The stator coil winding apparatus of the motor having the kinematic guide structure for the prevention of cable tangling
Patent Information
- Application Number
- KR1020250032172
- Authority / Receiving Office
- KR · KR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-09-21
Smart Images
Figure PAT00002_ABST
Abstract
Description
Technology Field
[0001] The present invention relates to a stator coil winding device for a motor having a kinematic guide structure that prevents twisting of power lines and signal lines connected to the servo motor by fixing the servo motor in a kinematic configuration. Background Technology
[0003] Recently, methods for using flat coils with a square cross-section are being actively explored. Due to their square cross-sectional shape, such flat coils can reduce the empty space between coils and increase the packing density compared to ring coils. Consequently, they are being utilized as stator coils for drive motors in eco-friendly vehicles requiring high-speed rotation, such as electric vehicles, thereby improving motor efficiency.
[0004] For example, as prior art related to a winding device for winding a stator coil on a bobbin, Korean Registered Patent Publication No. 10-2235654 is disclosed. Referring to FIG. 1, the upper slip ring (500) electrically connects the upper motor amplifier (not shown), which receives a control signal from the control unit, and the x-axis drive unit and z-axis drive unit of the upper guide unit, so that the control signal from the control unit is transmitted to the x-axis drive unit and z-axis drive unit of the upper guide unit even while the upper rotating unit is rotating.
[0005] For example, one motor amplifier can be connected to four drive units, and the communication method between the control unit / motor amplifier and the x-axis drive unit and z-axis drive unit of the upper guide unit can use a serial communication method instead of a pulse method.
[0006] On the other hand, the pulse method is susceptible to noise, which may cause problems with position control of the guide section when connected to the slip ring.
[0007] Accordingly, there is a need for a technology that can prevent twisting of the power line connected to the servo motor by fixing the servo motor through a kinematic configuration without using a slip ring. Prior art literature
[0009] Korean Registered Patent Publication No. 10-2235654 "Coaxial guide winding device using a slip ring" (April 2, 2021) Korean Registered Patent Publication No. 10-2511276 "Flat coil and core for axial flux type motor" (March 20, 2023) Korean Published Patent Publication No. 10-2023-0170382 "Flat coil flattening system and method thereof" (December 19, 2023) The problem to be solved
[0010] The technical problem that the concept of the present invention aims to solve is to provide a stator coil winding device for a motor having a kinematic guide structure for preventing wire twisting, which can prevent twisting of power and signal lines connected from a fixed servo motor by using a kinematic configuration for the forward and backward movement and up and down movement of a guide that guides the coil to be wound uniformly on a rotating stator bobbin. means of solving the problem
[0012] To achieve the aforementioned objective, an embodiment of the present invention comprises a bobbin rotating body comprising: a lower fixed frame having a circular hole formed through it in the center; a disc-shaped rotating frame rotatably coupled to the circular hole of the lower fixed frame, having a first through hole formed in the center and a second through hole arranged in a set of three on the outer edge of the first through hole; a first pulley fixedly coupled to the bottom surface of the rotating frame; and a first servo motor that rotates the rotating frame by rotating the first pulley. A guide lifting unit comprising: an upper fixed frame formed at a certain height apart from the upper end of the lower fixed frame, having a third through-hole formed corresponding to the first through-hole and a fourth through-hole formed spaced apart from the third through-hole; a second servo motor fixed to the upper end of the upper fixed frame; a first ball screw comprising a screw shaft that is inserted into the fourth through-hole and extends to the lower fixed frame, has a second pulley formed at its upper end and rotates by the second servo motor, and a ball nut that is screw-fastened to the screw shaft and moves up and down; a first cam follower coupled to the side of the first ball screw and rotates; and a first lifting shaft coupled to the lower end of the first cam follower, passing through the second through-hole and extending to the lower end of the rotating frame. The present invention provides a stator coil winding device for a motor having a kinematic guide structure for preventing wire twisting, comprising: a bobbin fixing part comprising a compression shaft extended across the first through hole and the third through hole, a cylinder formed at the top of the upper fixed frame to raise and lower the compression shaft, an upper chuck coupled to the bottom of the compression shaft to press the upper surface of the stator bobbin of the electric motor, and a lower chuck formed opposite the upper chuck to receive the stator bobbin; and a coil guide part coupled to the bottom of the first lifting shaft to guide a coil wound on the stator bobbin in a vertical direction by raising and lowering from the side of the stator bobbin according to the raising and lowering of the first ball screw.
[0014] Here, the coil guide portion may be composed of a lifting frame fixedly coupled to the first lifting shaft and a guide frame coupled to the lower end of the lifting frame and sliding back and forth opposite the stator bobbin.
[0016] Additionally, the first lifting shaft may be composed of a left and right pair, and may further include a guide sliding part comprising: a first guide shaft coupled between the upper fixed frame and the lower fixed frame; a first bushing coupled to the first guide shaft and sliding up and down; a lifting module coupled to the first bushing; a lifting plate guided by the compression shaft and moving up and down in conjunction with the lifting module; and a second lifting shaft formed between the first lifting shafts and sliding up and down through the lifting frame according to the lifting of the lifting plate, so that the guide frame slides back and forth in conjunction with the lifting of the second lifting shaft.
[0018] In addition, a pinion gear is formed on the inner side of the lifting frame to mesh with a first rack gear formed at the lower end of the second lifting shaft, and a second rack gear is formed on the upper end of the guide frame to engage with the pinion gear, so that the guide frame can slide back and forth according to the lifting of the second lifting shaft.
[0020] In addition, the lifting module comprises a bush frame fixed to the first bush, a second ball screw consisting of a screw shaft that is inserted vertically into the bush frame and rotates, and a ball nut that is screw-fastened to the screw shaft and moves up and down, a third servo motor that rotates a third pulley formed at the top of the screw shaft, a second cam follower coupled to the ball nut, and a lifting plate that rotates while being guided by the second cam follower and moves up and down guided by the compression shaft in accordance with the lifting of the ball nut, and the second lifting shaft can be made to move up and down in conjunction with the lifting of the lifting plate.
[0022] Additionally, it may further include a second guide shaft formed between the upper fixed frame and the lower fixed frame, and a second bushing guided by the second guide shaft and coupled to the ball nut of the first ball screw.
[0024] In addition, the first cam follower is formed at the top and bottom of a ring-shaped guide plate coupled to the side of the ball nut of the first ball screw, respectively, and the second cam follower is formed in a ring shape and can be formed at the top and bottom of the lifting plate, respectively. Effects of the invention
[0026] According to the present invention, when the bobbin rotor that rotates the stator bobbin rotates, the servo motor is fixedly installed so as not to rotate, and by implementing the up-and-down sliding and forward-and-backward sliding of the coil guide part that guides the winding of the coil using a kinematic structure utilizing a rack and pinion, it is possible to prevent the twisting of the power line connected to the servo motor. Brief explanation of the drawing
[0028] Figure 1 illustrates a winding device according to the prior art. FIG. 2 illustrates a stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting according to an embodiment of the present invention. Figures 3 and 4 show the bobbin rotating body of Figure 2 separated. FIGS. 5 and FIGS. 6 respectively illustrate the operation of a stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting of FIG. 2. Figure 7 is an example showing the separation of the coil guide section of a stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting of Figure 2. FIG. 8 is an exploded view of the guide sliding section of a stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting of FIG. 2. FIG. 9 is an exploded view of the bobbin fixing part of the stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting of FIG. 2. Specific details for implementing the invention
[0029] Hereinafter, embodiments of the present invention having the aforementioned features will be described in more detail with reference to the attached drawings.
[0031] To achieve the aforementioned objective, a stator coil winding device for a motor having a kinematic guide structure for preventing wire twisting according to an embodiment of the present invention comprises, in general, a bobbin rotating body (110) that rotates a bobbin, a guide lifting part (120) that raises and lowers a coil guide part (140), a bobbin fixing part (130) that presses and fixes the bobbin, and a coil guide part (140) that guides a coil wound on a stator bobbin (10) in a vertical direction in conjunction with the guide lifting part (120), and the gist is to prevent twisting of the power line connected to the servo motor by fixing the servo motor in a kinematic configuration when the bobbin rotating body (110) rotates.
[0032] For reference, the stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting according to the present invention is equipped with an upper coil winding device and a lower coil winding device having the same structure, and winding operations are performed with the stator bobbin clamped between them. Therefore, since the upper and lower parts have the same structure, only the upper coil winding device will be described below.
[0034] Hereinafter, with reference to FIGS. 2 to 9, the present invention having the aforementioned structure will be specifically described as follows.
[0035] First, the bobbin rotating body (110) is configured to rotate a stator bobbin (10) applied to an electric vehicle. Specifically, referring to FIGS. 2 to 4, it comprises a lower fixed frame (111) having a circular hole (111a) formed through it in the center, a disc-shaped rotating frame (112) which is rotatably coupled to the circular hole (111a) of the lower fixed frame (111), has a first through hole (112a) formed in the center through which a compression shaft (131) passes, and has a second through hole (112b) arranged in a set of three on the outer edge of the first through hole (112a), a first pulley (113) fixedly coupled to the bottom surface of the rotating frame (112), and a first servo motor (not shown) that rotates the first pulley (113) to rotate the rotating frame (112) from the lower fixed frame (111), thereby rotating the stator bobbin (10). It is possible to make the coil wind.
[0037] Next, the guide lifting unit (120) is configured to lift the coil guide unit (140). Specifically, referring to FIGS. 2 to 4, the upper fixed frame (121) is formed at a certain height apart from the upper end of the lower fixed frame (111), and a third through-hole (121a) through which a compression shaft (131) passes is formed corresponding to a second through-hole (112a), and a fourth through-hole (121b) through which a screw shaft (123-1) passes is formed apart from the third through-hole (121a); a second servo motor (122) fixed to the upper end of the upper fixed frame (121) to rotate the screw shaft (123-1); and a screw that is inserted into the fourth through-hole (121b) and extends to the lower fixed frame (111), and has a second pulley (123a) formed at the upper end to rotate by the second servo motor (122). It is composed of a first ball screw (123) consisting of a shaft (123-1) and a ball nut (123-2) that is screwed into the screw shaft (123-1) and moves up and down, a first cam follower (124) coupled to the side of the first ball screw (123) and rotates in conjunction with the rotation of the bobbin rotating body (110), and a first lifting shaft (125) coupled to the bottom of the first cam follower (124) and extending to the bottom of the rotating frame (112) by passing through the second through hole (112b).
[0038] To explain further, the ball nut (123-2) is driven to move up and down by the rotation of the screw shaft (123-1), and a lifting ring (123-2a) is coupled to the inner surface of the ball nut (123-2) and moves up and down together.
[0039] And the first cam follower (124) is installed with a pair spaced apart vertically and the lifting ring (123-2a) inserted between them. For reference, a cam follower is a type of bearing with a roller inserted therein.
[0040] Accordingly, when the bobbin rotor (110) rotates, the first lifting shaft (125) and the first cam follower (124) also rotate. Since the first cam follower (124) is mounted on the lifting ring (123-2a), when the lifting ring (123-2a) is raised, the mounted first cam follower (124) and the first lifting shaft (125) can also be raised together.
[0041] That is, even if the bobbin rotating body (110) rotates, the first cam follower (124) rotates and moves up and down while mounted on the lifting ring (123-2a), so the coil guide part (140) coupled to the first lifting shaft (125) can be moved up and down.
[0042] Additionally, as shown in FIG. 3, a second guide shaft (126) formed between the upper fixed frame (121) and the lower fixed frame (111), and a second bushing (127) guided by the second guide shaft (126) and coupled to the ball nut (123-2) of the first ball screw (123) can be further included to guide the smooth lifting of the ball nut (123-2).
[0044] Next, the bobbin fixing part (130) is configured to fix the stator bobbin (10) by pressing it with a chuck. Specifically, referring to FIGS. 2 to 4 and FIG. 9, it is composed of a pressure shaft (131) extending across the first through hole (112a) and the third through hole (121a), a cylinder (132) formed at the top of the upper fixing frame (121) to raise and lower the pressure shaft (131), an upper chuck (133) coupled to the lower end of the pressure shaft (131) to press the upper surface of the stator bobbin (10) of the electric motor, and a lower chuck (134) formed opposite the upper chuck (133) on which the stator bobbin (10) is seated.
[0045] Here, the cylinder (132) may be configured as a pneumatic cylinder or a hydraulic cylinder to lower the compression shaft (131) and fix the stator bobbin (10) by the upper chuck (133).
[0047] Next, the coil guide part (140) is configured to guide the vertical movement of the coil wound on the stator bobbin (10), and is coupled to the lower end of the first lifting shaft (125) so as to reciprocate up and down from the side of the stator bobbin (10) according to the lifting of the ball nut (123-2) to guide the coil wound on the stator bobbin (10) in a vertical direction.
[0048] Specifically, with reference to FIGS. 3 and 4, the coil guide section (140) may be composed of a lifting frame (141) that is fixedly coupled to the first lifting shaft (125) and moves up and down, and a guide frame (142) that is coupled to the lower end of the lifting frame (141) and slides back and forth opposite the stator bobbin (10).
[0049] At this time, the guide frame () is formed in an approximate 'L' shape as illustrated, and a pair may be provided facing each other like "┗ ┛".
[0051] Meanwhile, a guide sliding section (150) may be further included to allow the guide frame (142) to slide back and forth opposite the stator bobbin (10). For example, referring to FIGS. 3, 6, and 7, the first lifting shaft (125) is configured as a left and right pair (see FIG. 7). The guide sliding section (150) comprises a first guide shaft (151) coupled between the upper fixed frame (121) and the lower fixed frame (111), a first bushing (152) coupled to the first guide shaft (151) and sliding up and down, a lifting module (153) coupled to the first bushing (152), a lifting plate (154) guided by a compression shaft (131) and moving up and down in conjunction with the lifting module (153), and a member formed between the first lifting shaft (125) and penetrating the lifting frame (141) according to the lifting of the lifting plate (154). It is configured with a second lifting shaft (155) that slides up and down, so that the guide frame (142) can slide back and forth in conjunction with the lifting of the second lifting shaft (155) against the stator bobbin (10).
[0052] For example, as illustrated in FIG. 7, a pinion gear (156) is formed on the inner side of the lifting frame (141) to mesh with a first rack gear (155a) formed at the bottom of the second lifting shaft (155), and a second rack gear (142a) is formed at the top of the guide frame (142) to be coupled with the pinion gear (156), so that the pinion gear (156) rotates forward and reverse according to the lifting of the second lifting shaft (155), thereby allowing the guide frame (142) to slide back and forth.
[0054] Here, referring to FIGS. 3 and FIGS. 8, the lifting module (153) comprises a bush frame (153a) fixed to a first bush (152), a screw shaft (153b-1) that is inserted vertically into the bush frame (153a) and rotates, a second ball screw (153b) consisting of a ball nut that is screw-fastened to the screw shaft (153b-1) and moves up and down, a third servo motor (158) that rotates a third pulley (153b-2) formed at the top of the screw shaft (153b-1), a second cam follower (157) coupled to the ball nut of the second ball screw (153b), and a device that is guided by the second cam follower (157) and rotates in conjunction with a bobbin rotating body (110), and is guided by a compression shaft (131) to move up and down according to the lifting of the ball nut of the second ball screw (153b). It is composed of a lifting plate (154), and the second lifting shaft (155) is raised in conjunction with the lifting of the lifting plate (154), so that the guide frame (142) can slide back and forth.
[0056] Meanwhile, referring to FIG. 4, the aforementioned first cam follower (124) is formed at the top and bottom of a ring-shaped lifting ring (123-2a) that is attached to the side of the ball nut of the first ball screw (123) to guide rotation stably, and referring to FIG. 2, the second cam follower (155) is formed in a ring shape and is formed at the top and bottom of the lifting plate (154) to guide rotation stably.
[0058] Accordingly, by configuring a stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting as described above, when the bobbin rotating body that rotates the stator bobbin rotates, the servo motor is fixed by the kinematic configuration so as not to rotate the servo motor, while simultaneously implementing up-and-down sliding and forward-and-backward sliding of the coil guide part that guides the coil, thereby preventing twisting of the power line and signal line connected to the servo motor.
[0060] The embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention; therefore, it should be understood that various equivalents and modifications that can replace them may exist at the time of filing this application. Explanation of the symbols
[0062] 110 : Bobbin rotation body 111 : Bottom fixed frame 112 : Rotating frame 113 : 1st Pulley 120 : Guide lifting unit 121 : Top fixed frame 122 : 2nd servo motor 123 : 1st ball screw 123-1 : Screw shaft 123-2 : Ball nut 124 : 1st Camfloor 125 : 1st lifting shaft 126 : Second guide axis 127 : Second Division 130 : Bobbin fixing part 131 : Compression shaft 132 : Cylinder 133 : Upper scale 134 : Lower scale 140: Coil guide section 141 : Lifting frame 142 : Guide Frame 150 : Guide sliding section 151 : 1st guide axis 152 : First Bushi 153 : Elevator Module 154 : Lifting plate 155 : 2nd lifting axis 156 : Pinion gear 157 : 2nd Cam Floor 158 : 3rd servo motor
Claims
Claim 1 A bobbin rotating body comprising: a lower fixed frame having a circular hole formed through the center; a disc-shaped rotating frame rotatably coupled to the circular hole of the lower fixed frame, having a first through hole formed in the center and a second through hole arranged in a set of three around the outer edge of the first through hole; a first pulley fixedly coupled to the bottom surface of the rotating frame; and a first servo motor that rotates the rotating frame by driving the first pulley. The bobbin rotating body comprises: an upper fixed frame formed at a certain height apart from the upper end of the lower fixed frame, having a third through hole formed corresponding to the first through hole and a fourth through hole formed spaced apart from the third through hole; a second servo motor fixed to the upper end of the upper fixed frame; a first ball screw comprising a screw shaft inserted into the fourth through hole and extended to the lower fixed frame, having a second pulley formed at the top and rotating by the second servo motor, and a ball nut screw-fastened to the screw shaft and moving up and down. A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, comprising: a guide lifting section composed of a first cam follower coupled to the side of a first ball screw and rotating, and a first lifting shaft coupled to the lower end of the first cam follower and extending to the lower end of the rotating frame through the second through hole; a bobbin fixing section composed of a compression shaft extending across the first through hole and the third through hole, a cylinder formed at the upper end of the upper fixing frame and lifting the compression shaft, an upper chuck coupled to the lower end of the compression shaft and pressing the upper surface of the stator bobbin of the electric motor, and a lower chuck formed opposite the upper chuck and on which the stator bobbin is seated; and a coil guide section coupled to the lower end of the first lifting shaft and guiding a coil wound on the stator bobbin in a vertical direction by lifting from the side of the stator bobbin according to the lifting of the first ball screw. Claim 2 A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, wherein, in claim 1, the coil guide part is composed of a lifting frame fixedly coupled to the first lifting shaft and a guide frame coupled to the lower end of the lifting frame and sliding back and forth opposite the stator bobbin. Claim 3 A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, characterized in that, in claim 2, the first lifting shaft is composed of a left and right pair, and comprises a first guide shaft coupled between the upper fixed frame and the lower fixed frame, a first bushing coupled to the first guide shaft and sliding up and down, a lifting module coupled to the first bushing, a lifting plate guided by the compression shaft and moving up and down in conjunction with the lifting module, and a second lifting shaft formed between the first lifting shafts and sliding up and down through the lifting frame according to the lifting of the lifting plate, so that the guide frame slides back and forth in conjunction with the lifting of the second lifting shaft. Claim 4 A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, characterized in that, in claim 3, a pinion gear is formed on the inner side of the lifting frame to mesh with a first rack gear formed at the lower end of the second lifting shaft, and a second rack gear is formed on the upper end of the guide frame to engage with the pinion gear, thereby causing the guide frame to slide back and forth according to the lifting of the second lifting shaft. Claim 5 In claim 4, the lifting module comprises a bushing frame fixed to the first bushing, a second ball screw consisting of a screw shaft that is inserted vertically into the bushing frame and rotates, and a ball nut that is screw-fastened to the screw shaft and moves up and down, a third servo motor that rotates a third pulley formed at the top of the screw shaft, a second cam follower coupled to the ball nut, and a lifting plate that is guided by the second cam follower and rotates, and is guided by the compression shaft and moves up and down according to the lifting of the ball nut, and is characterized in that the second lifting shaft moves up and down in conjunction with the lifting of the lifting plate. Claim 6 A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, characterized in that, in claim 1, it further comprises a second guide shaft formed between the upper fixed frame and the lower fixed frame, and a second bushing guided by the second guide shaft and coupled to the ball nut of the first ball screw. Claim 7 A stator coil winding device of a motor having a kinematic guide structure for preventing wire twisting, characterized in that, in claim 5, the first cam follower is formed at the upper and lower ends of a ring-shaped guide plate coupled to the side of a ball nut of the first ball screw, and the second cam follower is formed in a ring shape and is formed at the upper and lower ends of the lifting plate, respectively.