A finishing device for the winding coil of a coreless motor

Abstract

The present invention discloses a finishing device for a winding coil of a coreless motor, which includes a base, a multi-station rotating disk and a driving mechanism. The multi-station rotating disk is provided with multiple groups of supporting seats distributed circumferentially. The supporting seats are provided with positioning columns and clamping mechanisms. An upper feeding tray and a first transfer device are provided at the upper feeding station. The alignment station is provided with a detection device for detecting whether the pins of the winding coil are in the set positions, a pushing device for releasing the positioning of the winding coil by the clamping mechanism, and a position adjusting device for driving the winding coil to rotate along the positioning column. The shaping station is provided with a pin adjusting device for adjusting the pins of the winding coil to an equal angle setting and a pressing device for pressing down the pins of the winding coil. The cutting station is provided with a cutting device for cutting the pins of the winding coil. The transfer station is provided with a second transfer device for transferring the winding coil on the supporting seat. Through the above settings, the assembly efficiency of the winding coil can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of manufacturing equipment for rotors of coreless motors, and particularly to a finishing device for winding coils of coreless motors. Background Art

[0002] Due to its outstanding characteristics such as high energy conversion efficiency, rapid start and stop, stable and reliable operation, and small rotational speed fluctuation, coreless motors are widely used in the fields of military, aerospace, household appliances, industrial products, etc.

[0003] The conventional structure of a coreless motor rotor includes a winding coil, a rotor shaft, and a commutator. The commutator is installed on the rotor shaft, the winding coil is sleeved on the outer periphery of the commutator, and three pins circumferentially distributed on the winding coil are welded to three commutator segments circumferentially distributed on the commutator.

[0004] In the prior art, manual operation is usually adopted for welding operations on coreless rotors. The assembled coreless motor rotor is placed on the operating table. That is, first, the winding coil needs to be manually assembled to the outer periphery of the commutator and the pins of the winding coil need to be aligned with the commutator segments of the commutator, and then the pins of the winding coil and the commutator segments of the commutator are welded. However, the above assembly method has low efficiency. Therefore, a device for automatically assembling winding coils needs to be designed. Then, how to achieve automatic alignment, shaping, and cutting of the pins of the winding coil is a technical problem that needs to be urgently solved. Summary of the Invention

[0005] The purpose of the present invention is to provide a finishing device for winding coils of coreless motors, which can realize multiple functions such as automatic alignment, shaping, cutting, and transportation of the pins of the winding coil, and greatly improve the assembly efficiency of the winding coil.

[0006] The above technical object of the present invention is achieved by the following technical solutions: A finishing device for a hollow cup motor winding coil, including a base, a multi-station rotating disk arranged on the base, and a feeding station, an alignment station, a shaping station, a cutting station, and a transfer station circumferentially distributed along the multi-station rotating disk. A driving mechanism for driving the multi-station rotating disk to rotate is provided on the base. The multi-station rotating disk is provided with multiple groups of circumferentially distributed support seats, and the number of support seats is not less than the number of stations. The support seat is provided with a positioning post and a clamping mechanism for positioning the winding coil on the positioning post. A feeding tray and a first transfer device for transporting the winding coil at the feeding tray to the support seat are provided at the feeding station. The alignment station is provided with a detection device for detecting whether the pins of the winding coil are in the set positions, a pushing device for releasing the positioning of the winding coil by the clamping mechanism, and a position adjustment device for driving the winding coil to rotate along the positioning post. The shaping station is provided with a pin adjusting device for adjusting the pins of the winding coil to an equal angle setting and a pressing device for pressing down the pins of the winding coil. The cutting station is provided with a cutting device for cutting the pins of the winding coil. The transfer station is provided with a second transfer device for transferring the winding coil on the support seat.

[0007] Further, the clamping mechanism includes a clamping block, a guiding column, and a connecting block. One end of the guiding column is connected to the clamping block, and the other end of the guiding column is connected to the connecting block. A sliding groove slidably matched with the guiding column is provided on the support seat. An elastic member is provided between the connecting block and the support seat. The connecting block drives the clamping block to move towards the positioning post side under the elastic force of the elastic member, so that the clamping block and the positioning post cooperate to clamp the winding coil.

[0008] Further, the positioning post is provided with a central channel with an open upper end. Three equally angled grooves are provided on the upper end surface of the positioning post, and the grooves extend from the outer wall of the positioning post to the central channel.

[0009] Further, the detection device includes a connecting frame and an infrared detector installed on the connecting frame. Whether one of the pins of the winding coil is in the set position is detected by the infrared detector.

[0010] Further, the position adjustment device includes a mounting plate, adjusting wheels, a driving wheel, a transmission belt, and a servo motor. Two adjusting wheels are provided and arranged horizontally flush. The transmission belt is wound around the outer circumference of the driving wheel and the two adjusting wheels. The winding coil is driven to rotate by the transmission belt. The driving wheel is fixedly connected to the output end of the servo motor.

[0011] Further, the pushing device is a driving cylinder for driving the mounting plate to move back and forth. The driving cylinder drives the mounting plate to move towards the support seat side and pushes the connecting block to move towards the side of compressing the elastic member, thereby releasing the positioning of the winding coil by the clamping mechanism.

[0012] Further, the pin adjusting device includes a support plate, an adjusting block, a first cylinder, and a lifting mechanism for driving the vertical lifting of the support plate. The support plate is provided with through holes corresponding to the positioning columns below. There are three groups of adjusting blocks, which are evenly distributed around the through holes at equal angles. On one side of the adjusting block adjacent to the through hole, symmetrically arranged inclined surfaces are provided. The included angle between the two inclined surfaces of the same adjusting block is equal to or slightly less than 120°. There are three groups of first cylinders, which correspond to the adjusting blocks one by one. The first cylinder is used to drive the corresponding adjusting block to expand and contract along the center of the through hole.

[0013] Further, the pressing device includes a pressing piece and a second cylinder. There are three groups of pressing pieces, which are arranged at equal included angles. The positions of the pressing pieces correspond to the grooves one by one. The second cylinder is used to drive the pressing piece to expand and contract along the center of the through hole.

[0014] Further, the cutting device includes a support frame, a mounting block slidably arranged on the support frame, a connecting cylinder fixedly arranged on the mounting block, a sleeve slidably arranged in the connecting cylinder, a spring for driving the sleeve to move upward, a needle body part fixedly connected to the mounting block, and a pressing cylinder for driving the connecting block to cut. An avoidance channel for guiding and cooperating with the needle body part is provided in the center of the sleeve. The outer diameter of the needle body part is adapted to the aperture of the central channel of the positioning column.

[0015] Further, a residual detection station is arranged between the transfer station and the loading station. The number of support seats on the multi-station rotary disk is greater than the number of stations on the base. The residual detection station is used to detect whether there is a winding coil left on the support seat at this position.

[0016] In summary, the present invention has the following beneficial effects:

[0017] The finishing device of the present invention realizes the automatic loading of the winding coil through the first transfer device at the loading station; realizes the alignment of the pins of the winding coil through the cooperation of the detection device, the pushing device, and the position adjustment device at the alignment station; realizes the shaping of the pins of the winding coil through the pin adjusting device and the pressing device at the shaping station, specifically including setting the pins of the winding coil at equal angles and pressing the upwardly inclined pins to the set position; cuts the pins to the required length through the cutting device at the cutting station, and transports the winding coil to the next process (i.e., the welding process) through the second transfer device at the transfer station. Through the above settings, it can effectively realize multiple functions such as automatic alignment, shaping, cutting, and transfer of the winding coil, greatly improving the assembly efficiency of the winding coil. Description of the Drawings

[0018] Figure 1 is the top view of the present invention.

[0019] Figure 2 is the structural schematic diagram of the first perspective of the present invention.

[0020] Figure 3 It is a schematic structural diagram of the second perspective of the present invention.

[0021] Figure 4 It is of the present invention Figure 3 An enlarged view of part A.

[0022] Figure 5 It is a schematic structural diagram of the multi-station rotating disk of the present invention.

[0023] Figure 6 It is of the present invention Figure 5 An enlarged view of part C.

[0024] Figure 7 It is a schematic structural diagram of the alignment station of the present invention.

[0025] Figure 8 It is of the present invention Figure 7 An enlarged view of part B.

[0026] Figure 9 It is a schematic structural diagram of the pin adjusting device of the present invention.

[0027] Figure 10 It is a schematic diagram of the first perspective of the pin adjusting device and the pressing device of the present invention.

[0028] Figure 11 It is a schematic diagram of the second perspective of the pin adjusting device and the pressing device of the present invention.

[0029] Figure 12 It is a schematic structural diagram of the support plate of the present invention.

[0030] Figure 13 It is of the present invention Figure 12 An enlarged view of part D.

[0031] Figure 14 It is a schematic structural diagram of the cutting station of the present invention.

[0032] In the figure: 10, base; 11, driving mechanism; 20, multi-station rotating disk; 21, support base; 22, positioning column; 221, central channel; 222, groove; 23, clamping mechanism; 231, clamping block; 232, guiding column; 233, connecting block; 234, elastic member; 30, loading station; 31, loading tray; 311, first transfer module; 32, first transfer device; 321, first cross beam; 322, first fixing block; 323, first jaw assembly; 324, first lifting cylinder; 325, second transfer module; 40, alignment station; 41, detection device; 411, connecting frame; 412, infrared detector; 42, pushing device; 43, position adjustment device; 431, mounting plate; 4311, avoidance groove; 4312, pushing surface; 432, adjusting wheel; 433, driving wheel; 434, transmission belt; 435, servo motor; 436, tensioning wheel; 50, shaping station; 51, pin adjustment device; 511, support plate; 512, adjusting block; 5121, inclined surface portion; 513, first cylinder; 514, lifting mechanism; 52, pressing device; 521, pressing piece; 522, second cylinder; 523, connecting bar; 53, guiding seat; 60, cutting station; 61, cutting device; 611, mounting block; 612, connecting cylinder; 613, sleeve; 614, spring; 615, needle body portion; 616, pressing cylinder; 617, support frame; 70, transfer station; 71, second transfer device; 80, residual detection station; 81, infrared detection device. Detailed implementation mode

[0033] The present invention will be further described below with reference to the accompanying drawings.

[0034] As Figures 1-14 shown, a finishing device for a hollow cup motor winding coil includes a base 10, a multi-station rotating disk 20 arranged on the base 10, and a loading station 30, an alignment station 40, a shaping station 50, a cutting station 60, and a transfer station 70 distributed circumferentially along the multi-station rotating disk 20. A driving mechanism 11 for driving the multi-station rotating disk 20 to rotate is provided on the base 10. The driving mechanism 11 can drive the multi-station rotating disk 20 to rotate intermittently, and the driving mechanism 11 is preferably a indexing plate device.

[0035] The multi-station rotating disk 20 is provided with multiple groups of support seats 21 distributed circumferentially, and the number of support seats 21 is not less than the number of stations. The support seats 21 are provided with positioning columns 22 and a clamping mechanism 23 for positioning the winding coil on the positioning columns 22. The positioning columns 22 are arranged vertically upward. Further, the clamping mechanism 23 includes a clamping block 231, a guide post 232 and a connecting block 233. One end of the guide post 232 is connected to the clamping block 231, and the other end of the guide post 232 is connected to the connecting block 233. The support seat 21 is provided with a chute that slidably cooperates with the guide post 232. An elastic member 234 is provided between the connecting block 233 and the support seat 21. Specifically, the elastic member 234 is sleeved on the outer periphery of the guide post 232 to play a guiding role. The connecting block 233 drives the clamping block 231 to move toward the side of the positioning column 22 under the elastic force of the elastic member 234, so that the clamping block 231 and the positioning column 22 cooperate to clamp the winding coil. That is to say, under normal conditions, the clamping block 231 maintains a tendency to clamp in the direction of the positioning column 22.

[0036] At the loading station 30, there is a loading tray 31 and a first transfer device 32 for transporting the winding coil at the loading tray 31 to the support seat 21. A plurality of limit columns arranged in an array are arranged on the loading tray 31. The limit columns are used for vertically storing the winding coils. The base 10 is provided with a first transfer module 311 for driving the loading tray 31 to move back and forth. The first transfer device 32 includes a first cross beam 321, a first fixing block 322, a first jaw assembly 323, a first lifting cylinder 324 and a second transfer module 325. The second transfer module 325 is installed on the first cross beam 321 for driving the first fixing block 322 to move horizontally. The first lifting cylinder 324 is fixedly installed on the first fixing block 322. The first jaw assembly 323 is fixedly installed at the output end of the first lifting cylinder 324. The first jaw assembly 323 is a first jaw cylinder and a first jaw provided at the output end of the first jaw cylinder.

[0037] The alignment station 40 is provided with a detection device 41 for detecting whether the pins of the winding coil are in the set positions, a pushing device 42 for releasing the positioning of the winding coil by the clamping mechanism 23, and a position adjusting device 43 for driving the winding coil to rotate along the positioning post 22. The detection device 41 includes a connecting frame 411 and an infrared detector 412 mounted on the connecting frame 411. The infrared detector 412 is used to detect whether one of the pins of the winding coil is in the set position. When the detection device 41 detects that the pin of the winding coil is in the set position, at this time the pin of the winding coil is just in the required position and there is no need to adjust it through the position adjusting device 43. When the detection device 41 detects that the pin of the winding coil is not in the set position, first the pushing device 42 acts to push the connecting block 233 to move towards the side of the compression elastic member 234 so as to release the positioning of the winding coil by the clamping mechanism 23, and then the position adjusting device 43 drives the winding coil to rotate so as to adjust the position of the pin of the winding coil.

[0038] In some embodiments, the position adjusting device 43 includes a mounting plate 431, adjusting wheels 432, a driving wheel 433, a transmission belt 434 and a servo motor 435. Two adjusting wheels 432 are provided and arranged horizontally flush. The transmission belt 434 is wound around the outer periphery of the driving wheel 433 and the two adjusting wheels 432. The transmission belt 434 is used to drive the winding coil to rotate. The driving wheel 433 is fixedly connected to the output end of the servo motor 435. The transmission belt 434 wound between the two adjusting wheels 432 is horizontally arranged. The winding coil is driven to rotate by the transmitted belt so as to adjust the position of the pin of the winding coil. In the present invention, a tensioning wheel 436 is symmetrically provided between the driving wheel 433 and the two adjusting wheels 432.

[0039] Further, the pushing device 42 is a driving cylinder for driving the mounting plate 431 to move back and forth. The driving cylinder drives the mounting plate 431 to move towards the support seat 21 side and pushes the connecting block 233 to move towards the side of the compression elastic member 234 so as to release the positioning of the winding coil by the clamping mechanism 23. The mounting plate 431 is provided with an avoidance groove 4311 corresponding to the position between the two adjusting wheels 432. The inner end of the avoidance groove 4311 forms a pushing surface 4312 for compressing the connecting block 233. The mounting plate 431 forms two horn portions corresponding to the positions of the two adjusting wheels 432. When the driving cylinder drives the mounting plate 431 to move towards the multi-station rotating disk 20 side, the pushing surface 4312 first abuts against the connecting block 233 and pushes the connecting block 233 to move towards the side of the compression elastic member 234. When the mounting plate 431 moves to the set position under the action of the driving cylinder, the clamping block 231 releases the positioning of the winding coil, and then the servo motor 435 drives the driving wheel 433 to rotate to adjust the position of the pin of the winding coil through the transmission belt 434.

[0040] The shaping station 50 is provided with a pin adjusting device 51 for adjusting the pins of the winding coil to an equal-angle setting and a pressing-down device 52 for pressing down the pins of the winding coil. Further, the pin adjusting device 51 includes a support plate 511, an adjusting block 512, a first cylinder 513, and a lifting mechanism 514 for driving the vertical lifting of the support plate 511. The support plate 511 is provided with through holes corresponding to the positioning posts 22 below. There are three groups of adjusting blocks 512, which are distributed at equal angles on the outer periphery of the through holes. On one side of the adjusting block 512 adjacent to the through hole, symmetrically arranged inclined surfaces 5121 are provided. The angle between the two inclined surfaces 5121 of the same adjusting block 512 is equal to or slightly less than 120°. There are three groups of first cylinders 513, which correspond to the adjusting blocks 512 one by one. The first cylinder 513 is used to drive the corresponding adjusting block 512 to expand and contract along the center of the through hole. Specifically, a guide seat 53 is arranged on the support plate 511. The guide seat 53 is provided with through holes consistent with the through holes on the support plate 511. The guide seat 53 is provided with first guide grooves with open upper ends. The first guide grooves correspond to the adjusting blocks 512 one by one. The adjusting block 512 is partially accommodated in the first guide groove and can move along the guide groove under the action of the first cylinder 513. The adjacent inclined surfaces 5121 of the adjacent adjusting blocks 512 cooperate to adjust the pin angles of the winding coil, so that the three pins of the winding coil are arranged at equal angles, so as to be able to correspond to the three commutator segments arranged at equal angles on the commutator one by one.

[0041] Further, the pressing-down device 52 includes a pressing-down piece 521 and a second cylinder 522. There are three groups of pressing-down pieces 521, which are arranged at equal angles. The positions of the pressing-down pieces 521 correspond to the grooves 222 one by one. The second cylinder 522 is used to drive the pressing-down piece 521 to expand and contract along the center of the through hole. Specifically, the output end of the second cylinder 522 is connected with a connecting bar 523. The pressing-down piece 521 is arranged on the other side of the connecting bar 523. The guide seat 53 is provided with three second guide grooves corresponding to the connecting bar 523 one by one. The connecting bar 523 is partially accommodated in the second guide groove. The pressing-down piece 521 can expand and contract along the second guide groove under the action of the second cylinder 522. When the pin adjusting device 51 completes the adjustment of the pins, the pressing-down device 52 starts to work, and presses down the pins of the winding coil into the grooves 222 of the positioning post 22 through the pressing-down piece 521.

[0042] The cutting station 60 is provided with a cutting device 61 for cutting the pins of the winding coil. Further, the positioning post 22 is provided with a central channel 221 with an open upper end. The upper end surface of the positioning post 22 is provided with three equally-angled grooves 222, and the grooves 222 extend from the outer wall of the positioning post 22 to the central channel 221. Further, the cutting device 61 includes a support frame 617, a mounting block 611 slidably arranged on the support frame 617, a connecting cylinder 612 fixedly arranged on the mounting block 611, a sleeve 613 slidably arranged in the connecting cylinder 612, a spring 614 for driving the sleeve 613 to move upward, a needle body part 615 fixedly connected to the mounting block 611, and a downward pressing air cylinder 616 for driving the connecting block 233 to cut. An avoidance channel for guiding and cooperating with the needle body part 615 is arranged at the center of the sleeve 613, and the outer diameter of the needle body part 615 is adapted to the aperture of the central channel 221 of the positioning post 22. When the downward pressing air cylinder 616 drives the mounting block 611 to move downward, the lower end of the sleeve 613 first contacts the upper end surface of the positioning post 22, and the needle body part 615 begins to extend into the central channel 221 of the positioning post 22 to cut the pins of the winding coil located in the area of the central channel 221.

[0043] The transfer station 70 is provided with a second transfer device 71 for transferring the winding coil on the support base 21. The second transfer device 71 includes a second cross beam, a second fixing block, a second jaw assembly, a second lifting air cylinder, and a third transfer module. The third transfer module is installed on the second cross beam for driving the second fixing block to move back and forth. The second lifting air cylinder is fixedly installed on the second fixing block, and the second jaw assembly is fixedly installed at the output end of the second lifting air cylinder. The second jaw assembly is a second jaw air cylinder and a second jaw arranged at the output end of the second jaw air cylinder.

[0044] Further, a residual detection station 80 is arranged between the transfer station 70 and the feeding station 30. The number of support bases 21 on the multi-station rotating disk 20 is greater than the number of stations on the base 10, that is, some of the support bases 21 are empty positions, which are used to coordinate the processing speeds of each station. The residual detection station 80 is used to detect whether there is a winding coil left on the support base 21 at this position. An infrared detection device 81 is arranged at the residual detection station 80, and the infrared detection device 81 is used to detect whether there is a residual untransferred winding coil in this station.

[0045] Eight groups of support bases 21 are arranged on the multi-station rotating disk 20 of the present invention. Six of the support bases 21 correspond one-to-one to the feeding station 30, the alignment station 40, the shaping station 50, the cutting station 60, the transfer station 70, and the residual detection station 80. Empty positions are respectively arranged between the feeding station 30 and the alignment station 40, and between the alignment station 40 and the shaping station 50. That is to say, the two empty positions correspond to two groups of support bases 21.

[0046] In summary, the present invention has the following beneficial effects:

[0047] For the finishing device of the present invention, the automatic feeding of the winding coil is realized through the first transfer device 32 at the feeding station 30; the alignment of the pins of the winding coil is achieved through the cooperation of the detection device 41, the pushing device 42 and the position adjustment device 43 at the alignment station 40; the shaping of the pins of the winding coil is realized through the pin adjustment device 51 and the pressing device 52 at the shaping station 50, specifically including setting the pins of the winding coil at equal angles and pressing the upwardly inclined pins to a set position; the pins are cut to the required length through the cutting device 61 at the cutting station 60, and the winding coil is transferred to the next process (i.e., the welding process) through the second transfer device 71 at the transfer station 70. Through the above settings, multiple functions such as automatic alignment, shaping, cutting, and transfer of the winding coil can be effectively realized, greatly improving the assembly efficiency of the winding coil.

[0048] The above is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features, and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. A finishing device for a hollow cup motor winding coil, characterized in that: It includes a base (10), a multi-station rotating disk (20) arranged on the base (10), and a loading station (30), an alignment station (40), a shaping station (50), a cutting station (60), and a transfer station (70) circumferentially distributed along the multi-station rotating disk (20). A driving mechanism (11) for driving the multi-station rotating disk (20) to rotate is provided on the base (10). The multi-station rotating disk (20) is provided with multiple groups of circumferentially distributed support seats (21), and the number of support seats (21) is not less than the number of stations. The support seat (21) is provided with a positioning post (22) and a clamping mechanism (23) for positioning the winding coil on the positioning post (22). A loading tray (31) and a first transfer device (32) for transporting the winding coil at the loading tray (31) to the support seat (21) are provided at the loading station (30). The alignment station (40) is provided with a detection device (41) for detecting whether the pins of the winding coil are in the set position, a pushing device (42) for releasing the positioning of the winding coil by the clamping mechanism (23), and a position adjustment device (43) for driving the winding coil to rotate along the positioning post (22). The shaping station (50) is provided with a pin adjusting device (51) for adjusting the pins of the winding coil to an equal-angle setting and a pressing device (52) for pressing down the pins of the winding coil. The cutting station (60) is provided with a cutting device (61) for cutting the pins of the winding coil. The transfer station (70) is provided with a second transfer device (71) for transferring the winding coil on the support seat (21); The clamping mechanism (23) includes a clamping block (231), a guide post (232), and a connecting block (233). One end of the guide post (232) is connected to the clamping block (231), and the other end of the guide post (232) is connected to the connecting block (233). A sliding groove that slidably cooperates with the guide post (232) is provided on the support seat (21). An elastic member (234) is provided between the connecting block (233) and the support seat (21). The connecting block (233) drives the clamping block (231) to move toward the positioning post (22) under the elastic force of the elastic member (234), so that the clamping block (231) and the positioning post (22) cooperate to clamp the winding coil; The position adjustment device (43) includes a mounting plate (431), an adjusting wheel (432), a driving wheel (433), a transmission belt (434), and a servo motor (435). Two adjusting wheels (432) are provided and are horizontally flush. The transmission belt (434) is wound around the outer circumference of the driving wheel (433) and the two adjusting wheels (432). The transmission belt (434) is used to drive the winding coil to rotate. The driving wheel (433) is fixedly connected to the output end of the servo motor (435).

2. The finishing device for a hollow cup motor winding coil according to claim 1, wherein: The positioning post (22) is provided with a central channel (221) with an open upper end. Three equally angled grooves (222) are provided on the upper end surface of the positioning post (22). The grooves (222) extend from the outer wall of the positioning post (22) to the central channel (221).

3. The finishing device for the winding coil of a coreless motor according to claim 1, characterized in that: The detection device (41) includes a connecting frame (411) and an infrared detector (412) mounted on the connecting frame (411), and the infrared detector (412) is used to detect whether one of the pins of the winding coil is in a set position.

4. The finishing device for a coreless motor winding coil according to claim 1, wherein: The pushing device (42) is a driving cylinder for driving the mounting plate (431) to move back and forth. The driving cylinder drives the mounting plate (431) to move towards the support seat (21) and push the connecting block (233) to move towards the compression elastic member (234), thereby releasing the positioning of the winding coil by the clamping mechanism (23).

5. The finishing device for the winding coil of a coreless motor according to claim 1, wherein: The pin adjusting device (51) includes a support plate (511), an adjusting block (512), a first cylinder (513), and a lifting mechanism (514) for driving the support plate (511) to move vertically up and down. The support plate (511) is provided with through holes corresponding to the positioning posts (22) below. There are three groups of adjusting blocks (512) and they are distributed equiangularly on the outer periphery of the through holes. One side of the adjusting block (512) adjacent to the through hole is provided with symmetrically arranged inclined surfaces (5121). The angle between the two inclined surfaces (5121) of the same adjusting block (512) is equal to or slightly less than 120°. There are three groups of first cylinders (513) and they correspond to the adjusting blocks (512) one by one. The first cylinder (513) is used to drive the corresponding adjusting block (512) to expand and contract along the center of the through hole.

6. The finishing device for the winding coil of a coreless motor according to claim 5, characterized in that: The pressing device (52) includes a pressing piece (521) and a second cylinder (522). There are three groups of pressing pieces (521) and they are arranged at equal angles. The positions of the pressing pieces (521) correspond to the grooves (222) one by one. The second cylinder (522) is used to drive the pressing piece (521) to expand and contract along the center of the through hole.

7. The finishing device for a coreless motor winding coil according to claim 2, characterized in that: The cutting device (61) includes a support frame (617), a mounting block (611) slidably arranged on the support frame (617), a connecting cylinder (612) fixedly arranged on the mounting block (611), a sleeve (613) slidably arranged in the connecting cylinder (612), a spring (614) for driving the sleeve (613) to move upward, a needle body part (615) fixedly connected to the mounting block (611), and a pressing cylinder (616) for driving the connecting block (233) to cut. The center of the sleeve (613) is provided with an avoidance channel guidingly matched with the needle body part (615). The outer diameter of the needle body part (615) is adapted to the aperture of the central channel (221) of the positioning post (22).

8. A finishing device for a hollow cup motor winding coil according to any one of claims 1-7, characterized in that: A residual detection station (80) is arranged between the transfer station (70) and the loading station (30). The number of support seats (21) on the multi-station rotating disk (20) is greater than the number of stations on the base (10). The residual detection station (80) is used to detect whether there is a winding coil left on the support seat (21) at this position.

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