Laser radar galvanometer motor winding machine and working method thereof

Abstract

This invention discloses a laser radar galvanometer motor winding machine and its working method, belonging to the field of motor winding coil technology. It includes a worktable, a fork rotation and movement mechanism, a column left and right clamping mechanism, a support cylinder movement and lifting mechanism, a column top mechanism, a wire clamping and cutting drive mechanism, a wire clamping and cutting movement mechanism, and a front and rear extrusion mechanism. The support cylinder movement and lifting mechanism moves the column to the working front end position of the fork rotation and movement mechanism; the column left and right clamping mechanisms clamp the column; the fork rotation and movement mechanism can move to the column position to perform winding work; the wire clamping and cutting drive mechanism clamps or cuts the wire; the wire clamping and cutting movement mechanism drives the wire clamping and cutting drive mechanism to move horizontally; and the front and rear extrusion mechanism extrudes the coil wound on the column. This invention can automatically complete the entire process of column transfer, clamping, winding, cutting, forming, and unloading, significantly shortening the manufacturing cycle of a single coil and making it suitable for mass production needs.

Description

Technical Field

[0001] This invention relates to the field of motor winding coil technology, and in particular to a laser radar galvanometer motor winding machine and its working method. Background Technology

[0002] As a core sensing device in fields such as autonomous driving, robot navigation, and 3D mapping, the performance of the internal galvanometer motor of lidar directly determines the accuracy and response speed of laser scanning. The coil assembly in the galvanometer motor is a key actuator for electromagnetic conversion, and its winding quality has a significant impact on the motor's torque constant, dynamic response linearity, and long-term thermal stability.

[0003] Some existing winding machines use a flying fork-type rotating structure to achieve automatic wire arrangement. However, these machines exhibit the following shortcomings in practical applications: the wire clamping and cutting functions are separated. Existing winding equipment typically has separate wire clamping and cutting mechanisms, which not only increases the equipment's footprint and cost, but also makes the wire prone to loosening or shifting when transferring between the clamping and cutting positions. This results in uncontrollable lengths at the starting and ending ends, reducing the consistency of the finished coil.

[0004] To address the shortcomings of the existing technologies, there is an urgent need to develop an automated winding device specifically designed for laser radar galvanometer motor coils. This device should possess comprehensive functions such as high-precision automatic wire laying, integrated wire clamping and cutting, and rapid coil end shaping, so as to fundamentally improve the manufacturing quality and production efficiency of galvanometer motor coils. Summary of the Invention

[0005] The purpose of this invention is to provide a laser radar galvanometer motor winding machine and its working method. Through the coordinated operation of multiple mechanisms, including a flying fork rotation and movement mechanism, a support cylinder movement and lifting mechanism, a column left and right clamping mechanism, and a wire clamping and cutting drive mechanism, this invention can automatically complete the entire process of column transfer, clamping, winding, wire cutting, forming, and unloading. The entire working process requires no manual intervention, significantly shortening the manufacturing cycle of a single coil and making it suitable for mass production needs.

[0006] To achieve the above objectives, the present invention provides a laser radar galvanometer motor winding machine, including a worktable and a fork rotation and movement mechanism, a column left and right clamping mechanism, a support cylinder movement and lifting mechanism, a column top mechanism, two wire clamping and cutting drive mechanisms, two wire clamping and cutting movement mechanisms, and a front and rear extrusion mechanism. The supporting cylinder moving and lifting mechanism moves the column to the working front end position of the flying fork rotating moving mechanism; the column left and right clamping mechanisms clamp the column; the flying fork rotating moving mechanism can move to the column position to perform winding work; the two wire clamping and cutting driving mechanisms can clamp or cut the wire; the wire clamping and cutting moving mechanism can drive the wire clamping and cutting driving mechanism to move horizontally; the front and rear extrusion mechanism can extrude the coil wound on the column.

[0007] Preferably, the flying fork rotation and movement mechanism includes a flying fork, a rotating shaft, a motor, a housing, a slide rail, a lead screw and slider drive module, and a wire threading nozzle; the flying fork is mounted on the rotating shaft, the rear end of the rotating shaft is rotatably connected to the housing, a motor is fixedly connected to the housing, and the output shaft of the motor drives the rotating shaft to rotate; a wire threading nozzle is fixed to one end of the flying fork, and the wire is threaded through the wire threading nozzle; The bottom of the chassis is slidably connected to slide rail one, and slide rail one is fixed on the worktable; the moving block output by lead screw and slider drive module one is fixed to the bottom of the chassis, and lead screw and slider drive module one drives the chassis to move left and right. Lead screw and slider drive module one is set at the bottom of the worktable.

[0008] Preferably, the column left and right clamping mechanism includes a limiting block one and a limiting block two. The limiting block one is fixed to the right end of the horizontal column, and the other end of the horizontal column passes through the rotating shaft and is fixed to the chassis. A bracket is also fixedly connected to the workbench. A limit block two moving mechanism is connected to the left end face of the bracket. The limit block two moving mechanism includes a cylinder four. The movable end of the cylinder four is fixed to the limit block two, and the fixed end of the cylinder four is fixed to the bracket. Limiting block one and limiting block two are arranged opposite to each other, and both limiting block one and limiting block two are provided with an arc-shaped groove one in the vertical direction, and a groove two in the middle of both limiting block one and limiting block two in the horizontal direction; an arc-shaped block is also fixed in the middle of the groove one; a column is sandwiched between the groove one of limiting block one and limiting block two.

[0009] Preferably, the supporting cylinder moving and lifting mechanism includes a connecting seat, a supporting cylinder, a second slide rail, a second screw-slider drive module, and a third screw-slider drive module; the second slide rail is fixed on the worktable; the moving block output by the second screw-slider drive module is fixed to the connecting seat, and the supporting cylinder vertically passes through the connecting seat; The bottom of the connecting seat is equipped with a lead screw and slider drive module three. The lead screw and slider moving module three includes a motor two. The output end of the motor two is fixed with a lead screw. The lead screw is set vertically, and the slider passes through the lead screw and is threadedly connected. The slider moves up and down along the guide post. The top of the slider is fixed to the bottom of the support cylinder. The bottom end of the guide post is fixed to the fixed end of the motor, and the top end of the guide post is fixed to the bottom of the connecting seat.

[0010] Preferably, the mechanism above the column includes a connecting cylinder and a screw-slider drive module four. Two support columns are fixed on the worktable, and a top plate is fixed on the top of the two support columns. The screw-slider drive module four is provided on the top plate. The moving block output by the screw-slider drive module four is fixed to the top of the connecting cylinder. The connecting cylinder is vertically arranged, and the screw-slider drive module drives the connecting cylinder to move up and down. The connecting cylinder is located above the clamped column.

[0011] Preferably, the two clamping and cutting line moving mechanisms are arranged on the top of the bracket. Each clamping and cutting line moving mechanism includes a second cylinder, a third slide rail, and a first moving seat. The second cylinder is arranged horizontally, with its fixed end fixed to the bracket and its moving end fixed to the first moving seat. The first moving seat moves left and right along the third slide rail. The third slide rail is fixed to the bracket, and the first moving seat is connected to a clamping and cutting line driving mechanism.

[0012] Preferably, the wire clamping and cutting drive mechanism includes a cylinder, a housing, an L-shaped connecting block, and a wire clamping and cutting post; two cylinders are respectively fixed on a movable seat, and both cylinders are inclined downwards in the direction of the flying fork, and the movable end of the cylinder is fixed to one end of the wire clamping and cutting post; The housing is fitted over the wire clamping post and the L-shaped connecting block. One end of the housing is fixed to the fixed end of the cylinder, and the L-shaped connecting block is fixed to the housing. The clamping end of the wire clamping post cooperates with the bottom end of the L-shaped connecting block to clamp and cut the wire.

[0013] Preferably, a support frame is also fixed on the workbench, and two front and rear extrusion mechanisms are connected on the support frame. The front and rear extrusion mechanisms include a cylinder three, a slide rail four, a movable seat two, and an extrusion block. The fixed end of the cylinder three is fixed on the support frame, and the movable end of the cylinder three is horizontally set and fixed to the extrusion block. The extrusion blocks in the two front and rear extrusion mechanisms are arranged opposite to each other. The extrusion block is cross-shaped; the extrusion block mates with groove two.

[0014] Preferably, the wire clamping and cutting post and the L-shaped connecting block of the wire clamping and cutting drive mechanism are made of conductive material, and the wire clamping and cutting drive mechanism is also connected to an electrical device.

[0015] A method for operating a laser radar galvanometer motor winding machine includes the following steps: Step 1: A column is inserted into the support cylinder. The support cylinder moving and lifting mechanism moves the column between limit block 1 and limit block 2. The support cylinder moving and lifting mechanism then moves the column upward. Step 2: The flying fork rotation and movement mechanism drives module 1 to move through the lead screw and slider, so that limit block 1 and limit block 2 clamp the column; then, the support cylinder movement and lifting mechanism lowers the support cylinder and separates it from the column. Step 3: The wire extends from the wire-threading nozzle of the fly fork, and the first wire-clamping and cutting drive mechanism clamps one end of the wire; then, the motor controls the fly fork to rotate, causing the fly fork to wind the wire on the column. Step four: After the winding is completed, the cylinders of the front and rear extrusion mechanisms extend, so that the two extrusion blocks move into the grooves of the first and second limit blocks respectively and cooperate; the support cylinder in the support cylinder moving and lifting mechanism rises, and the connecting cylinder in the mechanism above the column descends. Step 5: The second wire clamping and cutting drive mechanism clamps the other end of the wire; then, the two wire clamping and cutting drive mechanisms are energized, and the wires are heated and connected to each other to form a shape. Step six: Reset the extrusion blocks of the front and rear extrusion mechanisms; Step 7: The wire cutting drive mechanism cuts the wire, and the flying fork moves one end of the wire to the first wire cutting drive mechanism and clamps it, making it easier to manufacture the next coil. Step 8: Limiting block 1 and limiting block 2 are reset, and the support cylinder drives the column and the formed coil to descend; the support cylinder moves out of the processing area, and the staff safely removes the product.

[0016] The advantages and positive effects of the laser radar galvanometer motor winding machine described in this invention are: 1. The arc-shaped grooves and arc-shaped blocks on limit block one and limit block two can form a precise and stable clamping and positioning for the column, ensuring that the column does not wobble or shift during the winding process. At the same time, the fly fork rotation and movement mechanism achieves precise linear displacement through the lead screw and slider drive module, which can accurately deliver the fly fork to the designated winding position of the column.

[0017] 2. Each wire clamping and cutting drive mechanism integrates both clamping and cutting functions. Driven by a cylinder, the wire clamping and cutting column engages with the L-shaped connecting block, enabling quick and reliable clamping of the wire end or cutting of excess wire. This structure eliminates the need for a separate wire cutting device, simplifying the equipment layout. Furthermore, the two wire clamping and cutting drive mechanisms each handle the two ends of the wire, ensuring that the wire starting and retracting actions do not interfere with each other, resulting in a smoother process flow.

[0018] 3. The wire-clamping posts and L-shaped connecting blocks in the wire-clamping drive mechanism are made of conductive materials and connected to an electrical device. After winding, the two ends of the wire are clamped by two wire-clamping drive mechanisms and heated by electricity, which allows the wires to fuse together or solidify into shape after being heated.

[0019] 4. The fork rotation and movement mechanism, the column left and right clamping mechanism, the support cylinder moving and lifting mechanism, and the column top mechanism are arranged at different heights and positions on the worktable, and are independently driven by their respective slide rails and lead screw slider modules. Each mechanism acts sequentially under time control, with a clear motion path, avoiding the risk of collisions during operation and ensuring the long-term stability and safety of the equipment.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a laser radar galvanometer motor winding machine according to the present invention; Figure 2 for Figure 1 Another perspective illustration; Figure 3 This is a front view of the bottom box of the concealed worktable of a laser radar galvanometer motor winding machine according to the present invention. Figure 4 for Figure 3 A three-dimensional image; Figure 5 This is a schematic diagram of the support cylinder moving and lifting mechanism of the present invention; Figure 6 This is a schematic diagram of the clamping and shearing wire driving mechanism, the clamping and shearing wire moving mechanism, and the front and rear extrusion mechanism of the present invention. Figure 7 for Figure 6 Another perspective illustration; Figure 8 This is a schematic diagram of the overall structure of the wire clamping and shearing drive mechanism of the present invention; Figure 9 This is a schematic diagram of the wire clamping and shearing drive mechanism of the present invention after the housing is hidden. Figure 10 This is a schematic diagram of the structure of the wire clamping and shearing drive mechanism of the present invention after concealing the housing and the L-shaped connecting block; Figure 11 This is a schematic diagram of the front and rear extrusion mechanism of the present invention; Figure 12 This is a schematic diagram of the rotating and moving mechanism of the flying fork of the present invention; Figure 13 for Figure 1 Top view; Figure 14 This is an enlarged view of the second limiting block of the present invention.

[0022] Figure Labels 1. Workbench; 2. Flying fork rotation and movement mechanism; 201. Flying fork; 202. Rotating shaft; 203. Motor 1; 204. Housing; 205. Slide rail 1; 206. Lead screw and slider drive module 1; 207. Wire threading nozzle; 3. Column left and right clamping mechanism; 301. Limiting block one; 302. Limiting block two; 303. Groove one; 304. Groove two; 305. Arc-shaped block; 4. Support cylinder moving and lifting mechanism; 401. Slide rail two; 402. Screw and slider drive module two; 403. Support cylinder; 404. Screw and slider drive module three; 4041. Motor two; 4042. Screw; 4043. Guide column; 4044. Slider; 5. Mechanism above the column; 501. Connecting cylinder; 502. Lead screw and slider drive module four; 6. Wire clamping and shearing drive mechanism; 601. Cylinder 1; 602. Housing; 603. L-shaped connecting block; 604. Wire clamping and shearing post; 7. Clipping and shearing line moving mechanism; 701. Cylinder 2; 702. Slide rail 3; 703. Moving seat 1; 8. Front and rear extrusion mechanism; 801. Cylinder 3; 802. Slide rail 4; 803. Moving seat 2; 804. Extrusion block; 9. Support column; 10. Top plate; 11. Column; 12. Bracket; 13. Support frame. Detailed Implementation

[0023] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0025] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0026] like Figures 1-14As shown, a laser radar galvanometer motor winding machine includes a worktable 1 and a fork rotation and movement mechanism 2, a column left and right clamping mechanism 3, a support cylinder movement and lifting mechanism 4, a column top mechanism 5, two wire clamping and cutting drive mechanisms 6, two wire clamping and cutting movement mechanisms 7, and a front and rear extrusion mechanism 8.

[0027] The support cylinder moving and lifting mechanism 4 moves the column 11 to the working front position of the flying fork rotating moving mechanism 2. The column left and right clamping mechanisms 3 clamp the column 11. The flying fork rotating moving mechanism 2 can move to the position of the column 11 to perform winding work. The two wire clamping and cutting drive mechanisms 6 can clamp or cut the wire. The wire clamping and cutting moving mechanism 7 can drive the wire clamping and cutting drive mechanism 6 to move horizontally. The front and rear pressing mechanism 8 can press the coil wound on the column 11 from front to back.

[0028] The fork rotation and movement mechanism 2 includes a fork 201, a rotating shaft 202, a motor 203, a housing 204, a slide rail 205, a lead screw and slider drive module 206, and a wire threading nozzle 207. The fork 201 is fixed to the rotating shaft 202, and the rear end of the rotating shaft 202 is rotatably connected to the housing 204. A motor is fixedly connected to the housing 204, and the output shaft of the motor 203 drives the rotating shaft 202 to rotate. A wire threading nozzle 207 is fixed to one end of the fork 201, and the wire is threaded through the nozzle 207.

[0029] The bottom of the chassis 204 is slidably connected to the slide rail 205, which is fixed to the worktable 1. The moving block output by the lead screw and slider drive module 206 is fixed to the bottom of the chassis 204. The lead screw and slider drive module 206 drives the chassis 204 to move left and right. The lead screw and slider drive module 206 is located at the bottom of the worktable 1.

[0030] Specifically, the lead screw and slider drive module has an existing structure.

[0031] The column left and right clamping mechanism 3 includes a first limiting block 301 and a second limiting block 302. The first limiting block 301 is fixed to the right end of the horizontal column, and the other end of the horizontal column passes through the rotating shaft 202 and is fixed to the chassis 204.

[0032] A bracket 12 is also fixedly connected to the workbench 1. A limit block 2 moving mechanism is connected to the left end face of the bracket 12. The limit block 2 moving mechanism includes a cylinder 4. The movable end of the cylinder 4 is fixed to the limit block 2 302, and the fixed end of the cylinder 4 is fixed to the bracket 12.

[0033] Limiting block 1 301 and limiting block 2 302 are arranged opposite to each other, and both limiting block 1 301 and limiting block 2 302 have an arc-shaped groove 1 303 in the vertical direction, and a groove 2 304 in the middle of the horizontal direction. An arc-shaped block 305 is also fixed in the middle of the groove 1 303. A column is sandwiched between the groove 1 303 of limiting block 1 301 and limiting block 2 302.

[0034] The supporting cylinder moving and lifting mechanism 4 includes a connecting seat, a supporting cylinder 403, a second slide rail 401, a second screw-slider drive module 402, and a third screw-slider drive module 4042. The second slide rail 401 is fixed on the worktable 1. The moving block output by the second screw-slider drive module 402 is fixed to the connecting seat, and the supporting cylinder 403 vertically passes through the connecting seat.

[0035] Specifically, the lead screw and slider drive module 2402 has an existing structure.

[0036] The bottom of the connecting seat is provided with a lead screw and slider drive module three 404. The lead screw and slider moving module three includes a motor two 4041. The output end of the motor two 4041 is fixed with a lead screw 4042. The lead screw 4042 is set vertically. The slider 4044 passes through the lead screw 4042 and is threadedly connected. The slider 4044 moves up and down along the guide post 4043. The top of the slider 4044 is fixed to the bottom of the support cylinder 403. The bottom end of the guide post 4043 is fixed to the fixed end of the motor two 4041. The top end of the guide post 4043 is fixed to the bottom of the connecting seat.

[0037] The upper mechanism 5 of the column includes a connecting cylinder 501 and a lead screw and slider drive module 4 502. Two support columns 9 are fixed on the worktable 1, and a top plate 10 is fixed to the top of the two support columns 9. The lead screw and slider drive module 4 502 is installed on the top plate 10. The moving block output by the lead screw and slider drive module 4 502 is fixed to the top of the connecting cylinder 501. The connecting cylinder 501 is vertically arranged, and the lead screw and slider drive module 4 502 drives the connecting cylinder 501 to move up and down. The connecting cylinder 501 is located above the clamped column 11.

[0038] Specifically, the lead screw and slider drive module 4502 also uses the existing structure.

[0039] Two wire clamping and shearing moving mechanisms 7 are mounted on the top of the support 12. Each wire clamping and shearing moving mechanism 7 includes a second cylinder 701, a third slide rail 702, and a first moving seat 703. The second cylinder 701 is horizontally positioned, with its fixed end fixed to the support 12 and its moving end fixed to the first moving seat 703. The first moving seat 703 moves left and right along the third slide rail 702. The third slide rail 702 is fixed to the support 12, and a wire clamping and shearing drive mechanism 6 is connected to the first moving seat 703.

[0040] The wire clamping and cutting drive mechanism 6 includes a cylinder 601, a housing 602, an L-shaped connecting block 603, and a wire clamping and cutting post 604. The two cylinders 601 are respectively fixed on a movable seat 703. Both cylinders 601 are inclined downwards in the direction of the flying fork 201, and the movable end of the cylinder is fixed to one end of the wire clamping and cutting post 604.

[0041] The housing 602 is fitted over the wire clamping post 604 and the L-shaped connecting block 603. One end of the housing 602 is fixed to the fixed end of the cylinder 601. The L-shaped connecting block 603 is fixed to the housing 602. The clamping end of the wire clamping post 604 cooperates with the bottom end of the L-shaped connecting block 603 to clamp and cut the wire.

[0042] The workbench 1 is also fixed with a support frame 13. Two front and rear extrusion mechanisms 8 are connected to the support frame 13. The front and rear extrusion mechanisms 8 include a cylinder 3 801, a slide rail 4 802, a moving seat 2 803 and an extrusion block 804. The fixed end of the cylinder 3 801 is fixed on the support frame 13, and the movable end of the cylinder 3 801 is horizontally set and fixed with the extrusion block 804. The extrusion blocks 804 in the two front and rear extrusion mechanisms 8 are arranged opposite to each other.

[0043] The extrusion block 804 is cross-shaped. The extrusion block 804 mates with the groove 304.

[0044] The wire clamping and cutting post 604 and the L-shaped connecting block 603 of the wire clamping and cutting drive mechanism 6 are made of conductive material, and the wire clamping and cutting drive mechanism 6 is also connected to an electrical device.

[0045] The present invention discloses a method for operating a laser radar galvanometer motor winding machine, comprising the following steps: Step 1: A column 11 is inserted into the support cylinder 403. The support cylinder moving and lifting mechanism 4 moves the column between the first limit block 301 and the second limit block 302. The support cylinder moving and lifting mechanism 4 then moves the column upward.

[0046] Step two: The fork rotation and movement mechanism 2 drives module 206 to move via a lead screw and slider, causing limit block 301 and limit block 302 to clamp the column. Then, the support cylinder lifting and moving mechanism 4 lowers the support cylinder and separates it from the column.

[0047] Step three: The wire extends from the threading nozzle 207 of the fly fork, and the first wire clamping and cutting drive mechanism 6 clamps one end of the wire. Then, motor 203 controls the fly fork to rotate, causing the fly fork to wind the wire around the column.

[0048] Step four: After the winding is completed, the cylinder 801 of the front and rear extrusion mechanism 8 extends, causing the two extrusion blocks 804 to move into the grooves 304 of the first and second limit blocks 301 and engage, respectively. The support cylinder in the support cylinder moving and lifting mechanism 4 rises, and the connecting cylinder 501 in the upper column mechanism 5 descends.

[0049] Step five: The second wire clamping and cutting drive mechanism 6 clamps the other end of the wire. Then, the two wire clamping and cutting drive mechanisms 6 are energized, and the wires are heated and connected to form a shape.

[0050] Step six: The extrusion block 804 of the front and rear extrusion mechanism 8 is reset.

[0051] Step 7: The wire cutting drive mechanism 6 cuts the wire, and the flying fork moves one end of the wire to the first wire cutting drive mechanism 6 and clamps it, making it convenient to manufacture the next coil.

[0052] Step 8: Limiting block 1 301 and limiting block 2 302 are reset, and the support cylinder 403 drives the column 11 and the formed coil to descend; the support cylinder 403 moves out of the processing area, and the staff safely takes away the product.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A laser radar galvanometer motor winder, characterized in that: It includes a worktable and a fork rotation and movement mechanism set on the worktable, a column left and right clamping mechanism, a support cylinder movement and lifting mechanism, a column top mechanism, two clamping and shearing line drive mechanisms, two clamping and shearing line movement mechanisms, and a front and rear extrusion mechanism. The supporting cylinder moving and lifting mechanism moves the column to the working front end position of the flying fork rotating moving mechanism; the column left and right clamping mechanism clamps the column; the flying fork rotating moving mechanism can move to the column position to perform winding work. Two wire clamping and cutting drive mechanisms are capable of clamping or cutting wires; the wire clamping and cutting moving mechanism is capable of driving the wire clamping and cutting drive mechanisms to move horizontally. The front and rear extrusion mechanism can extrude the coil wound on the column from both the front and rear.

2. The laser radar galvanometer motor winding machine according to claim 1, characterized in that: The flying fork rotation and movement mechanism includes a flying fork, a rotating shaft, a motor, a housing, a slide rail, a lead screw and slider drive module, and a wire threading nozzle. The flying fork is mounted on the rotating shaft, and the rear end of the rotating shaft is rotatably connected to the housing. A motor is fixedly connected to the housing, and the output shaft of the motor drives the rotating shaft to rotate. A wire threading nozzle is fixed to one end of the flying fork, and the wire is threaded through the wire threading nozzle. The bottom of the chassis is slidably connected to slide rail one, and slide rail one is fixed on the worktable; the moving block output by lead screw and slider drive module one is fixed to the bottom of the chassis, and lead screw and slider drive module one drives the chassis to move left and right. Lead screw and slider drive module one is set at the bottom of the worktable.

3. The galvanometer motor winder for lidar according to claim 2, characterized in that: The column left and right clamping mechanism includes a limiting block one and a limiting block two. The limiting block one is fixed to the right end of the horizontal column, and the other end of the horizontal column passes through the rotating shaft and is fixed to the chassis. A bracket is also fixedly connected to the workbench. A limit block two moving mechanism is connected to the left end face of the bracket. The limit block two moving mechanism includes a cylinder four. The movable end of the cylinder four is fixed to the limit block two, and the fixed end of the cylinder four is fixed to the bracket. Limiting block one and limiting block two are arranged opposite to each other, and both limiting block one and limiting block two are provided with an arc-shaped groove one in the vertical direction, and a groove two in the middle of both limiting block one and limiting block two in the horizontal direction; an arc-shaped block is also fixed in the middle of the groove one; a column is sandwiched between the groove one of limiting block one and limiting block two.

4. The galvanometer motor winder for lidar according to claim 3, characterized in that: The supporting cylinder moving and lifting mechanism includes a connecting seat, a supporting cylinder, a second slide rail, a second screw and slider drive module, and a third screw and slider drive module; the second slide rail is fixed on the worktable; the moving block output by the second screw and slider drive module is fixed to the connecting seat, and the supporting cylinder vertically passes through the connecting seat; The bottom of the connecting seat is equipped with a lead screw and slider drive module three. The lead screw and slider moving module three includes a motor two. The output end of the motor two is fixed with a lead screw. The lead screw is set vertically, and the slider passes through the lead screw and is threadedly connected. The slider moves up and down along the guide post. The top of the slider is fixed to the bottom of the support cylinder. The bottom end of the guide post is fixed to the fixed end of the motor two, and the top end of the guide post is fixed to the bottom of the connecting seat.

5. The galvanometer motor winder for lidar according to claim 4, characterized in that: The mechanism above the column includes a connecting cylinder and a screw-slider drive module four. Two support columns are fixed on the worktable, and a top plate is fixed on the top of the two support columns. The screw-slider drive module four is installed on the top plate. The moving block output by the screw-slider drive module four is fixed to the top of the connecting cylinder. The connecting cylinder is vertically set, and the screw-slider drive module four drives the connecting cylinder to move up and down. The connecting cylinder is located above the column that is being clamped.

6. The laser radar galvanometer motor winder according to claim 5, characterized in that: Two clamping and shearing line moving mechanisms are set on the top of the support. Each clamping and shearing line moving mechanism includes a second cylinder, a third slide rail, and a first moving seat. The second cylinder is set horizontally. The fixed end of the second cylinder is fixed to the support, and the moving end of the second cylinder is fixed to the first moving seat. The first moving seat moves left and right along the third slide rail. The third slide rail is fixed to the support, and the first moving seat is connected to a clamping and shearing line driving mechanism.

7. The laser radar galvanometer motor winder according to claim 6, characterized in that: The wire clamping and shearing drive mechanism includes a cylinder, a housing, an L-shaped connecting block, and a wire clamping and shearing column; two cylinders are respectively fixed on a movable seat, and both cylinders are inclined downwards in the direction of the flying fork, with the movable end of the cylinder fixed to one end of the wire clamping and shearing column. The housing is fitted over the wire clamping post and the L-shaped connecting block. One end of the housing is fixed to the fixed end of the cylinder, and the L-shaped connecting block is fixed to the housing. The clamping end of the wire clamping post cooperates with the bottom end of the L-shaped connecting block to clamp and cut the wire.

8. The laser radar galvanometer motor winder according to claim 7, characterized in that: The workbench is also fixed with a support frame, on which two front and rear extrusion mechanisms are connected. The front and rear extrusion mechanisms include cylinder three, slide rail four, moving seat two and extrusion block. The fixed end of cylinder three is fixed on the support frame, and the movable end of cylinder three is horizontally set and fixed with the extrusion block. The extrusion blocks in the two front and rear extrusion mechanisms are set opposite to each other. The extrusion block is cross-shaped; the extrusion block mates with groove two.

9. The laser radar galvanometer motor winder according to claim 8, characterized in that: The wire clamping and cutting column and L-shaped connecting block of the wire clamping and cutting drive mechanism are made of conductive material, and the wire clamping and cutting drive mechanism is also connected to an electrical device.

10. The working method of a laser radar galvanometer motor winding machine according to any one of claims 1-9, characterized in that: Includes the following steps, Step 1: A column is inserted into the support cylinder. The support cylinder moving and lifting mechanism moves the column between limit block 1 and limit block 2. The support cylinder moving and lifting mechanism then moves the column upward. Step 2: The flying fork rotation and movement mechanism drives module 1 to move through the lead screw and slider, so that limit block 1 and limit block 2 clamp the column; then, the support cylinder movement and lifting mechanism lowers the support cylinder and separates it from the column. Step 3: The wire extends from the wire-threading nozzle of the fly fork, and the first wire-clamping and cutting drive mechanism clamps one end of the wire; then, the motor controls the fly fork to rotate, causing the fly fork to wind the wire on the column. Step four: After the winding is completed, the cylinders of the front and rear extrusion mechanisms extend, so that the two extrusion blocks move into the grooves of the first and second limit blocks respectively and cooperate; the support cylinder in the support cylinder moving and lifting mechanism rises, and the connecting cylinder in the mechanism above the column descends. Step 5: The second wire clamping and cutting drive mechanism clamps the other end of the wire; then, the two wire clamping and cutting drive mechanisms are energized, and the wires are heated and connected to each other to form a shape. Step six: Reset the extrusion blocks of the front and rear extrusion mechanisms; Step 7: The wire cutting drive mechanism cuts the wire, and the flying fork moves one end of the wire to the first wire cutting drive mechanism and clamps it, making it easier to manufacture the next coil. Step 8: Limiting block 1 and limiting block 2 are reset, and the support cylinder drives the column and the formed coil to descend; the support cylinder moves out of the processing area, and the staff safely removes the product.

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