A method for tying stator coil tying wire of micro motor winding

Abstract

The present invention discloses a method for binding a binding wire for a stator coil of a micro motor winding, comprising positioning and fixing the stator coil of the micro motor winding, a threading needle with an input binding wire inserted into a hole on the stator coil, a rotating thread hooking shuttle moving down from above, hooking the binding wire, and further rotating to form a wire loop when the threading needle is withdrawn, and when the threading needle is withdrawn from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to above the stator coil and inserts the wire loop for a second time, while the rotating thread hooking shuttle continues to rotate and hooks the wire rope again, and the upper wire loop falls off during the rotation, forming a knot on the stator coil, the threading needle and the rotating thread hooking shuttle moving down to their respective initial positions, and the winding rotation positioning platform rotates synchronously and rotates to the next hole position, and the cycle is repeated until the stator coil completes one rotation and the binding wire is completely bound; the present invention solves the current dilemma of manual binding of micro motors, improves efficiency, and reduces costs.

Description

Technical Field

[0001] The present 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] Conventional motor stator windings currently require white binding wire to secure the coils at both ends. This is typically done using automated equipment, which employs side puncture and top or bottom hooking. However, this existing structure requires the winding to swing within the coil, resulting in a large amplitude and difficulty in reducing the winding indefinitely. This makes it inoperable for smaller coil inner diameters and unsuitable for micro motor windings. Existing equipment is generally suitable for windings with an inner diameter of 60mm or larger. For micro motors (with an inner diameter of less than 30mm), manual binding is still used. This is costly, inefficient, and can cause significant fatigue to workers' fingers and arms. Existing automated equipment for conventional motors (with a diameter greater than 30mm) is limited by size, making side puncture and top or bottom hooking difficult. Therefore, a new approach is needed. 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 stator coil binding wire of a micro motor winding, comprising:

[0005] 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 rotates 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 synchronously with the rotating thread hook shuttle to the top of the stator coil 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. During the rotation, the upper wire loop comes off 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 line and penetrates the hole of the stator coil again. The binding line is hooked by the front section of the three-dimensional smooth spiral rising curve and rotated to form a wire 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 wire loop again and retreats, and the rotating thread hook 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 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 line is tied. The binding line can be cotton thread, polyester thread, carbon fiber thread or other wire required for the coil.

[0006] The present invention discloses a method for binding the binding wire of the stator coil of a micro motor winding. The coil material can be loaded onto the product concentric positioning support of the winding rotation positioning platform manually or automatically, and the CCD station of the starting equipment cooperates with the rotating tooling to detect and correct the coil starting position and the reaming station to expand the needle hole of the coil. The rotating hook shuttle cooperates with the needle threading module through multi-axis linkage to bind the coil in sequence for one circle and then the needle is withdrawn. The hook and thread cutting mechanism pulls out the binding wire and clamps it to hold it, and the hook and thread cutting mechanism extends scissors to cut the binding wire.

[0007] In some embodiments, the cross-sectional angle of the front section of the three-dimensional smooth spiral rising curve is less than or equal to 40 degrees.

[0008] Preferably, the cross-sectional angle of the front section is less than 10 degrees.

[0009] 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.

[0010] Preferably, the cross-sectional angle of the rear section of the three-dimensional smooth spiral ascending surface is less than 60 degrees.

[0011] 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 rising 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 rising 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 rising 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 rising structure, or it can be a conical surface that gradually changes from a small cross-sectional angle to 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 rising 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 retracted 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.

[0012] 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 a 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 threading needle motion mechanism includes a needle up and down displacement component for shifting the needle up and down and a needle forward and backward displacement component for the forward and backward threading action of the needle.

[0013] 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.

[0014] 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 line and a hook up and down movement component for moving up and down, and the wire cutting mechanism includes pneumatic scissors and a scissors telescopic component for installing the pneumatic scissors.

[0015] 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 behind the annular hollow light source, and a camera arranged at the rear end of the telecentric lens.

[0016] In some embodiments, the binding wire tying method also includes a process of reverse tightening the binding wire. When the front end needle retracts after tying each 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 uses the set tension torque to ensure that the binding wire is continuously fed in a stable and tight state.

[0017] 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 shafts, 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 clamped, the wire tightening brake cylinder extends, and the clamping block is used to press the binding wire. The wire tightening upper and lower shafts are pulled upward, so that the binding wire is tightened, and at the same time, the tension of each knot is guaranteed to be consistent according to the feedback of the tension sensor.

[0018] 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 movement mechanism in sequence, and finally pass through the needle 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 the hole on the stator coil. The rotating thread hooking shuttle moves down from the top, and uses the three-dimensional smooth spiral rising curved front section of the rotating thread hooking 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 curved surface to form a thread loop. When the threading needle is withdrawn from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to above the stator coil, and inserts the thread loop for the second time and withdraws. At the same time, the rotating thread hooking shuttle continues to rotate and hooks the thread rope again. During the rotation, the upper thread loop falls off, forming a knot on the stator coil, and 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, and the threading needle carries the binding wire and penetrates the hole of the stator coil again. The binding wire is hooked by the front section of the three-dimensional smooth spiral rising curve and rotated 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 and hook the wire rope again. During the rotation, the upper wire loop falls off and retreats. The rotating wire hooking shuttle rotates synchronously, and the upper wire loop falls off to form 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 line is tied, the binding line is hooked up by the wire hooking and cutting mechanism, clamped, and then the binding line is cut, and then the binding line of the next product is tied; when the needle is retracted after tying a knot, the binding line tying method also includes tightening the binding line in the reverse direction, and when the needle is retracted after tying a knot at the front end, 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, and 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, and the rear binding line tension feeding device ensures that the binding line is continuously fed in a stable and tight state with the set tension torque.

[0019] This solution is applicable to coil binding of all inner diameter sizes.

[0020] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0022] Figure 1A This is a schematic diagram of an untied coil in an embodiment of the present invention;

[0023] Figure 1B This is a partial schematic diagram of coil binding in an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the overall mechanism layout in an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the rotary thread hooking shuttle motion mechanism in an embodiment of the present invention;

[0026] Figure 4 Schematic diagram of the rotary thread hooking shuttle motion mechanism and the thread hooking and cutting mechanism in an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of a winding rotation positioning mechanism in an embodiment of the present invention;

[0028] Figure 6A This 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;

[0029] Figure 6B This is a schematic diagram of the design of the needle inserting the coil and the rotating thread hooking shuttle in an embodiment of the present invention;

[0030] Figure 7A This is a schematic diagram of the principle of cooperation between the needle and the rotating thread hooking shuttle during the needle retraction in an embodiment of the present invention;

[0031] Figure 7B This is a schematic diagram of the design of the needle threading and the rotating hooking shuttle when withdrawing in an embodiment of the present invention;

[0032] Figure 8 Schematic diagram of the rotary thread hook and threading needle moving upward above the stator coil in an embodiment of the present invention;

[0033] Figure 9 Schematic diagram of a tie wire reverse tensioning mechanism in an embodiment of the present invention;

[0034] Figure 9A A partial schematic diagram of the tie wire reverse tensioning mechanism in an embodiment of the present invention, wherein the upward arrow indicates that the upper and lower components of the tie wire reverse tensioning pull the pulley and drive the tie wire to tighten upward;

[0035] Figure 10 Schematic diagram of a CCD rotation correction mechanism in an embodiment of the present invention;

[0036] Figure 11Schematic diagram of a thread hooking and cutting mechanism in one embodiment of the present invention;

[0037] Figure 12 Schematic diagram of the rotary thread hook structure in an embodiment of the present invention;

[0038] Figure 13 Schematic diagram of the needle threading structure in an embodiment of the present invention.

[0039] 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 rising surface, A12 is the starting surface oblique line, A13 is the starting surface, A14 is the rear section of the three-dimensional rotating spiral rising 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 movement mechanism, B1 is the needle, B11 is the binding wire avoidance gap, B12 is the needle perforation, B2 is the needle up and down displacement component, B3 is the needle front and back 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

[0040] The following describes embodiments of the present invention in detail, 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "horizontal", "vertical", etc., indicating orientations or positional relationships, are 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.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "connection", "communication", "connection", "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 communication of two elements; it can be a direct connection or an indirect connection 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.

[0043] The following will describe the micro motor stator coil binding wire binding method 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 knotting process of the needle threading and the rotating hook shuttle in the embodiment of the present invention.

[0044] 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 the stator coil of the micro motor winding on a product concentric positioning support of a winding rotation positioning platform for 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, the threading needle with the input binding wire starts from the starting position and penetrates from the hole on the stator coil, the rotating thread hooking shuttle moves down from the top, and the front section of the three-dimensional smooth spiral rising curve of the rotating thread hooking shuttle is used to rotate and hook the binding wire through the 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 surface. After the threading needle withdraws from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to above the stator coil and penetrates the wire loop for the second time, and at the same time The rotating thread hook shuttle rotates synchronously and hooks the thread rope again. The upper thread loop falls off during the rotation, 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 line and penetrates the hole of the stator coil again. The binding line is hooked 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 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 and hooks 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 continues until the stator coil completes one rotation and the binding line is tied.

[0045] 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.

[0046] According to some embodiments of the present invention, 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 angle of the rear section of the three-dimensional smooth spiral rising curve is less than 80 degrees. Preferably, the angle of the rear section of the three-dimensional smooth spiral rising curve is less than 60 degrees.

[0047] 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 tilting towards the rear end. After the front section passes through the binding wire avoidance gap and picks up the binding wire, it rotates itself and drives the binding wire to distribute 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.

[0048] 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 a 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 threading needle motion mechanism includes a needle up and down displacement component for shifting the needle up and down and a needle forward and backward displacement component for the forward and backward threading action of the needle.

[0049] According to one embodiment of the present invention, Figure 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.

[0050] 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 upward and downward 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.

[0051] According to some embodiments of the present invention, Figure 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.

[0052] 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 needle retracts after tying each 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 and tight state with the set tension torque.

[0053] According to some embodiments of the present invention, Figure 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 wire pressing cylinder, and multiple pulleys for winding the wire.

[0054] According to an embodiment of the present invention, the binding wire roll is placed on the binding wire feeding mechanism, and the binding wire is sequentially passed through the tension mechanism, the binding wire reverse tensioning mechanism, and the needle threading movement mechanism, and finally pierced through the needle and set on the needle. After the binding wire is set, the micro motor coil is placed on the winding rotation positioning mechanism, positioned and fixed, and the position of the coil hole is adjusted by the CCD rotation correction mechanism to achieve coil hole positioning. The winding rotation positioning platform is rotated to the 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 hooking shuttle moves downward from the top, and uses the three-dimensional smooth spiral rising curved front section of the rotating thread hooking 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 curved surface to form a thread loop. After the threading needle is withdrawn from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to above the stator coil, and inserts the thread loop for the second time and withdraws. At the same time, the rotating thread hooking shuttle continues to rotate and hooks the thread rope again. During the rotation, the upper thread loop falls off, forming a knot on the stator coil, and 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 workstation, the threading needle carries the binding wire and penetrates the hole of the stator coil again, the binding wire is hooked by the front section of the three-dimensional smooth spiral rising curve, and rotates to form a wire loop, the threading needle and the rotating wire hooking shuttle move up to above 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 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 line is tied, the binding line is hooked up and clamped by the wire hooking and cutting mechanism, and then the binding line is cut, and then the binding line of the next product is tied; when the needle is retracted after tying a knot, the binding line tying method also includes tightening the binding line in the reverse direction, and when the needle is retracted after tying a knot at the front end, 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, and 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, and the rear binding line tension feeding device ensures that the binding line is continuously fed in a stable and tight state with the set tension torque.

[0055] Any reference to "one embodiment," "an embodiment," "an exemplary embodiment," etc., means that a particular component, structure, or feature described in connection with that embodiment is included in at least one embodiment of the present invention. Such exemplary expressions throughout this specification do not necessarily refer to the same embodiment. Moreover, when a particular component, structure, or feature is described in connection with any embodiment, it is intended that implementation of such component, structure, or feature in connection with other embodiments is within the scope of those skilled in the art.

[0056] Although specific embodiments of the present invention have been described in detail with reference to a number of illustrative embodiments thereof, it should be understood that a variety of other modifications and embodiments may be devised by those skilled in the art that fall within the spirit and scope of the principles of the present invention. Specifically, reasonable variations and improvements may be made in the arrangement of components and / or dependent combinations within the scope of the foregoing disclosure, the accompanying drawings, and the claims without departing from the spirit of the present invention. Except for variations and improvements in components and / or arrangement, the scope thereof is defined by the appended claims and their equivalents.

Claims

1. A method for tying a stator coil 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 hooking shuttle moves down from the top, and the front section of the three-dimensional smooth spiral rising curve of the rotating thread hooking shuttle is used 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 a wire loop is formed using the three-dimensional smooth spiral rising surface. After the threading needle withdraws from the stator coil, it moves up synchronously with the rotating thread hooking shuttle to above the stator coil and penetrates the wire loop for the second time. At the same time, the rotating thread hooking shuttle continues to rotate and hooks the wire again. 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 line and inserts it into the hole of the stator coil again. The binding line 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. The upper thread loop falls off during the rotation, forming a knot. The threading needle and the rotating thread hook shuttle move down back to their respective starting positions, and the cycle continues until the stator coil completes one rotation and the binding line is tied.

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

3. The method for binding the stator coil 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 the stator coil 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, 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 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 of a micro motor 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 wires 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 stator coil binding wires 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 line and a hook upward and downward movement component for moving up and down, and the wire cutting mechanism includes pneumatic scissors and a scissors telescopic component for installing the pneumatic scissors.

9. The method for binding stator coil binding wires 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 wires of a micro motor winding according to claim 1, characterized in that: The binding wire binding method also includes tightening the binding wire in the reverse direction. When the front 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 the reverse direction. 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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