The above are only the preferred embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, or improvements within the spirit of the present invention are all covered within the scope of the claims of the present invention.

Claims

1. A six-axis needle type winding device, characterized in that: The six-axis needle-type winding device includes a machine table, a positioning mechanism arranged on the machine table, a feeding mechanism arranged on one side of the machine table, a loading and unloading mechanism arranged on the machine table, a wire cutting and clamping mechanism arranged on the machine table, and a winding mechanism arranged on the machine table. The positioning mechanism includes a linear sliding device arranged on the machine table, a sliding bracket slidably arranged on the linear sliding device, a plurality of carrier shafts rotatably arranged on the sliding bracket, and a clamping component arranged on the sliding bracket. Both ends of the carrier shaft are rotatably connected to the sliding bracket. The clamping component includes a plurality of clamping discs arranged on the carrier shaft, a clamping block slidably arranged on the sliding bracket, at least one driving cylinder for driving the sliding of the clamping block, and a plurality of clamping fingers arranged on the clamping block. The clamping disc is sleeved on one end of the carrier shaft close to the clamping block. Three clamping ports are arranged at intervals on the arc edge of the clamping disc. When winding the starting wire and the end wire, the carrier shaft rotates to make the pins face upward and the clamping fingers snap into the clamping port on one side. When winding the wire, the clamping fingers snap into the clamping port in the middle. The feeding mechanism is used for placing the coil skeleton, and the loading and unloading mechanism is used for transporting the coil skeleton. The winding mechanism includes a substrate, two two-axis moving components arranged on the substrate, and a winding component arranged on the two-axis moving components. The two-axis moving component includes a rotating motor arranged on the substrate, a first slide rail device arranged on the substrate, a second slide rail device slidably arranged on the first slide rail device, a rotating wheel rotatably arranged on the substrate, and a belt sleeved on the rotating wheel and the rotating motor. Both ends of the second slide rail device are slidably connected to the two first slide rail devices respectively. The extending direction of the second slide rail device is perpendicular to the first slide rail device. The rotating wheel is connected to the output end of the rotating motor through the belt. The belt is connected to the second slide rail device and drives the second slide rail device to move along the first slide rail device. The setting directions of the two two-axis moving components are perpendicular to each other. The winding component is slidably connected to the second slide rail devices of the two two-axis moving components. The winding component includes a winding frame slidably arranged on the second slide rail device, and a plurality of guide needles arranged at intervals on the winding frame. The guide needles are arranged in a straight line, and the interval distance between adjacent guide needles is the same.

2. The six-axis needle type winding device according to claim 1, wherein: The feeding mechanism includes a base located on one side of the machine table, two pulling components arranged on the base, and a feeding plate arranged on the base. The two pulling components include two first slide rail and slider devices, a feeding slide plate slidably arranged on the first slide rail and slider device, and a handle arranged on one side of the feeding slide plate. The feeding plate and the feeding slide plate are provided with a plurality of positioning pins in an array.

3. The six-axis needle type winding equipment according to claim 1, characterized in that: The loading and unloading mechanism includes a first clamping component arranged on the machine table and a second clamping component arranged on the first clamping component.

4. The six-axis needle type winding device according to claim 3, wherein: The first clamping component includes a rectangular frame, a loading and unloading slide plate slidably arranged on the rectangular frame, a belt conveying device arranged on the rectangular frame, a vertical moving device arranged on the loading and unloading slide plate, a mounting plate arranged on the vertical moving device, and a plurality of clamping cylinders arranged at intervals on the mounting plate. The rectangular frame is fixed on the machine table and located above the positioning mechanism and the feeding mechanism. Both ends of the loading and unloading slide plate are slidably connected to the rectangular frame. The belt conveying device is located inside the rectangular frame and connected to the loading and unloading slide plate.

5. The six-axis needle type winding device according to claim 3, characterized in that: The structure of the second clamping component is the same as that of the first clamping component, but its height is higher than that of the first clamping component and one end is located above the feeding mechanism.

6. The six-axis needle type winding device according to claim 1, wherein: The wire cutting and clamping mechanism includes a wire cutting bracket arranged on the machine table, a bidirectional moving component arranged on the wire cutting bracket, a wire cutting and clamping mounting plate arranged on the bidirectional moving component, a plurality of wire cutting cylinders arranged at intervals on the wire cutting and clamping mounting plate, a plurality of finger cylinders arranged at intervals on the wire cutting and clamping mounting plate, two control boxes respectively arranged on the wire cutting bracket, and a plurality of control buttons arranged on the control boxes.

7. The six-axis needle type winding device according to claim 6, wherein: The wire cutting bracket is located in the moving direction of the positioning mechanism. The wire cutting cylinders and the finger cylinders are arranged in a straight line, and the finger cylinders are located on one side of the wire cutting cylinders.

8. The six-axis needle type winding device according to claim 1, wherein: The winding mechanism further includes two screw rod vertical moving components arranged on the substrate, two support components arranged on the machine table. The two support components are located on both sides of the substrate and include a fixed seat fixedly arranged on the machine table, two guide shafts slidably arranged on the fixed seat, two connecting rods slidably arranged on the fixed seat, and two cylinders fixedly arranged on the machine table and respectively connected to the connecting rods.

9. The six-axis needle type winding device according to claim 8, characterized in that: The output end of the screw rod vertical moving component passes through the substrate and is inserted into the fixed seat. One end of the connecting rod is connected to the substrate, and the other end is connected to the cylinder. The cylinder always provides a force towards the substrate and jointly performs Z-axis movement with the screw rod vertical moving component.

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