Motion control method and device of winding equipment, electronic equipment and storage medium

Abstract

The invention discloses a motion control method and device for winding equipment, electronic equipment and a storage medium, and the method comprises the steps: controlling a guide pin to move along a first direction at a first side of a coil holder until the guide pin moves to a first position point; with the rotating center shaft of the coil holder assembly as the rotating center, the coil holder is controlled to rotate according to the first rotating direction so as to adjust the included angle between the first reference direction and the second reference direction; under the condition that the thread stand is controlled to rotate according to the first rotating direction, the guide pin is synchronously controlled to move in the second direction, so that when the thread stand stops rotating, the guide pin is adjusted to the second side of the thread stand from the first side of the thread stand; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the coil holder. According to the scheme, precise matching between the guide pin and the thread stand can be achieved, the stability of thread feeding tension is kept, and high-speed precise winding is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor rotor winding equipment, and in particular to a motion control method, device, electronic equipment and storage medium for winding equipment. Background Art

[0002] Existing winding machines require the coordinated operation of multiple components during the automatic winding process, placing high demands on control precision. Inaccurate motion control can lead to poor winding quality and low efficiency. Furthermore, during the winding process, unstable control of the copper wire tension can easily occur, causing the copper wire to deviate from the preset trajectory, resulting in loose wire arrangement, deviation, and even missing or overlapping wires. Summary of the Invention

[0003] The present invention provides a motion control method, device, electronic device and storage medium for winding equipment, which can achieve precise coordination between a guide needle and a wire rack, maintain stable wire feeding tension, and realize high-speed and precise winding.

[0004] In a first aspect, the present invention provides a motion control method for a winding device, the method being applied to the winding device, the winding device comprising at least a guide needle and a wire rack assembly, the wire rack assembly being provided with a plurality of wire racks capable of rotating around a central axis of rotation, the guide needle being used to guide a wire to be wound on the wire rack, the method comprising:

[0005] Controlling the guide needle to move along a first direction on a first side of the wire rack until the guide needle moves to a first position point;

[0006] With the central axis of rotation of the wire rack assembly as the rotation center, the wire rack is controlled to rotate in a first rotation direction to adjust the angle between the first reference direction and the second reference direction; the first reference direction is a direction from the central axis of rotation of the wire rack assembly to the wire rack in the wire rack assembly, and the first reference direction is perpendicular to the central axis of rotation of the wire rack assembly; the second reference direction is a direction from the central axis of rotation of the wire rack assembly to the guide needle, and the second reference direction is perpendicular to the central axis of rotation of the wire rack assembly;

[0007] When the wire rack is controlled to rotate in a first rotation direction, the guide needle is synchronously controlled to move along a second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein, the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

[0008] In a second aspect, the present invention further provides a motion control device for a winding device, comprising:

[0009] The guide needle first control module is configured to control the guide needle to move along a first direction on the first side of the wire holder until the guide needle moves to a first position point.

[0010] The wire holder control module is configured to control the wire holder to rotate in a first rotation direction with the rotation center axis of the wire holder assembly as a rotation center, so as to adjust an included angle between a first reference direction and a second reference direction; the first reference direction is a direction from the rotation center axis of the wire holder assembly to the wire holder in the wire holder assembly, and the first reference direction is perpendicular to the rotation center axis of the wire holder assembly; the second reference direction is a direction from the rotation center axis of the wire holder assembly to the guide needle, and the second reference direction is perpendicular to the rotation center axis of the wire holder assembly.

[0011] The guide needle second control module is configured to control the guide needle to move along a second direction synchronously in a case that the wire holder is controlled to rotate in the first rotation direction, so that the guide needle is adjusted from the first side of the wire holder to the second side of the wire holder when the wire holder stops rotating; the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire holder.

[0012] In a third aspect, an electronic device is provided in the embodiments of the present application, and the electronic device comprises:

[0013] One or more processors;

[0014] A storage device configured to store one or more programs,

[0015] When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the movement control method of the winding device provided in any of the embodiments of the present application.

[0016] In a fourth aspect, a storage medium containing computer executable instructions is provided in the embodiments of the present application, and the computer executable instructions are used to execute the movement control method of the winding device when executed by a computer processor.

[0017] The technical solution of the present invention controls the guide needle to move along the first direction on the first side of the wire rack until the guide needle moves to the first position point, so that the guide needle can move to an area beyond the corresponding area of ​​the wire rack; then, with the rotation center axis of the wire rack assembly as the rotation center, the wire rack is controlled to rotate in the first rotation direction to adjust the angle between the first reference direction and the second reference direction; with the help of the wire rack to perform such a rotation operation, the guide needle can show an effect of moving to the other side of the wire rack; and, when the wire rack is controlled to rotate in the first rotation direction, the guide needle is synchronously controlled to move along the second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack. By coordinating the "rotation operation of the wire rack" and the "movement operation of the guide needle along the second direction", it is possible to achieve an effect in which the guide needle "crosses" from the first side of the wire rack to the second side of the wire rack, and in this process, the length of the wire to be wound clamped by the guide needle always remains unchanged, thereby ensuring the stability of the wire feeding tension, reducing the occurrence of adverse problems such as wire leakage and wire overlap, and thus significantly improving the winding quality.

[0018] The above content of the invention is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic flow chart of a motion control method for a winding device provided by an embodiment of the present invention;

[0021] Figure 2 A schematic structural diagram of a winding device provided by an embodiment of the present invention;

[0022] Figure 3 A schematic flow chart of another motion control method for winding equipment provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a winding trajectory effect of a wire driven by a guide needle provided in an embodiment of the present invention;

[0024] Figure 5A schematic diagram of the principle of setting the feed amount of the travel point of the guide needle provided by an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the effect of a wire trough equipped with a wire rack provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the effect of a preset cable arrangement method provided by an embodiment of the present invention;

[0027] Figure 8 A schematic structural diagram of a motion control device for winding equipment provided by an embodiment of the present invention;

[0028] Figure 9 A schematic structural diagram of an electronic device for implementing a motion control method for a winding device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0030] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0031] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0032] It should be noted that the concepts of "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0033] It should be noted that the modifiers "one" and "plurality" mentioned in this disclosure are illustrative and non-restrictive. Those skilled in the art will understand that unless the context clearly indicates otherwise, they should be understood as "one or more." The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0034] Figure 1 A flow chart of a motion control method for a winding device provided in an embodiment of the present invention is applicable to situations where motion control of a winding device is performed to perform winding. The method is applied to a winding device, and the winding device includes at least a guide needle and a wire rack assembly, wherein the wire rack assembly is provided with a plurality of wire racks that can rotate around a rotating central axis, and the guide needle is used to guide the wire to be wound on the wire rack. Figure 2 A schematic structural diagram of a winding device provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the winding device includes at least a guide needle and a wire rack assembly. The wire rack assembly is used to provide stable support for the wire material for winding. The wire rack assembly is equipped with multiple wire racks that can rotate around the rotating central axis. Figure 2 The figure shows a six-wire bobbin assembly. Guide pins clamp the wires and guide them along the bobbin, ensuring they follow the desired winding path. The wires can be copper, aluminum, or other materials.

[0035] It should be noted that, in the actual winding process, the guide needle can generally only move in certain specific directions, and cannot move freely in all directions. Figure 2 Taking the winding device shown in as an example, the guide needle can extend into the gap formed between adjacent wire racks. The guide needle can move up and down in the vertical direction, as well as move toward or away from the rotation axis of the wire rack assembly, but the guide needle cannot move left or right relative to itself.

[0036] The motion control method of the winding device of the embodiment of the present invention can be executed by the motion control device of the winding device, which can be implemented in the form of software and / or hardware and is generally integrated on any electronic device with network communication function, such as a mobile terminal, a PC or a server. Figure 1 As shown, the motion control method of the winding device according to the embodiment of the present invention may include the following process:

[0037] First of all, it should be noted that this embodiment only describes the process of winding a wire rack in a wire rack assembly. The winding operation and control principle of the remaining wire racks in the wire rack assembly are the same. Figure 2 For example, in the case of the wire holder M, after the first wire holder is finished winding, the second wire holder is wound, and then the third wire holder is wound, and so on, until all the wire holders on the winding assembly are finished winding.

[0038] S110, control the guide needle to move along the first side of the wire holder in the first direction until the guide needle moves to the first position point.

[0039] The first side of the wire holder can be any side of the wire holder in the vertical direction. For example, in the case of the wire holder M viewed from the front, the first side can be the left side of the wire holder M or the right side of the wire holder M. Figure 2 The first side of the wire holder can be any side of the wire holder in the vertical direction. For example, in the case of the wire holder M viewed from the front, the first side can be the left side of the wire holder M or the right side of the wire holder M.

[0040] Specifically, the guide needle can be controlled to move along the first side of the wire holder in the first direction until the guide needle moves to the first position point. The first position point is a position point beyond the area where the wire holder is located in the first direction. That is, the guide needle moves along the first direction, which drives the wire to be wound on the first side of the wire holder, and the guide needle moves in the first direction until the first position point, that is, until it moves beyond the position of the wire holder. If the first direction is vertical upward, the corresponding first position point is a position point above the area where the wire holder is located; if the first direction is vertical downward, the corresponding first position point is a position point below the area where the wire holder is located. In this movement process, the first side of the wire holder can be wound.

[0041] S120, taking the rotation center axis of the wire holder assembly as the rotation center, controlling the wire holder to rotate in the first rotation direction to adjust the included angle between the first reference direction and the second reference direction; the first reference direction is the direction from the rotation center axis of the wire holder assembly to the wire holder in the wire holder assembly, and the first reference direction is perpendicular to the rotation center axis of the wire holder assembly; the second reference direction is the direction from the rotation center axis of the wire holder assembly to the guide needle, and the second reference direction is perpendicular to the rotation center axis of the wire holder assembly.

[0042] The rotation of the wire holder is performed in the horizontal plane. For example, a space rectangular coordinate system is established with the center of the wire holder assembly as the origin, so that the wire holder can be rotated in the XOY plane. Correspondingly, the first rotation direction includes clockwise rotation and counterclockwise rotation.

[0043] The first reference direction is the direction from the rotational axis of the bobbin assembly toward the bobbin within the bobbin assembly, and the first reference direction is perpendicular to the bobbin assembly's rotational axis. Correspondingly, the second reference direction is the direction from the rotational axis of the bobbin assembly toward the guide needle, and the second reference direction is perpendicular to the bobbin assembly's rotational axis. Unlike conventional flat winding, in this embodiment, the first reference direction is offset from the second reference direction due to the influence of bobbin rotation. The resulting angle is the bobbin's rotation angle.

[0044] It is understandable that in the actual winding process, the guide needle cannot move freely in all directions, such as Figure 2 In the winding device shown in FIG, the guide needle cannot move leftward or rightward relative to itself. However, the entire winding process requires winding on both the left and right sides of the bobbin. To address this, this embodiment controls the bobbin to rotate, allowing the guide needle to move to the other side of the bobbin. Simply put, it is through the interaction between these two mechanisms that winding on both the left and right sides of the bobbin is possible.

[0045] Specifically, for the wire rack, the rotation center axis of the wire rack assembly can be used as the rotation center to control the wire rack to rotate in the first rotation direction, which causes the wire rack to rotate, thereby adjusting the angle between the first reference direction and the second reference direction. It is easy to understand that since the guide needle is already at the first position point, and the first position point is far away from the area where the wire rack is located, then by rotating the wire rack, it is equivalent to achieving relative movement between the guide needle and the wire rack, that is, presenting an effect that the guide needle moves relative to the wire rack. If the angle between the first reference direction and the second reference direction is adjusted to gradually increase, the guide needle will be further away from the first side of the wire rack; if the angle between the first reference direction and the second reference direction is adjusted to gradually decrease, the guide needle will be closer to the first side of the wire rack.

[0046] S130. While controlling the wire rack to rotate in a first rotation direction, synchronously control the guide needle to move along a second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

[0047] The first side and the second side of the wire rack are opposite sides of the wire rack. If the first side of the wire rack is the left side of the wire rack, then the second side of the wire rack is the right side of the wire rack; if the first side of the wire rack is the right side of the wire rack, then the second side of the wire rack is the left side of the wire rack.

[0048] The first direction and the second direction are opposite directions of movement. If the first direction is vertically upward, the second direction is vertically downward; if the first direction is vertically downward, the second direction is vertically upward.

[0049] Specifically, when the wire rack is controlled to rotate in the first rotation direction, the guide needle is synchronously controlled to move along the second direction. Since the previous guide needle has moved along the first direction to the first position point far away from the area where the wire rack is located, the guide needle is controlled to move in the direction opposite to the first direction at this time, that is, the guide needle is controlled to move along the second direction. This will shorten the distance between the guide needle and the wire rack, and gradually approach the wire rack, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack.

[0050] It should be noted that the rotation operation of the wire rack in the first rotation direction and the movement operation of the guide needle along the second direction are performed synchronously, so as to achieve the effect of the guide needle winding the wire on the first side of the wire rack and "crossing" to the second side of the wire rack to wind the wire. In the winding process of this link, the guide needle does not move to the edge intersection of one side of the wire rack and then start to move and wind the wire to the other side as in the traditional way. This traditional winding scheme is extremely likely to cause the length of the wire clamped by the guide needle to change continuously, and the constantly changing wire length will cause the tension of the wire to change suddenly, which in turn leads to various problems such as missing wires and overlapping wires. In contrast, the solution of this embodiment continues to move in the original first direction and continues to move to the first position point. In this way, the winding is continued from the first position point. This ensures that the length of the wire to be wound held by the guide needle remains unchanged during the process of "crossing" from the first side of the wire rack to the second side of the wire rack, thereby ensuring the stability of the wire tension, reducing the occurrence of problems such as missing wires and overlapping wires, and significantly improving the winding quality.

[0051] For example, Figure 2For example, let's assume the guide needle begins moving upward from the left side of the bobbin M in the figure. In this case, the left side of the bobbin M is the first side, and the vertically upward direction is the first direction. First, the guide needle can begin moving vertically upward from the bottom of the bobbin M until it reaches a first position, which is above the area where the bobbin M is located. Next, the bobbin M is controlled to rotate clockwise in the horizontal plane, while the guide needle is simultaneously controlled to move downward. The clockwise rotation is the first rotation direction, and the vertically downward direction is the second direction. Since the guide needle has already moved above the area where the bobbin M is located in the previous process, controlling the guide needle to move downward will shorten the distance between the guide needle and the bobbin M. Simultaneously, during the guide needle's current descent, the bobbin M is also rotating clockwise, causing the guide needle to move away from the left side of the bobbin M and gradually approach the right side. Under the simultaneous action of the two, it can be shown that: the guide needle drives the wire to wrap around the top side of the wire rack M, and after the winding on the top side is completed, the guide needle also moves relatively to the right side of the wire rack M. In this way, the winding on the left side and the top side of the wire rack M is completed, that is, half of the winding of the wire rack M is completed, and half a circle of winding is completed. Of course, then continue to wind the right side and the bottom side of the wire rack M in turn. The principle of winding is the same as the principle of half-circle winding mentioned above, and will not be described in detail here. After this, a full circle of winding of the wire rack M can be completed. Furthermore, by controlling the winding according to the same principle, the winding of multiple circles of wire on the wire rack can be completed.

[0052] The technical solution of the present invention controls the guide needle to move along the first direction on the first side of the wire rack until the guide needle moves to the first position point, so that the guide needle can move to an area beyond the corresponding area of ​​the wire rack; then, with the rotation center axis of the wire rack assembly as the rotation center, the wire rack is controlled to rotate in the first rotation direction to adjust the angle between the first reference direction and the second reference direction; with the help of the wire rack to perform such a rotation operation, the guide needle can show an effect of moving to the other side of the wire rack; and, when the wire rack is controlled to rotate in the first rotation direction, the guide needle is synchronously controlled to move along the second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack. By coordinating the "rotation operation of the wire rack" and the "movement operation of the guide needle along the second direction", it is possible to achieve an effect in which the guide needle "crosses" from the first side of the wire rack to the second side of the wire rack, and in this process, the length of the wire to be wound clamped by the guide needle always remains unchanged, thereby ensuring the stability of the wire feeding tension, reducing the occurrence of adverse problems such as wire leakage and wire overlap, and significantly improving the winding quality.

[0053] Figure 3 This is a flow chart of another motion control method for winding equipment provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of synchronously controlling the guide needle to move along the second direction in the above embodiment based on the technical solution of the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the motion control method of the winding device according to the embodiment of the present invention may include the following process:

[0054] S310, controlling the guide needle to move along a first direction on a first side of the wire rack until the guide needle moves to a first position point.

[0055] As an optional but non-limiting implementation, when the guide needle guides the wire to be wound from the third side of the wire rack, the first position point is a position point away from the third side of the wire rack along the first direction, and the distance between the first position point and the reference position point in the first direction is greater than the preset distance; the reference position point is a position point located on the surface of the third side of the wire rack; the third side of the wire rack is the side that the guide needle passes through in the process of adjusting from the first side of the wire rack to the second side of the wire rack.

[0056] The third side is the side that the guide needle passes through when adjusting from the first side of the wire rack to the second side of the wire rack. The third side can be the top side or the bottom side of the wire rack. For example, if the guide needle passes through the top side of the wire rack when adjusting from the first side to the second side of the wire rack, the third side of the wire rack is the top side; if the guide needle passes through the bottom side of the wire rack when adjusting from the first side to the second side of the wire rack, the third side of the wire rack is the bottom side.

[0057] Specifically, when the guide needle guides the wire to be wound from the third side of the wire rack, the first position point is a position point away from the third side of the wire rack along the first direction, and the distance between the first position point and the reference position point in the first direction is greater than the preset distance; the reference position point is a position point located on the surface of the third side of the wire rack; specifically, the intersection point belonging to the first side and the third side of the wire rack and located in the first direction can be preferentially selected as the reference position point. That is to say, in this preferred case, the first position point and the reference position point are both located in the first direction, and the reference position point is a point close to the wire rack, and the distance between the first position point and the reference position point is greater than the preset distance. The preset distance can be set differently based on actual needs.

[0058] Of course, if the reference position point is not the intersection point between the first side and the third side of the wire rack in the above-mentioned preferred solution, but a certain point on the third side of the selected wire rack, for example, if the third side of the wire rack is not a horizontal structure, but an arched structure with a slight curvature, then the highest point corresponding to the arched structure on the third side of the wire rack can also be used as the reference position point. Although the reference position point at this time is not located in the first direction, the distance relationship between the first position point and the reference position point can still be constructed through relevant mathematical principles, thereby assisting in determining the first position point.

[0059] S320. With the rotation center axis of the wire rack assembly as the rotation center, control the wire rack to rotate in a first rotation direction to adjust the angle between the first reference direction and the second reference direction; the first reference direction is the direction from the rotation center axis of the wire rack assembly to the wire rack in the wire rack assembly, and the first reference direction is perpendicular to the rotation center axis of the wire rack assembly; the second reference direction is the direction from the rotation center axis of the wire rack assembly to the guide needle, and the second reference direction is perpendicular to the rotation center axis of the wire rack assembly.

[0060] S330. While controlling the wire rack to rotate in a first rotation direction, synchronously control the guide needle to move along a second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

[0061] As an optional but non-limiting implementation, controlling the wire rack to rotate in a first rotation direction includes: determining the first rotation direction of the wire rack based on the relative position relationship between the first side and the second side of the wire rack; controlling the wire rack to rotate based on the rotation speed of the wire rack and the first rotation direction; the rotation speed of the wire rack is determined based on the adjustment speed of the guide needle when it moves along the second direction; accordingly, when controlling the wire rack to rotate in the first rotation direction, synchronously controlling the guide needle to move along the second direction includes: determining the adjustment speed of the guide needle when it moves along the second direction based on the first position point; controlling the guide needle to move along the second direction based on the adjustment speed, so that the guide needle drives the wire to present a first arc trajectory during the winding process of adjusting from the first side of the wire rack to the second side of the wire rack. By adopting this optional solution, precise coordination between the guide needle and the wire rack can be achieved, thereby presenting an effect of the guide needle "crossing" from the first side of the wire rack to the second side of the wire rack, maintaining the stability of the wire feeding tension.

[0062] Specifically, to enable the guide needle to adjust from the first side of the bobbin to the second side, the bobbin's first rotational direction can be determined based on the relative positional relationship between the first and second sides. For example, if the second side of the bobbin is located to the left of the first side, the first rotational direction is counterclockwise. Counterclockwise rotation causes the second side of the bobbin to appear and the first side to move away. If the second side of the bobbin is located to the right of the first side, the first rotational direction is clockwise. Clockwise rotation causes the second side of the bobbin to appear and the first side to move away. In short, the first rotational direction causes the second side of the bobbin to appear and the first side to move away. Furthermore, to enable the guide needle to adjust from the first side to the second side of the bobbin when the bobbin stops rotating, the bobbin's rotational speed can be further determined based on the guide needle's adjustment speed during movement in the second direction, achieving coordination between the two. The guide needle's adjustment speed during movement in the second direction can be set differently based on actual conditions. After the rotation speed and the first rotation direction of the wire delivery rack are determined, the wire delivery rack can be controlled to perform a rotation operation based on these two parameters.

[0063] Correspondingly, in the process of synchronously controlling the guide needle to move along the second direction, the adjustment speed of the guide needle when moving along the second direction will be determined based on the first position point. For example, the adjustment speed of the guide needle when moving along the second direction can be determined based on the distance between the first position point and the wire rack in the second direction, and the running speed of the guide needle itself. Then, based on the adjustment speed, the guide needle is controlled to move along the second direction, so that the guide needle drives the wire to present a first arc trajectory during the winding process of adjusting from the first side of the wire rack to the second side of the wire rack. The first arc trajectory refers to a motion trajectory that appears as a curve with a certain curvature. For example, the first arc trajectory can be a quarter of a circle, etc.

[0064] For example, Figure 4 This is a schematic diagram of the winding trajectory effect of a wire driven by a guide needle provided by an embodiment of the present invention. This figure can be considered as a schematic diagram of the trajectory effect obtained by observing from the outside of the wire rack to the direction of the wire rack's rotation axis. Figure 4 As shown in the figure, the black solid line represents the bobbin, and the blue solid line represents the winding track. Figure 4 The YOZ coordinate system is established with the center of the bobbin as the center point. It should be noted that in the actual winding process, the wire will be wound closely to the surface of the bobbin, or it will be wound closely to the wire of the previous layer that has been arranged. Figure 4As shown, point A, point B, point C, and point D in the winding trajectory are points at four special positions. These four points actually correspond to the points at the intersection of each side of the wire rack. In order to facilitate the description of this example, these four special points are marked on the winding trajectory.

[0065] like Figure 4 As shown, the guide needle starts from point B and moves along the left side of the guide needle (i.e., the first side) toward the positive direction of the Z axis (i.e., the first direction). After reaching point A, the guide needle does not stop moving, but continues to move toward the positive direction of the Z axis until it reaches point N1 (i.e., the first position). Then, the wire rack will rotate clockwise, and at the same time, the guide needle will also start to move from point N1 toward the negative direction of the Z axis (i.e., the second direction). Then, under the combined effect of the "wire rack rotates clockwise" and the "guide needle moves downward", the trajectory of the guide needle relative to the wire rack will be as follows: Figure 4 The arc between point N1 and point D shown in the figure is a quarter of the arc (ie, the first arc track), so that the guide needle moves to the right side of the wire rack. For example, Figure 4 At point D in the winding, half a circle of the bobbin is wound. Then, according to the same operating principle, the guide needle is controlled to continue to start from point D and move along the right side of the bobbin (i.e., the first side of the new round) to the negative direction of the Z axis (i.e., the first direction of the new round) until it reaches point N2; then, the bobbin is controlled to move counterclockwise and the guide needle is simultaneously controlled to move to the positive direction of the Z axis (i.e., the second direction of the new round), so that the guide needle can be positioned on the bottom side of the bobbin as shown below. Figure 4 The arc between point N2 and point B is shown in the figure, and the guide needle can adjust the bobbin to the left side (i.e., the second side of the new round) when the bobbin stops rotating. In this way, the bobbin is wound one circle, and the overall winding trajectory effect is Figure 4 As shown in .

[0066] For example, Figure 4 The embodiment of the present invention provides the following detailed calculation method for the winding trajectory:

[0067] Assumptions Figure 4 The distance between the first position point N1 and the top side of the wire rack is L. The arc between point N1 and point D is a 1 / 4 arc. The center of this arc is the vertex O on the upper left of the wire rack. According to relevant mathematical principles, the following parametric equation can be obtained:

[0068]

[0069] Among them, S Rz is the displacement of the arc trajectory in the Z-axis direction; S Ryis the displacement of the arc trajectory in the Y-axis direction; R is the radius of the arc, that is, the distance L between the first position point N1 and the top side of the wire rack; θ is the angle corresponding to the arc; S Rz0 is the coordinate of point D on the Z axis.

[0070] Then, for S in the above formula Rz and S Ry By performing secondary derivatives respectively, we can obtain the velocity and acceleration relationship of the guide needle in the Z-axis direction and the Y-axis direction, as follows:

[0071]

[0072] Among them, a Rz is the acceleration of the guide needle in the Z-axis direction; v Rz is the speed of the guide needle in the Z-axis direction; v R is the linear velocity of the guide needle moving along the trajectory; t is time; a RY is the acceleration of the guide needle in the Y-axis direction; v RY is the speed of the guide needle in the Y-axis direction.

[0073] Next, the above is the motion equation of the guide needle, not the rotational motion equation of the wire frame (set as Y R′ ), in order to simplify the calculation, the velocity v in the Y-axis direction RY Approximately as the rotation speed of the wire rack at the guide needle position. Therefore, the above v RY Divide by the rotation radius R' of the guide needle location to get Y R′ The equation of angular velocity is derived and integrated with respect to t to obtain the angular acceleration and rotation angle equations of the wire rack, as follows:

[0074]

[0075] Among them, a R is the rotational angular acceleration of the wire frame; ω R is the angular velocity of the wire frame; is the rotation angle of the wire rack; R′ is the rotation radius of the wire rack.

[0076] S340. During the process of synchronously controlling the guide needle to move along the second direction, the feed amount of the guide needle's travel point is determined based on the rotation angle of the wire rack; the rotation angle is the angle formed between the first reference direction and the second reference direction; wherein, among the rotation angles of the wire rack, at least some of the travel points corresponding to the rotation angles have different feed amounts.

[0077] Among them, the travel point of the guide needle can be used to indicate and calibrate the travel status of the guide needle. The point on the guide needle where the wire is clamped can be preferably selected as the travel point. The feed amount is used to indicate the distance the guide needle moves forward when driving the wire to wind one circle. It can also be understood as the difference in travel between two adjacent winding circles. The larger the feed amount, the greater the distance the guide needle moves forward; the smaller the feed amount, the smaller the distance the guide needle moves forward. The rotation angle is the angle formed between the first reference direction and the second reference direction.

[0078] During the actual winding process, the bobbin rotates, and the resulting rotation angle constantly changes. If the feed rate at the guide needle travel points is not controlled and adjusted accordingly, the winding density will be affected, and even problems such as overlapping or missing wires may occur. The solution of this embodiment takes these issues into account and, by compensating for the wire arrangement during bobbin rotation to a certain extent, flexibly controls the feed rate at the guide needle travel points, thereby achieving spatially compact wire arrangement. Furthermore, at least some of the bobbin rotation angles correspond to different feed rates at the travel points; that is, the feed rate at the guide needle travel points varies at different rotation angles. For example, the larger the rotation angle, the greater the feed rate required at the travel points, thereby achieving spatially compact wire arrangement. Of course, the feed rate for the guide needle travel points can be determined for each rotation angle, or it can be determined only at fixed rotation angle intervals.

[0079] Specifically, during the process of synchronously controlling the movement of the guide needle along the second direction, the feed amount of the guide needle's travel point can also be determined based on the rotation angle of the wire rack. When the rotation angle of the wire rack is larger, a larger value can be assigned to the feed amount of the guide needle's travel point, thereby reducing the tension of the wire; when the rotation angle of the wire rack is smaller, the guide needle is closer to the wire rack, that is, closer to the flat winding situation, and a smaller value can be assigned to the feed amount of the guide needle's travel point. By dynamically adjusting the feed amount in this way, tight wiring can be achieved in space.

[0080] As an optional but non-limiting implementation, determining the feed amount of the guide needle at the travel point based on the rotation angle of the wire rack includes: determining the rotation angle of the wire rack; determining the feed amount of the guide needle at the travel point based on the rotation angle of the wire rack and a first mapping relationship; the first mapping relationship is used to indicate the mapping relationship between the rotation angle of the wire rack and the feed amount of the guide needle at the travel point. Using this optional solution, the feed amount of the travel point can be determined by the rotation angle and the first mapping relationship, thereby achieving tight wire arrangement.

[0081] Optionally, the first mapping relationship can be determined in the following manner: determining the first feeding amount based on the winding gap information of the adjacent two windings; determining the second feeding amount based on the maximum rotation angle of the wire holder; and constructing the first mapping relationship based on the first feeding amount, the second feeding amount, and the maximum rotation angle of the wire holder.

[0082] When the rotation angle of the wire holder is 0, that is, the wire holder is parallel to the feeding direction of the guide needle, which is equivalent to the case of flat winding, the feeding amount of the running point can be the winding gap of the adjacent two windings. Correspondingly, when the wire holder reaches the maximum rotation angle, that is, the included angle between the first reference direction and the second reference direction is the largest, the feeding amount of the running point of the guide needle needs to be adjusted to the maximum extent, and then the second feeding amount can be determined based on the maximum rotation angle of the wire holder. Then, the first mapping relationship can be constructed based on the first feeding amount, the second feeding amount, and the maximum rotation angle of the wire holder.

[0083] Exemplarily, Figure 5 The principle of setting the feeding amount of the running point of the guide needle provided by the embodiment of the present application is schematically shown below, and the construction principle of the first mapping relationship will be described below in combination with Figure 5 As shown in Figure 5 , Figure 5 It can be considered that the case observed from the top view between the guide needle and the wire holder, the second reference direction is the direction from the rotation central axis of the wire holder assembly to the guide needle, and the first reference direction is the direction from the rotation central axis of the wire holder assembly to the wire holder in the wire holder assembly. With the rotation of the wire holder, the first reference direction will change constantly. Assuming that the overall angle of the reciprocating rotation of the wire holder is β, the maximum angle of one rotation is β / 2. When the rotation angle of the wire holder is 0, that is, the first reference direction coincides with the second reference direction, which is equivalent to flat winding, the feeding amount of the running point of the guide needle can be the winding gap of the adjacent two windings, that is, the first feeding amount, and the adjustment degree corresponding to the first feeding amount is the smallest, which can be set as ΔX min When the wire holder rotates to the maximum rotation angle, that is, the rotation angle is β / 2, the first reference direction at this time can be Figure 5 any one of the two first reference directions shown, at this time the feeding amount of the guide needle should be adjusted to the maximum extent, and the second feeding amount can be determined based on the maximum rotation angle of the wire holder and the wire diameter information of the wire, and the adjustment degree corresponding to the second feeding amount is the largest, which can be set as ΔX max The two correspond to the maximum and minimum cases of the feeding amount of the running point, and the rotation angle in the intermediate process is linearly changed, so the first mapping relationship can be constructed based on these parameters.

[0084] Optionally, determining the second feed amount based on the maximum rotation angle of the wire rack includes: determining the second feed amount based on the maximum rotation angle of the wire rack and the first feed amount using a trigonometric function relationship. For example, a trigonometric function relationship can be constructed between the first feed amount and the second feed amount, and after calculation, it can be obtained that ΔX max Essentially, ΔX min / (cosβ / 2).

[0085] S350, adjusting the distance between the guide needle and the rotation center axis of the wire rack assembly based on the feed amount of the travel point.

[0086] After determining the feed amount of the travel point, the distance between the guide needle and the rotating center axis of the wire rack assembly can be adjusted based on the feed amount of the travel point, so that the purpose of tight wire arrangement can be achieved even when the wire rack is rotating.

[0087] As an optional but non-limiting implementation, the motion control method of the winding equipment of the embodiment of the present invention further includes: in the process of the guide needle driving the wire to wind one circle, controlling the guide needle to wind the wire on the wire rack according to a preset wire arrangement method; wherein, in the preset wire arrangement method, the first winding groove and the second winding groove of the wire have different depths, the first winding groove is the groove into which the wire falls when it is wound on the third side of the wire rack, and the second winding groove is the groove into which the wire falls when it is wound on the fourth side of the wire rack; the third side and the fourth side are opposite sides of the wire rack; wherein the winding groove is a wire groove equipped on the third and fourth sides of the wire rack itself, or the winding groove is the gap between two adjacent wires. Adopting this optional solution can improve the wire arrangement accuracy, thereby improving the winding efficiency and quality.

[0088] The third side and the fourth side are opposite sides of the wire rack. If the third side is the top side of the wire rack, then the fourth side is the bottom side of the wire rack; if the third side is the bottom side of the wire rack, then the fourth side is the top side of the wire rack.

[0089] Specifically, in the process of the guide needle driving the wire to wind one circle, the guide needle is controlled to wind the wire on the wire rack according to the preset wiring method. In this preset wiring method, the depth of the first winding groove and the second winding groove of the wire are different. The first winding groove is the groove into which the wire falls when it is wound on the third side of the wire rack, and the second winding groove is the groove into which the wire falls when it is wound on the fourth side of the wire rack. Such winding grooves can be wire grooves equipped on the third and fourth sides of the wire rack, or they can be the gap between two adjacent wires. For example, Figure 6 This is a schematic diagram of the effect of a wire trough equipped with a wire rack provided by an embodiment of the present invention, as shown in FIG. Figure 6As shown, a plurality of wire slots are formed at the positions where the two edges intersecting the top side of the wire frame with the other sides, and the wire slots between the two edges are correspondingly parallel. Figure 6 The effect diagram shown is only the effect diagram of the top side of the wire frame being provided with the wire slots, and the bottom side of the wire frame can also be provided with the same wire slots; and the wire slots between the top side and the bottom side correspond one by one in the vertical direction.

[0090] That is to say, in the preset wire arranging mode of the embodiment, the grooves into which the wire falls when winding at the top are different in depth from the grooves into which the wire falls when winding at the bottom, that is, the wire arranging is in the form of "transition".

[0091] As an optional but non-limiting implementation manner, the control of the needle to wind on the wire frame according to the preset wire arranging mode comprises: when the needle moves to the first side of the wire frame, the needle is controlled to move from the first winding groove to the second winding groove to arrange the wire on the first side of the wire frame; after the needle moves to the second winding groove, the needle is continuously controlled to move to the third winding groove to arrange the wire on the second side of the wire frame; the third winding groove is two grooves corresponding in parallel to the second winding groove in the rotation central axis direction of the wire frame. By using the optional scheme, the wire arranging precision can be improved by transition, so as to improve the winding efficiency and quality.

[0092] Specifically, when the needle moves to the first side of the wire frame, the needle is controlled to move from the first winding groove to the second winding groove to arrange the wire on the first side of the wire frame; since the transition movement occurs between the grooves, the wire arranging on the first side of the wire frame is equivalent to slightly inclined wire arranging compared with the vertical direction. Then, after the needle moves to the second winding groove, the needle is continuously controlled to move to the third winding groove to arrange the wire on the second side of the wire frame; and the third winding groove is two grooves corresponding in parallel to the second winding groove in the rotation central axis direction of the wire frame, that is, the wire arranging on the second side of the wire frame is equivalent to vertical wire arranging.

[0093] Exemplarily, the principle of the needle winding according to the preset wire arranging mode will be described below in combination with Figure 7 the effect diagram of the preset wire arranging mode provided by the embodiment of the application, Figure 7 the effect observed from the first side of the wire frame, like Figure 7 the effect observed from the first side of the wire frame, like Figure 7As shown, the circles marked with red numbers can be considered as the wire grooves configured at the top of the wire rack (hereinafter referred to as: red 1, red 2, red 3, red 4, red 5, red 6), and the circles marked with blue numbers can be considered as the wire grooves configured at the bottom of the wire rack (hereinafter referred to as: blue 1, blue 2, blue 3, blue 4, blue 5, blue 6). The two grooves corresponding to the same numbers correspond one to one in the vertical direction.

[0094] For example, the first layer of winding is performed on the surface of the control guide wire frame, and the winding direction is to Figure 7 When winding in circles in the direction of gradually increasing numbers, since the surface of the bobbin is not covered with any wire, the wire grooves equipped on the bobbin itself can be used directly as winding grooves for winding. Figure 7 When arranging the wire on the front side of the wire rack shown in the figure (equivalent to the first side of the wire rack), it can start from "red 1 (equivalent to the first winding groove)", and then control the guide needle to jump to "blue 2 (equivalent to the second winding groove)", thereby realizing winding and arranging the wire on the front side of the currently observed wire rack (equivalent to the first side of the wire rack); then, the wire will continue to fall into the wire groove corresponding to "blue 2", thereby realizing winding and arranging the wire on the bottom of the wire rack; then, when the guide needle is about to wind the back side of the currently observed wire rack (equivalent to the second side of the wire rack), the guide needle is controlled to move from "blue 2" to "red 2 (equivalent to the third winding groove)", thereby realizing winding and arranging the wire on the back side of the wire rack (equivalent to the second side of the wire rack); then, the wire will continue to fall into the wire groove corresponding to "red 2", thereby realizing winding and arranging the wire on the top of the wire rack. This completes one circle of winding. Following the same principle, when winding the next circle, the guide needle will jump from "Red 2" to "Blue 3" on the front of the bobbin, and from "Blue 3" to "Red 3" on the back of the bobbin... and so on, until the guide needle completes the movement from "Blue 6" to "Red 6" on the back of the bobbin, the first layer of winding on the bobbin is completed.

[0095] Furthermore, when the guide needle is controlled to wind a non-first layer on the surface of the wire rack, the inter-wire gap formed between two adjacent wires in the previous layer is used as a winding groove to perform winding and arranging the wires. Continuing with the previous example, after completing the first layer of winding, the guide needle is located in the groove where "red 6" is located. Next, the second layer of winding is to be carried out. The winding of the second layer is wound in the direction of gradually decreasing numbers. Specifically, the guide needle jumps from "red 6 (equivalent to: the new first winding groove)" to "the gap between the wires formed between blue 5 and blue 6 (equivalent to: the new second winding groove)", thereby realizing winding on the front side of the currently observed bobbin. Then, when winding on the back side of the bobbin, the guide needle is controlled to move from "the gap between the wires formed between blue 5 and blue 6 (equivalent to: the new second winding groove)" to "the gap between the wires formed between red 5 and red 6 (equivalent to: the new third winding groove), thereby realizing winding on the back side of the currently observed bobbin. The subsequent winding principle is the same as the principle stated above, until the second layer of winding on the surface of the bobbin is completed, and so on and so forth, the multi-layer winding of the bobbin can be completed. The specific steps will not be repeated here.

[0096] The technical solution of the present invention controls the guide needle to move along the first direction on the first side of the wire rack until the guide needle moves to the first position point, so that the guide needle can move to an area beyond the corresponding area of ​​the wire rack; then, with the rotation center axis of the wire rack assembly as the rotation center, the wire rack is controlled to rotate in the first rotation direction to adjust the angle between the first reference direction and the second reference direction; with the help of the wire rack to perform such a rotation operation, the guide needle can show an effect of moving to the other side of the wire rack; and, when the wire rack is controlled to rotate in the first rotation direction, the guide needle is synchronously controlled to move along the second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack. By coordinating the "rotation operation of the wire rack" and the "movement operation of the guide needle along the second direction", it is possible to achieve an effect in which the guide needle "crosses" from the first side of the wire rack to the second side of the wire rack, and in this process, the length of the wire to be wound clamped by the guide needle always remains unchanged, ensuring the stability of the wire feeding tension, and in the process of synchronously controlling the guide needle to move along the second direction, the feed amount of the guide needle's travel point will be determined based on the rotation angle of the wire rack; and the distance between the guide needle and the rotation center axis of the wire rack assembly will be adjusted based on the feed amount of the travel point, thereby reducing the occurrence of adverse problems such as wire leakage and wire overlap, and can significantly improve the winding quality.

[0097] Figure 8This is a schematic diagram of the structure of a motion control device for a winding device provided by an embodiment of the present invention. The embodiment of the present invention is applicable to the case where the motion control of the winding device is performed to perform winding. The motion control device for the winding device can be implemented in the form of software and / or hardware and is generally integrated into any electronic device with network communication function, which can be a mobile terminal, PC or server, etc. Figure 8 As shown, the motion control device of the winding equipment according to the embodiment of the present invention may include a first guide needle control module 810, a wire rack control module 820 and a second guide needle control module 830.

[0098] A first guide needle control module 810 is configured to control the guide needle to move along a first direction on a first side of the wire rack until the guide needle moves to a first position point;

[0099] The wire rack control module 820 is configured to control the wire rack to rotate in a first rotational direction with the central axis of rotation of the wire rack assembly as the rotation center, so as to adjust the angle between the first reference direction and the second reference direction; the first reference direction is a direction from the central axis of rotation of the wire rack assembly to the wire rack in the wire rack assembly, and the first reference direction is perpendicular to the central axis of rotation of the wire rack assembly; the second reference direction is a direction from the central axis of rotation of the wire rack assembly to the guide needle, and the second reference direction is perpendicular to the central axis of rotation of the wire rack assembly;

[0100] The guide needle second control module 830 is used to synchronously control the guide needle to move along the second direction while controlling the wire rack to rotate in the first rotation direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein, the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

[0101] The technical solution of the present invention is to control the guide needle to move along the first direction on the first side of the wire rack through the first guide needle control module until the guide needle moves to the first position point, so that the guide needle can move to an area beyond the corresponding area of ​​the wire rack; then, the wire rack control module uses the rotation center axis of the wire rack assembly as the rotation center to control the wire rack to rotate in the first rotation direction to adjust the angle between the first reference direction and the second reference direction; with the help of the wire rack to perform such a rotation operation, the guide needle can show an effect of moving to the other side of the wire rack; and, through the second guide needle control module, while controlling the wire rack to rotate in the first rotation direction, the guide needle is synchronously controlled to move along the second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack. By coordinating the "rotation operation of the wire rack" and the "movement operation of the guide needle along the second direction", it is possible to achieve an effect in which the guide needle "crosses" from the first side of the wire rack to the second side of the wire rack, and in this process, the length of the wire to be wound clamped by the guide needle always remains unchanged, thereby ensuring the stability of the wire feeding tension, reducing the occurrence of adverse problems such as wire leakage and wire overlap, and thus significantly improving the winding quality.

[0102] As an optional but non-limiting implementation, when the guide needle guides the wire to be wound from the third side of the wire rack, the first position point is a position point away from the third side of the wire rack along the first direction, and the distance between the first position point and the reference position point in the first direction is greater than a preset distance; the reference position point is a position point located on the surface of the third side of the wire rack; the third side of the wire rack is the side that the guide needle passes through during the process of adjusting from the first side of the wire rack to the second side of the wire rack.

[0103] As an optional but non-limiting implementation, the wire rack control module 820 includes a first rotation direction determination unit and a rotation operation unit. Wherein: the first rotation direction determination unit is used to determine the first rotation direction of the wire rack based on the relative position relationship between the first side and the second side of the wire rack; the rotation operation unit is used to control the wire rack to perform a rotation operation based on the rotation speed of the wire rack and the first rotation direction; the rotation speed of the wire rack is determined based on the adjustment speed of the guide needle when it moves along the second direction; accordingly, the guide needle second control module 830 includes a guide needle speed determination unit and a guide needle motion control unit. Wherein: the guide needle speed determination unit is used to determine the adjustment speed of the guide needle when it moves along the second direction based on the first position point; the guide needle motion control unit is used to control the guide needle to move along the second direction based on the adjustment speed, so that the guide needle drives the wire to present a first arc trajectory during the winding process of adjusting from the first side of the wire rack to the second side of the wire rack.

[0104] As an optional but non-limiting implementation, the motion control device of the winding equipment further includes a feed amount determination module and a feed adjustment module. The feed amount determination module is configured to determine the feed amount of the guide needle's travel point based on the rotation angle of the bobbin; the rotation angle is the angle formed between the first reference direction and the second reference direction; and the feed amount of the travel points corresponding to at least some of the bobbin's rotation angles is different. The feed adjustment module is configured to adjust the distance between the guide needle and the rotational center axis of the bobbin assembly based on the feed amount of the travel point.

[0105] As an optional but non-limiting implementation, the feed amount determination module includes a rotation angle determination unit and a feed amount determination unit. The rotation angle determination unit is configured to determine the rotation angle of the bobbin; the feed amount determination unit is configured to determine the feed amount at the guide needle's travel point based on the bobbin's rotation angle and a first mapping relationship; the first mapping relationship is configured to indicate a mapping relationship between the bobbin's rotation angle and the feed amount at the guide needle's travel point.

[0106] As an optional but non-limiting implementation method, the motion control device of the winding equipment also includes: a wire arrangement module, which is used to control the guide needle to wind the wire on the wire rack according to a preset wire arrangement method during the process of the guide needle driving the wire to wind one circle; wherein, in the preset wire arrangement method, the first winding groove and the second winding groove of the wire are different in depth, the first winding groove is the groove into which the wire falls when it is wound on the third side of the wire rack, and the second winding groove is the groove into which the wire falls when it is wound on the fourth side of the wire rack; the third side and the fourth side are opposite sides of the wire rack; wherein the winding groove is a wire groove equipped on the third side and the fourth side of the wire rack itself, or is a wire gap formed between two adjacent wires.

[0107] As an optional but non-limiting implementation, the cable routing module includes a first motion unit and a second motion unit. The first motion unit is configured to control the guide needle to transition from the first winding groove to the second winding groove when the guide needle moves to the first side of the wire rack, thereby winding and routing the wire on the first side of the wire rack. The second motion unit is configured to control the guide needle to continue to move to the third winding groove after the guide needle moves to the second winding groove, thereby winding and routing the wire on the second side of the wire rack. The third winding groove is a pair of grooves that are parallel to and correspond to the second winding groove and are aligned along the central axis of the wire rack rotation.

[0108] The motion control device for winding equipment provided in an embodiment of the present invention can be used to implement a motion control method for winding equipment, and has functional modules and beneficial effects corresponding to the motion control method for winding equipment. It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as they can achieve the corresponding functions; in addition, the specific names of the various functional units are only for the purpose of distinguishing them from each other and are not used to limit the scope of protection of the embodiment of the present invention.

[0109] Figure 9 This is a schematic diagram of the structure of an electronic device for implementing a motion control method for a winding device provided by an embodiment of the present invention. Figure 9 , which shows a schematic structural diagram of an electronic device 910 suitable for implementing an embodiment of the present invention. The terminal device in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0110] like Figure 9 As shown, the electronic device 910 includes at least one processor 911, and a memory connected to the at least one processor 911 in communication, such as a read-only memory (ROM) 912, a random access memory (RAM) 913, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 911 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 912 or the computer program loaded from the storage unit 918 into the random access memory (RAM) 913. Various programs and data required for the operation of the electronic device 910 can also be stored in the (RAM) 913. The processor 911, (ROM) 912 and (RAM) 913 are connected to each other via a bus 914. An input / output (I / O) interface 915 is also connected to the bus 914.

[0111] Multiple components in the electronic device 910 are connected to the I / O interface 915, including an input unit 916, such as a keyboard, a mouse, etc.; an output unit 917, such as various types of displays, speakers, etc.; a storage unit 918, such as a magnetic disk, an optical disk, etc.; and a communication unit 919, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 919 allows the electronic device 910 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0112] The processor 911 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 911 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 911 executes the motion control method for the winding device provided in any embodiment of the present invention.

[0113] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the motion control method of the winding device shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication unit 919, or installed from the storage unit 918, or installed from the ROM 912. When the computer program is executed by the processor 911, the above-mentioned functions defined in the motion control method of the winding device of the embodiment of the present invention are performed.

[0114] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0115] The electronic device provided in the embodiment of the present invention and the motion control method of the winding device provided in the above embodiment belong to the same inventive concept. For technical details not fully described in this embodiment, please refer to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0116] An embodiment of the present invention provides a computer storage medium having a computer program stored thereon. When the program is executed by a processor, the motion control method of the winding device provided in the above embodiment is implemented.

[0117] It should be noted that the computer-readable medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0118] Computer program code for performing the operations of the present invention can be written in one or more programming languages ​​or a combination thereof. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. The units described in the embodiments of the present invention may be implemented in software or hardware. The name of a unit does not, in some cases, limit the unit itself.

[0119] The above description is merely a preferred embodiment of the present invention and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present invention.

[0120] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A motion control method for a winding device, characterized in that: Applied to a winding device, the winding device includes at least a guide needle and a wire rack assembly, the wire rack assembly is provided with a plurality of wire racks that can rotate around a rotating central axis, the guide needle is used to guide the wire to be wound on the wire rack, and the method includes: Controlling the guide needle to move along a first direction on a first side of the wire rack until the guide needle moves to a first position point; With the central axis of rotation of the wire rack assembly as the rotation center, the wire rack is controlled to rotate in a first rotation direction to adjust the angle between the first reference direction and the second reference direction; the first reference direction is a direction from the central axis of rotation of the wire rack assembly to the wire rack in the wire rack assembly, and the first reference direction is perpendicular to the central axis of rotation of the wire rack assembly; the second reference direction is a direction from the central axis of rotation of the wire rack assembly to the guide needle, and the second reference direction is perpendicular to the central axis of rotation of the wire rack assembly; When the wire rack is controlled to rotate in a first rotation direction, the guide needle is synchronously controlled to move along a second direction, so that when the wire rack stops rotating, the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack; wherein, the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

2. The method according to claim 1, characterized in that When the guide needle guides the wire to be wound from the third side of the wire rack, the first position point is a position point away from the third side of the wire rack along the first direction, and the distance between the first position point and a reference position point in the first direction is greater than a preset distance; the reference position point is a position point located on the surface of the third side of the wire rack; The third side of the wire rack is the side that the guide needle passes through when adjusting from the first side of the wire rack to the second side of the wire rack.

3. The method according to claim 1, characterized in that The control wire rack is rotated in a first rotation direction, comprising: determining a first rotation direction of the wire rack based on a relative positional relationship between the first side and the second side of the wire rack; The wire rack is controlled to rotate based on its rotation speed and the first rotation direction; the rotation speed of the wire rack is determined based on an adjustment speed of the guide needle when the guide needle moves along the second direction; Accordingly, when the wire rack is controlled to rotate in the first rotation direction, the guide needle is synchronously controlled to move in the second direction, including: determining an adjustment speed of the guide needle when it moves along a second direction based on the first position point; The guide needle is controlled to move along the second direction based on the adjustment speed, so that the guide needle drives the wire to present a first arc trajectory during the winding process of adjusting from the first side of the wire rack to the second side of the wire rack.

4. The method according to claim 1, wherein In the process of synchronously controlling the guide needle to move along the second direction, the method further includes: The feed amount of the guide needle at the travel point is determined based on the rotation angle of the wire rack; the rotation angle is the angle formed by the first reference direction and the second reference direction; wherein the feed amount of the travel point corresponding to at least some of the rotation angles of the wire rack is different; The distance between the guide needle and the rotation center axis of the wire rack assembly is adjusted based on the feed amount of the travel point.

5. The method according to claim 4, characterized in that The method of determining the feed amount of the guide needle's travel point based on the rotation angle of the wire rack includes: Determine the rotation angle of the wire rack; The feed amount of the guide needle's travel point is determined based on the rotation angle of the wire rack and a first mapping relationship; the first mapping relationship is used to indicate the mapping relationship between the rotation angle of the wire rack and the feed amount of the guide needle's travel point.

6. The method according to claim 1, characterized in that The method further comprises: In the process of the guide needle driving the wire to wind one circle, the guide needle is controlled to wind the wire on the wire rack according to a preset wire arrangement method; wherein, in the preset wire arrangement method, the first winding groove and the second winding groove of the wire are different in depth, the first winding groove is the groove into which the wire falls when it is wound on the third side of the wire rack, and the second winding groove is the groove into which the wire falls when it is wound on the fourth side of the wire rack; the third side and the fourth side are opposite sides of the wire rack; wherein, the winding groove is a wire groove equipped on the third and fourth sides of the wire rack itself, or the winding groove is the inter-wire gap formed between two adjacent wires.

7. The method according to claim 6, characterized in that The control guide needle is wound on the wire rack according to a preset wire arrangement method, including: When the guide needle moves to the first side of the wire rack, the guide needle is controlled to jump from the first winding groove to the second winding groove to wind the wire on the first side of the wire rack; After the guide needle moves to the second winding groove, the guide needle is continued to be controlled to move toward the third winding groove to wind the wire on the second side of the wire rack; the third winding groove is a group of two grooves parallel to and corresponding to the second winding groove in the direction of the central axis of rotation of the wire rack.

8. A motion control device for a winding device, characterized in that: The device comprises: a first guide needle control module, configured to control the guide needle to move along a first direction on a first side of the wire rack until the guide needle moves to a first position point; a wire rack control module, configured to control the wire rack to rotate in a first rotation direction with the central axis of rotation of the wire rack assembly as the rotation center, so as to adjust the angle between the first reference direction and the second reference direction; the first reference direction is a direction from the central axis of rotation of the wire rack assembly to the wire rack in the wire rack assembly, and the first reference direction is perpendicular to the central axis of rotation of the wire rack assembly; the second reference direction is a direction from the central axis of rotation of the wire rack assembly to the guide needle, and the second reference direction is perpendicular to the central axis of rotation of the wire rack assembly; The second guide needle control module is used to synchronously control the guide needle to move along the second direction when the wire rack is controlled to rotate in the first rotation direction, so that the guide needle is adjusted from the first side of the wire rack to the second side of the wire rack when the wire rack stops rotating; wherein, the first direction and the second direction are opposite movement directions, and the first side and the second side are opposite sides of the wire rack.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the motion control method for a winding device as described in any one of claims 1 to 7.

10. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the motion control method for a winding device according to any one of claims 1 to 7.

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