Small and special motor winding stator coil binding wire binding method

Abstract

The invention discloses a small and special motor winding stator coil binding wire binding method, which comprises the following steps: positioning and fixing a small and special motor winding stator coil, penetrating a threading needle with an input binding wire into a hole in the stator coil, rotating a wire hooking shuttle to move downwards from the upper part to hook the binding wire, and carrying out binding on the binding wire. The thread hooking shuttle is arranged on the threading needle and further rotates to form a thread ring when the threading needle retreats, after the threading needle retreats out of the stator coil, the threading needle and the rotary thread hooking shuttle synchronously move upwards to the position above the stator coil and penetrate into the thread ring for the second time, meanwhile, the rotary thread hooking shuttle continues to rotate and hooks the thread rope again, and the thread ring on the thread falls off in the rotating process. When the stator coil is bound, knots are formed on the stator coil, the threading needle and the rotary thread hooking shuttle move downwards to respective initial positions, the winding rotary positioning platform rotates synchronously and rotates to a next hole position, and the operation is repeated until the stator coil completes a circle of rotary binding thread binding and binding is completed; according to the invention, the difficulty of manual binding of small and special motors at present is solved, the efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the field of micro motors, and in particular to a method for binding a binding wire of a stator coil of a micro motor winding. Background Art

[0002] At present, both ends of the stator coil of the conventional motor winding need to be tied with white binding wire to fix the coil. The white binding wire to be tied for the stator coil of the conventional motor is carried out by automated equipment, which adopts the method of side puncture and upper or lower hooking. Among them, the existing structure needs to swing inside the coil, and its amplitude is large and difficult to shrink indefinitely. When the inner diameter of the coil is small, it cannot work, and it cannot be applied to the binding wire binding process of micro motors. The existing equipment is generally suitable for the binding process of motor coils with an inner diameter of 60mm and above. At present, in such processes of micro motors (inner diameter less than 30mm), the binding wire is still tied manually, which is costly on the one hand and inefficient on the other hand. At the same time, it causes great fatigue damage to the fingers and arms of workers. The existing automated equipment method for conventional motors (diameter greater than 30mm) is difficult to achieve side puncture and upper and lower hooking due to volume size limitations, so it is necessary to find new ways and methods. Summary of the invention

[0003] In view of this, the present invention needs to overcome at least one of the above-mentioned defects in the prior art.

[0004] The present invention provides a method for binding a binding wire of a stator coil of a micro motor winding, comprising: The stator coil of the micro motor winding is placed on the product concentric positioning support of the winding rotation positioning platform for positioning and fixing. The winding rotation positioning platform is rotated to the starting position angle or the stator coil is set at the starting position angle at the beginning. The threading needle with the input binding line starts from the starting position and penetrates from the hole on the stator coil. The rotating thread hook shuttle moves down from the top, and the front section of the three-dimensional smooth spiral rising curve of the rotating thread hook shuttle is used to rotate and hook the binding line through the binding line avoidance notch on the threading needle, and further rotate when the threading needle is withdrawn, and a wire loop is formed using the three-dimensional smooth rotating rising surface. After the threading needle withdraws from the stator coil, it moves up to the top of the stator coil synchronously with the rotating thread hook shuttle, and penetrates the wire loop for the second time. At the same time, the rotating thread hook shuttle continues to rotate and hooks the wire rope again. The upper wire loop falls off during the rotation process. The threading needle moves back to form a knot on the stator coil, the threading needle and the rotating thread hooking shuttle move down to their respective initial positions, the winding rotation positioning platform rotates synchronously and rotates to the next hole position, the threading needle carries the binding wire and penetrates the hole of the stator coil again, the binding wire is hooked up by the front section of the three-dimensional smooth spiral rising curve, and rotates to form a wire loop, the threading needle moves back, the threading needle and the rotating thread hooking shuttle move up to above the stator coil at the same time, the threading needle passes through the wire loop again and withdraws, the rotating thread hooking shuttle rotates synchronously and hooks the wire rope again. During the rotation, the upper wire loop falls off to form a knot, the threading needle and the rotating thread hooking shuttle move down back to their respective starting positions, and the cycle is repeated until the stator coil completes one rotation and the binding wire is tied. The binding wire can be cotton silk, polyester thread, carbon fiber thread or other wire required for the coil.

[0005] The present invention discloses a method for binding wire for stator coils of micro motor windings. The coil material can be loaded onto a product concentric positioning support of a winding rotating positioning platform manually or automatically. The CCD station of the starting equipment cooperates with the rotating tooling to detect and correct the coil starting position at the hole expansion station, and the needle hole of the coil is expanded. The rotating thread hooking shuttle cooperates with the needle threading module through multi-axis linkage to bind the coil in sequence for one circle, and the needle threading is withdrawn. The thread hooking and thread cutting mechanism pulls out the binding wire and clamps it, and the thread hooking and thread cutting mechanism extends scissors to cut the binding wire.

[0006] In some embodiments, the cross-sectional angle of the front segment of the three-dimensional smooth spiral rising curve is less than or equal to 40 degrees.

[0007] Preferably, the cross-sectional angle of the front section is less than 10 degrees.

[0008] In some embodiments, the angle of the front section of the three-dimensional smooth spiral rising curve gradually increases from a small angle to a larger angle, and the cross-sectional angle of the rear section of the three-dimensional smooth spiral rising curve is less than 80 degrees.

[0009] Preferably, the cross-sectional angle of the rear section of the three-dimensional smooth spiral ascending surface is less than 60 degrees.

[0010] The cross-section here can be a cross-section formed by the plane of the central axis of the rotating thread hooking shuttle and the rotating ascending surface of the rotating thread hooking shuttle, or it can be a cross-section parallel to the starting surface of the front section of the rotating ascending curve. The cross-section angle is the angle between the oblique line on this cross-section and the horizontal plane. The three-dimensional smooth spiral ascending surface can be composed of a small cross-sectional angle in the front section gradually changing to a large cross-sectional angle in the rear section, and forming a spiral ascending structure, or it can be a conical surface with a small cross-sectional angle gradually changing to a conical surface with a large cross-sectional angle, that is, it is composed of a continuous conical surface with gradually changing angles, or it can be a spiral ascending surface designed through experience. It needs to ensure that when the rotating thread hooking shuttle rotates to a first predetermined angle, the binding line does not fall off and forms a predetermined wire loop. When it rotates to a second predetermined angle, the needle is withdrawn and the binding line falls off to form a knot. The first predetermined angle and the second predetermined angle here need to be designed through experience, and there is no specific formula or theory to guide.

[0011] In some embodiments, the rotary thread hook shuttle is installed on a rotary thread hook shuttle motion mechanism, and the threading needle is installed on the needle threading motion mechanism. The rotary thread hook shuttle motion mechanism includes a rotary thread hook shuttle up and down displacement component for adjusting the up and down position of the rotary thread hook shuttle and a rotary thread hook shuttle rotating component for rotating the rotary thread hook shuttle. The needle threading motion mechanism includes a needle threading up and down displacement component for shifting the needle up and down and a needle threading forward and backward displacement component for the needle threading forward and backward threading action.

[0012] In some embodiments, the binding wire binding method also includes a wire hooking and cutting mechanism, which includes a binding wire hook for hooking the binding wire, a wire hook clamping mechanism and a wire end cutting mechanism, and the binding wire hook is installed on the hook forward and backward movement mechanism.

[0013] In some embodiments, the hook forward and backward movement mechanism includes a hook forward and backward movement component and a hook slider installed on the hook forward and backward movement component, the hook is installed on the hook slider, the hook wire clamping structure includes a hook clamping component for clamping the binding wire and a hook up and down movement component for moving up and down, and the thread cutting mechanism includes pneumatic scissors and a scissors telescopic component for installing the pneumatic scissors.

[0014] In some embodiments, the binding wire binding method also includes a CCD rotation correction mechanism, which includes an annular hollow light source, a telecentric lens arranged at the rear side of the annular hollow light source, and a camera arranged at the rear end of the telecentric lens.

[0015] In some embodiments, the binding wire tying method also includes a process of reverse tightening the binding wire. When the front end threading needle retracts after tying a knot, the brake cylinder of the tensioning mechanism presses the wire feeding end, and the tensioning shaft rises to reversely tighten the knot tied at the front end. The force during the tightening process is fed back by the tension sensor and the tension range is set to ensure that the tension of each knot is consistent. The rear binding wire tension feeding device ensures that the binding wire is continuously fed in a stable tight state with the set tension torque.

[0016] Among them, the wire reverse tightening process is realized by a wire reverse tightening mechanism, and the wire reverse tightening mechanism includes wire tightening upper and lower axes, a wire tightening tension sensor, a wire tightening brake cylinder, and multiple pulleys for bypassing the binding wire. The binding wire passes through multiple pulleys and the clamping mechanism of the wire tightening brake cylinder is connected to the feeding mechanism of the rear section. The clamping mechanism is a clamping block arranged at the front end of the wire tightening brake cylinder. The clamping block may have a toothed structure. When clamping, the wire tightening brake cylinder extends out, and the clamping block is used to press the binding wire. The wire tightening upper and lower axes are pulled upward, so that the binding wire is tightened. At the same time, the tension of each knot is guaranteed to be consistent according to the feedback of the tension sensor.

[0017] The overall process of this case is: place the binding wire roll on the binding wire feeding mechanism, pass the binding wire through the tension mechanism, the binding wire reverse tensioning mechanism, and the needle threading movement mechanism in turn, and finally pass through the needle threading to pierce the hole and set it on the needle. After the binding wire is set, place the micro motor coil on the winding rotation positioning mechanism, position it and fix it, adjust the position of the coil hole through the CCD rotation correction mechanism to achieve coil hole positioning, the winding rotation positioning platform rotates to the starting position angle or sets the stator coil at the starting position angle from the beginning, and the needle with the binding wire starts from the starting position and penetrates through the hole on the stator coil. The rotating thread hook shuttle moves downward from the top, and uses the front section of the three-dimensional smooth spiral rising curve of the rotating thread hook shuttle to rotate and hook the binding line through the binding line avoidance notch on the threading needle, and further rotates when the threading needle is withdrawn, and uses the three-dimensional smooth rotating rising curve surface to form a wire loop. When the threading needle is withdrawn from the stator coil, it moves up to the top of the stator coil synchronously with the rotating thread hook shuttle, and inserts the wire loop for the second time and withdraws. At the same time, the rotating thread hook shuttle continues to rotate and hooks the wire rope again. During the rotation, the upper wire loop falls off, forming a knot on the stator coil, and the threading needle and the rotating thread hook shuttle move down to their respective initial positions. The winding rotation positioning platform rotates synchronously and rotates to the next hole position, the threading needle carries the binding wire and penetrates the hole of the stator coil again, the binding wire is hooked up by the front section of the three-dimensional smooth spiral ascending curve, and rotates to form a wire loop, the threading needle and the rotating wire hooking shuttle move up to the top of the stator coil at the same time, hook up the wire rope again, the upper wire loop falls off during the rotation, and retreats, the rotating wire hooking shuttle rotates synchronously, the upper wire loop falls off, forming a knot, the threading needle and the rotating wire hooking shuttle move down back to their respective starting positions, and the cycle is repeated until the stator coil completes one rotation and the binding wire is tied. After the binding wire is tied, the binding wire is hooked up and clamped by the wire hooking and cutting mechanism, and then the binding wire is cut, and then the binding wire of the next product is tied; when the threading needle is withdrawn after tying a knot, the binding wire tying method also includes reversely tightening the binding wire, and when the front end threading needle is withdrawn after tying a knot, the brake cylinder of the tensioning mechanism presses the wire feeding end, and the upper and lower shafts are tightened to reversely tighten the knot tied at the front end, and the force in the tightening process is fed back by the tension sensor and the tension range is set to ensure that the tension of each knot is consistent, and the rear binding wire tension feeding device ensures that the binding wire is continuously fed in a stable tight state with the set tension torque.

[0018] This solution is applicable to coil binding of all inner diameter sizes.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1A is a schematic diagram of an unbound coil in an embodiment of the present invention; Figure 1B It is a partial schematic diagram of coil binding in an embodiment of the present invention; Figure 2 is a schematic diagram of the overall mechanism layout in an embodiment of the present invention; Figure 3 Schematic diagram of the rotary thread hooking shuttle motion mechanism in an embodiment of the present invention; Figure 4 Schematic diagram of the rotary thread hooking shuttle motion mechanism and the thread hooking and cutting mechanism in the embodiment of the present invention; Figure 5 is a schematic diagram of a winding rotation positioning mechanism in an embodiment of the present invention; Fig. 6A It is a schematic diagram of the principle of cooperation between the needle inserting into the coil and the rotating thread hooking shuttle in an embodiment of the present invention; Figure 6B It is a schematic diagram of the design of the needle inserting the coil and the rotating hooking shuttle in the embodiment of the present invention; Fig. 7A It is a schematic diagram of the principle of cooperation between the threading needle and the rotating hooking shuttle when the threading needle is withdrawn in an embodiment of the present invention; Figure 7B It is a schematic diagram of the design of the cooperation between the threading needle and the rotating hooking shuttle when the threading needle is withdrawn in an embodiment of the present invention; Figure 8 Schematic diagram of the rotary thread hook shuttle and the threading needle in the embodiment of the present invention moving upward to above the stator coil; Fig. 9 Schematic diagram of a tie wire reverse tensioning mechanism in an embodiment of the present invention; Fig. 9A A partial schematic diagram of the tie wire reverse tensioning mechanism in the embodiment of the present invention, wherein the upward arrow indicates that the upper and lower parts of the tie wire reverse tensioning pull the pulley and drive the tie wire to tighten upward; Fig.10 is a schematic diagram of a CCD rotation correction mechanism in an embodiment of the present invention; Fig.11 is a schematic diagram of a thread hooking and cutting mechanism in one embodiment of the present invention; Fig.12 Schematic diagram of the structure of the rotary thread hook shuttle in the embodiment of the present invention; Fig.13 It is a schematic diagram of the needle threading structure in an embodiment of the present invention.

[0021] Among them, 0 is the binding wire, 1 is the stator coil, 11 is the stator coil hole, A is the rotating hook shuttle movement mechanism, A1 is the rotating hook shuttle, A11 is the three-dimensional rotating spiral ascending surface, A12 is the starting surface oblique line, A13 is the starting surface, A14 is the rear section of the three-dimensional rotating spiral ascending surface, A2 is the rotating hook shuttle left and right displacement component, A3 is the rotating hook shuttle rotating component, A4 is the rotating hook shuttle up and down displacement component, B is the needle threading movement mechanism, B1 is the needle threading, B11 is the binding wire avoidance gap, B12 is the needle threading hole, B2 is the needle threading up and down displacement component, B3 is the needle threading forward and backward displacement component, C is the winding rotation Positioning mechanism, C1 product concentric positioning support, C11 product clamping claw, C12 transmission mechanism, C13 rotary servo motor, D hook and wire cutting mechanism, D1 pneumatic scissors, D2 wire pull-back cylinder, D21 binding wire hook, D3 wire picking cylinder, D4 hook and wire clamping cylinder, E binding wire reverse tensioning mechanism, E1 binding wire reverse tensioning upper and lower parts, E2 binding wire tensioning force sensor, E3 pulley, E4 binding wire pressing cylinder, F binding wire feeding mechanism, G tension mechanism, HCCD rotary correction mechanism, H1 annular hollow light source, H2 telecentric lens, H3 camera. Specific embodiments

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0023] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "horizontal", "vertical", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "connection", "communication", "connected", "coupling" and "fitting" should be understood in a broad sense. For example, it can be a fixed connection, an integral connection, or a detachable connection; it can be the internal connection of two elements; it can be directly connected or indirectly connected through an intermediate medium; "fitting" can be the fit between surfaces, or the fit between points and surfaces or lines and surfaces, and also includes the fit between holes and axes. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] The following will describe the method for binding the stator coil binding wire of the micro motor winding provided by the embodiment of the present invention with reference to the accompanying drawings, wherein Figure 2 is a schematic diagram of the overall mechanism layout in an embodiment of the present invention; Figure 3-5 , Figure 9-13 6-8 are schematic diagrams of the needle threading and the rotary hook shuttle in the embodiment of the present invention.

[0026] like Figure 2-13 As shown, according to an embodiment of the present invention, a method for binding a binding wire for a stator coil of a micro motor winding includes placing a stator coil of a micro motor winding on a product concentric positioning support of a winding rotation positioning platform, positioning and fixing it, the winding rotation positioning platform rotates to a starting position angle or sets the stator coil at the starting position angle at the beginning, threading a needle with an input binding wire starts from the starting position and penetrates through a hole on the stator coil, a rotating thread hooking shuttle moves downward from the top, and a three-dimensional smooth spiral rising curved front section of the rotating thread hooking shuttle is used to rotate and hook the binding wire through a binding wire avoidance notch on the threading needle, and further rotates when the threading needle is withdrawn, and a wire loop is formed using the three-dimensional smooth rotating rising curved surface, and when the threading needle withdraws from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to the top of the stator coil and penetrates the wire loop for the second time, and at the same time The rotating thread hook shuttle continues to rotate and hooks up the thread rope again. During the rotation, the upper thread loop falls off, and the threading needle retreats to form a knot on the stator coil. The threading needle and the rotating thread hook shuttle move down to their respective initial positions, and the winding rotation positioning platform rotates synchronously and rotates to the next hole position. The threading needle carries the binding thread and penetrates the hole of the stator coil again. The binding thread is hooked up by the front section of the three-dimensional smooth spiral rising curve, and rotates to form a thread loop. The threading needle retreats, and the threading needle and the rotating thread hook shuttle move up to above the stator coil at the same time. The threading needle passes through the thread loop again and retreats, and the rotating thread hook shuttle rotates synchronously to hook up the thread rope again. During the rotation, the upper thread loop falls off to form a knot, and the threading needle and the rotating thread hook shuttle move down back to their respective starting positions, and the cycle is repeated until the stator coil completes one rotation and the binding thread is completed.

[0027] According to some embodiments of the present invention, the front section angle of the three-dimensional smooth spiral ascending curve is less than or equal to 40 degrees. Preferably, the front section angle is less than 10 degrees.

[0028] According to some embodiments of the present invention, the front section angle of the three-dimensional smooth spiral ascending curve gradually increases from a small angle to a larger angle, and the rear section angle of the three-dimensional smooth spiral ascending curve is less than 80 degrees. Preferably, the rear section angle of the three-dimensional smooth spiral ascending curve is less than 60 degrees.

[0029] The front section of the three-dimensional smooth spiral rising surface is used to insert into the binding wire avoidance gap of the needle threading. The cross-section of the front section can start from 0 degrees, that is, it can be a flat horizontal structure, gradually spiraling up and gradually inclining toward the rear end. After the front section passes through the binding wire avoidance gap to pick up the binding wire, it rotates itself, and at the same time drives the binding wire to be distributed around the curved surface and form a wire loop, so that the needle can pass through the wire loop. When it rotates to a preset angle, the binding wire falls off the rotating hook shuttle, and the knot is completed when the needle threading is withdrawn.

[0030] In some embodiments, the rotary thread hook shuttle is installed on a rotary thread hook shuttle motion mechanism, and the threading needle is installed on the needle threading motion mechanism. The rotary thread hook shuttle motion mechanism includes a rotary thread hook shuttle up and down displacement component for adjusting the up and down position of the rotary thread hook shuttle and a rotary thread hook shuttle rotating component for rotating the rotary thread hook shuttle. The needle threading motion mechanism includes a needle threading up and down displacement component for shifting the needle up and down and a needle threading forward and backward displacement component for the needle threading forward and backward threading action.

[0031] According to one embodiment of the present invention, Fig.11 As shown, the binding wire binding method also includes a wire hooking and cutting mechanism, which includes a binding wire hook for hooking the binding wire, a wire hook clamping mechanism and a wire end cutting mechanism, and the wire end cutting mechanism includes a starting scissors, and the binding wire hook is installed on the hook forward and backward movement mechanism.

[0032] Furthermore, the hook forward and backward movement mechanism includes a hook forward and backward movement component and a hook slider installed on the hook forward and backward movement component, the binding wire hook is installed on the hook slider, the hook wire clamping structure includes a hook clamping component for clamping the binding wire and a hook up and down movement component for moving up and down, and the thread cutting mechanism includes pneumatic scissors and a scissors telescopic component for installing the pneumatic scissors.

[0033] According to some embodiments of the present invention, Fig.10 As shown, the binding wire binding method also includes a CCD rotation correction mechanism, which includes an annular hollow light source, a telecentric lens arranged at the rear side of the annular hollow light source, and a camera arranged at the rear end of the telecentric lens.

[0034] According to some embodiments of the present invention, the binding wire tying method also includes a process of reverse tightening the binding wire. When the front end threading needle is retracted after tying a knot, the brake cylinder of the tensioning mechanism presses the wire feeding end, and the tensioning shaft rises to reversely tighten the knot tied at the front end. The force during the tightening process is fed back by the tension sensor and the tension range is set to ensure that the tension of each knot is consistent. The rear binding wire tension feeding device ensures that the binding wire is continuously fed in a stable tight state with the set tension torque.

[0035] According to some embodiments of the present invention, Fig. 9 As shown, the wire reverse tensioning process is implemented by a wire reverse tensioning mechanism, which includes a wire reverse tensioning upper and lower parts, a wire tensioning tension sensor, a binding wire pressing cylinder, and multiple pulleys for bypassing the binding wire.

[0036] According to an embodiment of the present invention, a binding wire roll is placed on a binding wire feeding mechanism, and the binding wire is sequentially passed through a tension mechanism, a binding wire reverse tightening mechanism, and a needle threading movement mechanism, and finally is set on the needle threading. After the binding wire is set, the micro motor coil is placed on a winding rotation positioning mechanism, positioned and fixed, and the position of the coil hole is adjusted by a CCD rotation correction mechanism to achieve coil hole positioning. The winding rotation positioning platform is rotated to a starting position angle or the stator coil is set at the starting position angle from the beginning. The needle threading with the binding wire starts from the starting position and penetrates through the hole on the stator coil. The rotating thread hook shuttle moves downward from the top, and uses the front section of the three-dimensional smooth spiral rising curve of the rotating thread hook shuttle to rotate and hook the binding thread through the binding thread avoidance notch on the threading needle, and further rotates when the threading needle is withdrawn, and uses the three-dimensional smooth rotating rising curve surface to form a thread loop. When the threading needle is withdrawn from the stator coil, it moves up to the top of the stator coil synchronously with the rotating thread hook shuttle, and inserts the thread loop for the second time and withdraws. At the same time, the rotating thread hook shuttle continues to rotate and hooks the thread rope again. During the rotation, the upper thread loop falls off and forms a knot on the stator coil. The threading needle and the rotating thread hook shuttle move down to their respective initial positions. The winding rotation positioning platform rotates synchronously and rotates to the next workstation, the threading needle carries the binding wire and penetrates the hole of the stator coil again, the binding wire is hooked up by the front section of the three-dimensional smooth spiral ascending curve, and rotates to form a wire loop, the threading needle and the rotating wire hooking shuttle move up to the top of the stator coil at the same time, the threading needle passes through the wire loop again and retreats, the rotating wire hooking shuttle rotates synchronously, hooks up the wire rope again, the upper wire loop falls off during the rotation, forming a knot, the threading needle and the rotating wire hooking shuttle move down back to their respective starting positions, and the cycle continues until the stator coil completes one rotation and the binding wire is tied. After the binding of the binding wire is completed, the binding wire is hooked up and clamped by the wire hooking and cutting mechanism, and then the binding wire is cut, and then the binding wire binding work of the next product is carried out; when the threading needle is withdrawn after tying a knot, the binding wire tying method also includes reversely tightening the binding wire, and when the front end threading needle is withdrawn after tying a knot, the brake cylinder of the tensioning mechanism presses the wire feeding end, and the upper and lower shafts are tightened to reversely tighten the knot tied at the front end, and the force in the tightening process is fed back by the tension sensor and the tension range is set to ensure that the tension of each knot is consistent, and the rear binding wire tension feeding device ensures that the binding wire is continuously fed in a stable tight state with the set tension torque.

[0037] Any reference to "one embodiment," "an embodiment," "an illustrative embodiment," etc., means that a specific component, structure, or feature described in connection with the embodiment is included in at least one embodiment of the present invention. Such illustrative expressions throughout this specification do not necessarily refer to the same embodiment. Moreover, when a specific component, structure, or feature is described in connection with any embodiment, it is claimed that it is within the scope of those skilled in the art to implement such component, structure, or feature in connection with other embodiments.

[0038] Although specific embodiments of the present invention have been described in detail with reference to a number of illustrative embodiments of the present invention, it must be understood that a variety of other modifications and embodiments may be devised by those skilled in the art that will fall within the spirit and scope of the principles of the present invention. Specifically, within the scope of the foregoing disclosure, the accompanying drawings, and the claims, reasonable variations and improvements may be made in the arrangement of components and / or dependent combinations without departing from the spirit of the present invention. Except for variations and improvements in components and / or arrangement, the scope is defined by the appended claims and their equivalents.

Claims

1. A method for binding a stator coil binding wire of a micro motor winding, characterized in that: include: The stator coil of the micro motor winding is placed on the product concentric positioning support of the winding rotation positioning platform for positioning and fixing. The winding rotation positioning platform is rotated to the starting position angle or the stator coil is set at the starting position angle at the beginning. The threading needle with the input binding line starts from the starting position and penetrates from the hole on the stator coil. The rotating thread hook shuttle moves down from the top, and the three-dimensional smooth spiral rising curved front section of the rotating thread hook shuttle is used to rotate and hook the binding line through the binding line avoidance notch on the threading needle, and further rotate when the threading needle is withdrawn, and a wire loop is formed using the three-dimensional smooth rotating rising curved surface. After the threading needle withdraws from the stator coil, it moves up to the top of the stator coil synchronously with the rotating thread hook shuttle, and penetrates the wire loop for the second time. At the same time, the rotating thread hook shuttle continues to rotate and hooks the wire again. The threading needle and the rotating thread hook shuttle move up to the top of the stator coil at the same time, and the threading needle passes through the thread loop again and retreats, and the rotating thread hook shuttle rotates synchronously to hook the thread rope again. The upper thread loop falls off during the rotation to form a knot, and the threading needle and the rotating thread hook shuttle move down back to their respective starting positions, and the winding rotation positioning platform rotates synchronously and rotates to the next hole position, and the threading needle carries the binding thread and penetrates into the hole of the stator coil again, and the binding thread is hooked up by the front section of the three-dimensional smooth spiral ascending curve, and rotates to form a thread loop, and the threading needle retreats, and the threading needle and the rotating thread hook shuttle move up to the top of the stator coil at the same time, and the threading needle passes through the thread loop again and retreats, and the rotating thread hook shuttle rotates synchronously to hook up the thread rope again. The upper thread loop falls off during the rotation to form a knot, and the threading needle and the rotating thread hook shuttle move down back to their respective starting positions, and the cycle is repeated until the stator coil completes one rotation and the binding thread is completed.

2. The method for binding the stator coil binding wire of the micro motor winding according to claim 1, characterized in that: The cross-sectional angle of the front section of the three-dimensional smooth spiral ascending curve is less than or equal to 40 degrees.

3. The method for binding the stator coil binding wire of a micro motor winding according to claim 2, characterized in that: The angle of the front section of the cross section is less than 10 degrees.

4. The method for binding stator coil binding wire of a micro motor winding according to claim 1, characterized in that: The cross-sectional angle of the front section of the three-dimensional smooth spiral rising curve gradually increases from small to large in a spiral ascending manner, and the angle of the rear section of the three-dimensional smooth spiral rising curve is less than 80 degrees.

5. The method for binding the stator coil binding wire of a micro motor winding according to claim 4, characterized in that: The rear section angle of the cross section of the three-dimensional smooth spiral ascending curved surface is less than 60 degrees.

6. The method for binding the stator coil binding wire of a micro motor winding according to claim 1, characterized in that: The rotary thread hook shuttle is installed on the rotary thread hook shuttle movement mechanism, and the threading needle is installed on the needle threading movement mechanism. The rotary thread hook shuttle movement mechanism includes a rotary thread hook shuttle up and down displacement component for adjusting the up and down position of the rotary thread hook shuttle and a rotary thread hook shuttle rotating component for rotating the rotary thread hook shuttle. The needle threading movement mechanism includes a needle threading up and down displacement component for shifting the needle up and down and a needle threading forward and backward displacement component for the needle threading forward and backward movement.

7. The method for binding stator coil binding wire of a micro motor winding according to claim 1, characterized in that: The binding wire binding method also includes a wire hooking and cutting mechanism, which includes a binding wire hook for hooking the binding wire, a wire hook clamping mechanism and a wire end cutting mechanism, and the binding wire hook is installed on the hook forward and backward movement mechanism.

8. The method for binding the stator coil of a micro motor winding according to claim 7, characterized in that: The hook forward and backward movement mechanism includes a hook forward and backward movement component and a hook slider installed on the hook forward and backward movement component, the hook is installed on the hook slider, the hook wire clamping structure includes a hook clamping component for clamping the binding wire and a hook up and down movement component for moving up and down, and the thread cutting mechanism includes pneumatic scissors and a scissors telescopic component for installing the pneumatic scissors.

9. The method for binding stator coil binding wire of a micro motor winding according to claim 1, characterized in that: The binding wire binding method also includes a CCD rotation correction mechanism, which includes an annular hollow light source, a telecentric lens arranged at the rear side of the annular hollow light source, and a camera arranged at the rear end of the telecentric lens.

10. The method for binding stator coil binding wire of a micro motor winding according to claim 1, characterized in that: The binding wire binding method also includes tightening the binding wire in reverse. When the front end threading needle retracts after tying a knot, the brake cylinder of the tensioning mechanism presses the wire feeding end, tightens the upper and lower shafts to rise, and tightens the knot tied at the front end in reverse. The force during the tightening process is fed back by the tension sensor and the tension range is set to ensure that the tension of each knot is consistent. The rear binding wire tension feeding device ensures that the binding wire is continuously fed in a stable and tight state with the set tension torque.

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