阅读说明：本技术 一种多针式绕线方法 (Multi-needle type winding method ) 是由 林启发 于 2020-11-25 设计创作，主要内容包括：本发明提供一种多针式绕线方法,包括如下步骤：将若干个定子沿直线方向固定拼接成定子组件；将定子组件装夹到装夹装置中；校对线嘴相对于定子组件的位置,使线嘴能够围绕定子运动；将导线引入到张紧装置,张紧装置对导线进行张紧；将导线引入到线嘴并将导线从线嘴穿过；将导线引入到夹剪装置,夹剪装置对导线进行夹紧；启动绕线装置将导线缠绕至定子上；启动夹剪电机,夹剪电机驱动活动块朝靠近固定块的方向运动,将导线剪断并保持夹紧导线,完成一个工作循环。(The invention provides a multi-needle type winding method, which comprises the following steps: fixedly splicing a plurality of stators into a stator assembly along a linear direction; clamping the stator assembly into a clamping device; calibrating the position of the nozzle relative to the stator assembly to enable the nozzle to move around the stator; leading the wire into a tensioning device, and tensioning the wire by the tensioning device; introducing a wire into the tip and passing the wire through the tip; leading the conducting wire into a clamping and shearing device, and clamping the conducting wire by the clamping and shearing device; starting a winding device to wind a lead on the stator; and starting the clamping and shearing motor, driving the movable block to move towards the direction close to the fixed block by the clamping and shearing motor, shearing the lead and keeping clamping the lead to finish a working cycle.)

1. A multi-needle winding method is characterized by comprising the following steps:

fixedly splicing a plurality of stators into a stator assembly along a linear direction;

clamping the stator assembly into a clamping device;

calibrating the position of the nozzle relative to the stator assembly to enable the nozzle to move around the stator;

leading the wire into a tensioning device, and tensioning the wire by the tensioning device;

introducing a wire into the tip and passing the wire through the tip;

leading the conducting wire into a clamping and shearing device, and clamping the conducting wire by the clamping and shearing device;

starting a winding device to wind a lead on the stator;

and starting the clamping and shearing motor, driving the movable block to move towards the direction close to the fixed block by the clamping and shearing motor, shearing the lead and keeping clamping the lead to finish a working cycle.

2. The multi-pin winding method according to claim 1, wherein the multi-pin winding method further comprises the steps of:

starting a turnover motor, and driving a turnover plate to turn over until a clamping station on the turnover plate faces upwards by the turnover motor;

placing the stator assembly on a clamping station on the turnover plate, so that the stator assembly is positioned between the fixed clamping block and the sliding clamping block, and the arrangement direction of the stator assembly is parallel to a connecting line between the fixed clamping block and the sliding clamping block;

and starting the clamping motor, driving the sliding clamping block to slide towards the direction close to the fixed clamping block by the clamping motor, and enabling the sliding clamping block to tightly press the stator assembly on the fixed clamping block.

3. The multi-pin winding method according to claim 2, wherein the multi-pin winding method further comprises the steps of:

starting a turnover motor, and driving a turnover plate to turn over to a clamping station on the turnover plate to horizontally face a line nozzle by the turnover motor;

the locking cylinder is started, the locking cylinder drives the positioning block to move downwards, the positioning block is inserted into a gap between the turnover plate and the fixing frame, and the turnover plate is limited to overturn by abutting against the positioning block in the upward overturning direction.

4. The multi-pin winding method according to claim 3, wherein the multi-pin winding method further comprises the steps of:

starting a moving cylinder, driving a pressing cylinder to horizontally move by the moving cylinder, and closing the moving cylinder when the moving cylinder is positioned right above the center of the stator component;

and starting the pressing cylinder, wherein a piston rod of the pressing cylinder moves downwards to be pressed and abutted with the upper surface of the stator assembly, and the stator assembly is pressed on the horizontal step surface of the turnover plate.

5. The multi-pin winding method according to claim 1, wherein the multi-pin winding method further comprises the steps of:

preliminarily correcting the position of the nozzle relative to the stator assembly, starting an X-axis motor, a Y-axis motor and a Z-axis motor, and driving the nozzle to move to a position close to the stator assembly;

accurately correcting the position of the wire nozzle relative to the stator assembly, independently starting a Y-axis motor, driving the wire nozzle to move along a Y axis, and recording a Y-axis coordinate value at the moment and taking the Y-axis coordinate value as a Y-axis bottom layer critical preset value when the wire nozzle moves to 90% of the depth of a gap between adjacent stators; when the nozzle moves to 10% of the depth of the gap between the adjacent stators, the Y-axis coordinate value at this time is recorded and used as the Y-axis top layer critical preset value.

6. The multi-pin winding method according to claim 5, wherein the multi-pin winding method further comprises the steps of:

the method comprises the steps that an X-axis motor is independently started, line nozzles are driven to move along an X axis, the X axis direction is parallel to the line nozzle arrangement direction and the stator assembly arrangement direction, the distance between adjacent line nozzles is equal to the distance between adjacent stators, and when a first line nozzle moves to one side, far away from a second stator, of a first stator and the second line nozzle moves to the center position between the first stator and the second stator, the coordinate value of the X axis at the moment is recorded and serves as the X-axis left critical preset value; and when the last line nozzle moves to the side of the last stator far away from the penultimate stator and the penultimate line nozzle is positioned at the central position between the penultimate stator and the last stator, recording the coordinate value of the X axis at the moment and taking the coordinate value as the right critical preset value of the X axis.

7. The multi-pin winding method according to claim 6, wherein the multi-pin winding method further comprises the steps of:

independently starting a Z-axis motor, driving a wire nozzle to move along a Z axis, and recording a Z-axis coordinate value at the moment and taking the Z-axis coordinate value as a Z-axis lower critical preset value when the wire nozzle moves to the lower part of the stator component and the distance between the wire nozzle and the stator component in the vertical direction is equal to half of the distance between adjacent stators; and when the line nozzle moves to the position above the stator assembly and the distance between the line nozzle and the stator assembly in the vertical direction is equal to half of the distance between the adjacent stators, recording the coordinate value of the Z axis at the moment and taking the coordinate value as the critical preset value on the Z axis.

8. The multi-pin winding method according to claim 1, wherein the multi-pin winding method further comprises the steps of:

starting a Y-axis motor, driving a wire nozzle to move to a position where a Y-axis coordinate is located at a Y-axis bottom preset value, and closing the Y-axis motor; starting an X-axis motor, driving a line nozzle to move to a position where an X-axis coordinate is at a left critical preset value of an X-axis, and closing the X-axis motor; and starting the Z-axis motor, driving the wire nozzle to move to a position where the Z-axis coordinate is at the lower critical preset value of the Z axis, and closing the Z-axis motor.

9. The multi-pin winding method according to claim 8, wherein the multi-pin winding method further comprises the steps of:

starting an X-axis motor, driving a line nozzle to move to a position with coordinates at a right critical preset value of an X-axis, and closing the X-axis motor; starting a Z-axis motor, driving a wire nozzle to move to a position where a Z-axis coordinate is at a critical preset value on a Z axis, and closing the Z-axis motor; starting an X-axis motor, driving a line nozzle to move to a position with coordinates in a left critical value of an X axis, and closing the X-axis motor; starting a Z-axis motor, driving a wire nozzle to move to a position where a Z-axis coordinate is at a lower critical preset value of a Z axis, and closing the Z-axis motor; starting a Y-axis motor, driving a Y coordinate of a wire nozzle to be at a position deviating from a critical preset value of a Y-axis bottom layer, and closing the Y-axis motor; completing a circumferential winding cycle, repeating the cycle process until the Y-axis coordinate of the wire nozzle is at the position of the Y-axis top layer critical value, completing a forward winding cycle, keeping the X-axis motor and the Z-axis motor in cycle work, and driving the wire nozzle to move reversely by the Y-axis motor to complete a reverse winding cycle; one winding cycle is completed by one circumferential winding cycle plus one forward winding cycle plus one reverse winding cycle.

10. The multi-pin winding method according to claim 9, wherein the multi-pin winding method further comprises the steps of:

the speed of movement of the nozzle during the first two circumferential winding cycles is V1, and the speed of movement of the nozzle during the third or more circumferential winding cycles is V2, where V1= V2/10;

when the winding period reaches a preset period value, the winding driving device drives the wire nozzle to move to clamp the wire into the clamping groove.

Technical Field

The invention relates to the technical field of winding machines, in particular to a multi-needle type winding method.

Background

The winding machine is equipment for winding a linear object on a specific workpiece, is usually used for winding a copper wire, most of electric appliance products need to be wound into an inductance coil by using an enameled copper wire (short for enameled wire) at the present stage, and the winding machine can be used for finishing one or more processing steps, such as various motors, coreless motors, rotors, stators, pin inductors, chip inductors, transformers, electromagnetic valves, linear inductors, resistance sheets, ignition coils, RFID (radio frequency identification devices), mutual inductors, acoustic coils, IC (integrated circuit) card high-low frequency coils, focusing coils and the like.

Stator winding machine among the prior art is usually for carrying out the wire winding to single sectional type motor stator, and every 3 or 4 ends of a thread weld and constitute U, V, W threephase after together in the wire winding, just so produce a large amount of ends of a thread and need weld, increased work load, improved labour cost, reduced work efficiency.

Disclosure of Invention

The invention aims to provide a multi-needle type winding method to solve the problem of low winding efficiency of a winding machine in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a multi-pin winding method comprises the following steps:

fixedly splicing a plurality of stators into a stator assembly along a linear direction;

clamping the stator assembly into a clamping device;

calibrating the position of the nozzle relative to the stator assembly to enable the nozzle to move around the stator;

leading the wire into a tensioning device, and tensioning the wire by the tensioning device;

introducing a wire into the tip and passing the wire through the tip;

leading the conducting wire into a clamping and shearing device, and clamping the conducting wire by the clamping and shearing device;

starting a winding device to wind a lead on the stator;

and starting the clamping and shearing motor, driving the movable block to move towards the direction close to the fixed block by the clamping and shearing motor, shearing the lead and keeping clamping the lead to finish a working cycle.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

starting a turnover motor, and driving a turnover plate to turn over until a clamping station on the turnover plate faces upwards by the turnover motor;

placing the stator assembly on a clamping station on the turnover plate, so that the stator assembly is positioned between the fixed clamping block and the sliding clamping block, and the arrangement direction of the stator assembly is parallel to a connecting line between the fixed clamping block and the sliding clamping block;

and starting the clamping motor, driving the sliding clamping block to slide towards the direction close to the fixed clamping block by the clamping motor, and enabling the sliding clamping block to tightly press the stator assembly on the fixed clamping block.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

starting a turnover motor, and driving a turnover plate to turn over to a clamping station on the turnover plate to horizontally face a line nozzle by the turnover motor;

the locking cylinder is started, the locking cylinder drives the positioning block to move downwards, the positioning block is inserted into a gap between the turnover plate and the fixing frame, and the turnover plate is limited to overturn by abutting against the positioning block in the upward overturning direction.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

starting a moving cylinder, driving a pressing cylinder to horizontally move by the moving cylinder, and closing the moving cylinder when the moving cylinder is positioned right above the center of the stator component;

and starting the pressing cylinder, wherein a piston rod of the pressing cylinder moves downwards to be pressed and abutted with the upper surface of the stator assembly, and the stator assembly is pressed on the horizontal step surface of the turnover plate.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

preliminarily correcting the position of the nozzle relative to the stator assembly, starting an X-axis motor, a Y-axis motor and a Z-axis motor, and driving the nozzle to move to a position close to the stator assembly;

accurately correcting the position of the wire nozzle relative to the stator assembly, independently starting a Y-axis motor, driving the wire nozzle to move along a Y axis, and recording a Y-axis coordinate value at the moment and taking the Y-axis coordinate value as a Y-axis bottom layer critical preset value when the wire nozzle moves to 90% of the depth of a gap between adjacent stators; when the nozzle moves to 10% of the depth of the gap between the adjacent stators, the Y-axis coordinate value at this time is recorded and used as the Y-axis top layer critical preset value.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

the method comprises the steps that an X-axis motor is independently started, line nozzles are driven to move along an X axis, the X axis direction is parallel to the line nozzle arrangement direction and the stator assembly arrangement direction, the distance between adjacent line nozzles is equal to the distance between adjacent stators, and when a first line nozzle moves to one side, far away from a second stator, of a first stator and the second line nozzle moves to the center position between the first stator and the second stator, the coordinate value of the X axis at the moment is recorded and serves as the X-axis left critical preset value; and when the last line nozzle moves to the side of the last stator far away from the penultimate stator and the penultimate line nozzle is positioned at the central position between the penultimate stator and the last stator, recording the coordinate value of the X axis at the moment and taking the coordinate value as the right critical preset value of the X axis.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

independently starting a Z-axis motor, driving a wire nozzle to move along a Z axis, and recording a Z-axis coordinate value at the moment and taking the Z-axis coordinate value as a Z-axis lower critical preset value when the wire nozzle moves to the lower part of the stator component and the distance between the wire nozzle and the stator component in the vertical direction is equal to half of the distance between adjacent stators; and when the line nozzle moves to the position above the stator assembly and the distance between the line nozzle and the stator assembly in the vertical direction is equal to half of the distance between the adjacent stators, recording the coordinate value of the Z axis at the moment and taking the coordinate value as the critical preset value on the Z axis.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

starting a Y-axis motor, driving a wire nozzle to move to a position where a Y-axis coordinate is located at a Y-axis bottom preset value, and closing the Y-axis motor; starting an X-axis motor, driving a line nozzle to move to a position where an X-axis coordinate is at a left critical preset value of an X-axis, and closing the X-axis motor; and starting the Z-axis motor, driving the wire nozzle to move to a position where the Z-axis coordinate is at the lower critical preset value of the Z axis, and closing the Z-axis motor.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

starting an X-axis motor, driving a line nozzle to move to a position with coordinates at a right critical preset value of an X-axis, and closing the X-axis motor; starting a Z-axis motor, driving a wire nozzle to move to a position where a Z-axis coordinate is at a critical preset value on a Z axis, and closing the Z-axis motor; starting an X-axis motor, driving a line nozzle to move to a position with coordinates in a left critical value of an X axis, and closing the X-axis motor; starting a Z-axis motor, driving a wire nozzle to move to a position where a Z-axis coordinate is at a lower critical preset value of a Z axis, and closing the Z-axis motor; starting a Y-axis motor, driving a Y coordinate of a wire nozzle to be at a position deviating from a critical preset value of a Y-axis bottom layer, and closing the Y-axis motor; completing a circumferential winding cycle, repeating the cycle process until the Y-axis coordinate of the wire nozzle is at the position of the Y-axis top layer critical value, completing a forward winding cycle, keeping the X-axis motor and the Z-axis motor in cycle work, and driving the wire nozzle to move reversely by the Y-axis motor to complete a reverse winding cycle; one winding cycle is completed by one circumferential winding cycle plus one forward winding cycle plus one reverse winding cycle.

In a possible embodiment of the invention, the multi-pin winding method further comprises the following steps:

the speed of movement of the nozzle during the first two circumferential winding cycles is V1, and the speed of movement of the nozzle during the third or more circumferential winding cycles is V2, where V1= V2/10;

when the winding period reaches a preset period value, the winding driving device drives the wire nozzle to move to clamp the wire into the clamping groove.

Drawings

FIG. 1 is a schematic structural diagram of a three-pin straight bar winding machine according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the three-pin type straight bar winding machine in FIG. 1 from another view angle;

FIG. 3 is a schematic structural diagram of a winding device according to an embodiment of the present invention;

FIG. 4 is a schematic view of the winding device of FIG. 3 from another perspective;

FIG. 5 is an enlarged view of a portion of the X-ray plate of FIG. 3;

FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;

FIG. 7 is a schematic structural view of a clamping device in an embodiment of the invention;

FIG. 8 is a schematic view of a positioning device according to an embodiment of the present invention;

FIG. 9 is a schematic view of a clipping apparatus according to an embodiment of the present invention;

FIG. 10 is a simplified diagram of a portion of a scissors assembly according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of the tensioner of an embodiment of the present invention;

FIG. 12 is a flowchart of a multi-pin winding method according to an embodiment of the present invention.

Description of reference numerals:

100. a work table;

200. a winding device;

210. a machine head; 211. a thread nozzle; 212. a wire passage; 213. a lead frame; 214. a wire hole; 215. a lead tube; 216. a fixed seat;

220. a winding drive device; 221. an X-axis motor; 222. a Y-axis motor; 223. a Z-axis motor;

230. an X-axis movable plate; 240. a Y-axis movable plate; 250. a Z-axis movable plate; 260. a Y-axis guide rail; 270. an X-axis guide rail; 280. a Z-axis guide rail;

300. a clamping device;

310. installing a clamping plate;

320. a turnover driving device; 321. turning over a motor;

330. fixing the clamping block; 340. a sliding clamping block; 350. a fixed mount; 360. a turnover plate; 370. clamping the motor;

380. a positioning device; 381. a locking cylinder; 382. positioning blocks; 383. a pressing cylinder; 384. a moving cylinder; 385. a slide rail; 386. a slide base;

400. a clipping device;

410. a clamp shear drive device; 411. a pinch shear motor;

420. a fixed block; 421. shearing a groove;

430. a movable block; 431. cutting the block;

440. a clamping groove;

450. a lifting plate; 451. a guide post;

460. a lifting cylinder;

500. a tensioning device;

510. a sliding wire wheel; 520. fixing the wire wheel;

530. an elastic member; 531. a compression spring;

540. tensioning the slide block; 550. an electromagnetic brake; 560. a slide bar; 570. a support frame.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those skilled in the art as the case may be.

The following describes an embodiment of the present invention with reference to fig. 1 to 12.

Referring to fig. 1 and 2, in some embodiments of the present invention, a three-pin type straight bar winding machine is provided, including a worktable 100, a winding device 200, a clamping device 300, a clamping and shearing device 400, and a tensioning device 500, wherein the winding device 200, the clamping device 300, and the clamping and shearing device 400 are respectively mounted on an upper surface of the worktable 100; the winding device 200 comprises a machine head 210 and a winding driving device 220, the winding driving device 220 is in transmission connection with the machine head 210, at least three wire nozzles 211 are arranged on the machine head 210, and a lead channel 212 is arranged in each wire nozzle 211; the clamping device 300 comprises a clamping plate 310 and an overturning driving device 320, the clamping plate 310 can rotate around a horizontal axis relative to the workbench 100, and the overturning driving device 320 is in transmission connection with the clamping plate 310; the clamping and shearing device 400 comprises a fixed block 420, a movable block 430 and a clamping and shearing driving device 410, wherein the fixed block 420 is fixedly connected with the clamping and shearing driving device 410, the movable block 430 is in transmission connection with the clamping and shearing driving device 410, the fixed block 420 and the movable block 430 are arranged side by side along the horizontal direction, and the clamping and shearing driving device 410 is used for driving the movable block 430 to approach or separate from the fixed block 420; the clamping and shearing device 400 is positioned between the winding device 200 and the clamping device 300; the tensioning device 500 is located on the side of the winding device 200 remote from the pinch-shear device 400, and the tensioning device 500 is used to tension the wire entering the wire guide channel 212.

In the use process of the three-needle straight bar winding machine provided by the embodiment of the invention, a stator is fixed on a clamping device 300, then a lead passes through a tensioning device 500, the tensioning device 500 tensions and straightens the lead, the lead is tensioned and then guided to a winding device 200, the lead enters a machine head 210, is inserted into a lead channel 212 and passes through a wire nozzle 211, passes through a clamping and shearing device 400 after passing out from the first nozzle, and after the lead enters the clamping and shearing device 400, a clamping and shearing driving device 410 drives a movable block 430 to move towards the direction close to a fixed block 420, the movable block 430 and the fixed block 420 are folded to clamp the lead, and then the lead between the clamping and shearing device 400 and the wire nozzle 211 is wound on the stator. A plurality of stators can be fixed on clamping device 300 simultaneously in linear arrangement, and every line mouth 211 corresponds carries out the wire winding at each stator, improves work efficiency. After a group of stators is wound, the machine head 210 pulls the wires between the wire nozzle 211 and the stators to the clamping and shearing device 400, the clamping and shearing device 400 shears the wires, and the clamping and shearing device 400 clamps the wires while shearing the wires, so that the wires are prevented from retracting into the wire nozzle 211 and are kept in a tensioning state.

Referring to fig. 3 and 4, in a possible implementation manner of this embodiment, the handpiece 210 includes an X-axis movable plate 230, a Y-axis movable plate 240, and a Z-axis movable plate 250, the Y-axis movable plate 240 is slidably connected to the worktable 100 along the Y-axis direction, the X-axis movable plate 230 is slidably connected to the Y-axis movable plate 240 along the X-axis direction, the Z-axis movable plate 250 is slidably connected to the X-axis movable plate 230 along the Z-axis direction, the winding driving device 220 is respectively connected to the X-axis movable plate 230, the Y-axis movable plate 240, and the Z-axis movable plate 250 in a transmission manner, and the nozzle 211 is fixedly connected to the Z-axis movable plate 250.

With the above possible implementation manner of the present embodiment, the X-axis, the Y-axis, and the Z-axis are three coordinate axes in a rectangular spatial coordinate system, and the winding driving device 220 drives the X-axis movable plate 230, the Y-axis movable plate 240, and the Z-axis movable plate 250 to move along the X-axis, the Y-axis, and the Z-axis, respectively. When the winding driving device 220 drives the Y-axis movable plate 240 to move along the Y axis, the X-axis movable plate 230 and the Z-axis movable plate 250 synchronously move along the Y axis, and when the winding driving device 220 drives the X-axis movable plate 230 to move along the X axis, the Z-axis movable plate 250 synchronously moves along the X axis, and finally, the spatial movement speed and the movement direction of the nozzle 211 can be controlled by controlling the movement speeds of the X-axis movable plate 230, the Y-axis movable plate 240 and the Z-axis movable plate 250, so that the nozzle 211 is driven to move along a preset spatial route, and the preset spatial route can be a straight line or a curve.

In a possible implementation manner of this embodiment, the winding driving device 220 includes an X-axis motor 221, a Y-axis motor 222, and a Z-axis motor 223, the Y-axis motor 222 is in transmission connection with a Y-axis movable plate 240, and the Y-axis motor 222 is fixedly connected with the worktable 100; the X-axis motor 221 is in transmission connection with the X-axis movable plate 230, and the X-axis motor 221 is fixedly connected with the Y-axis movable plate 240; the Z-axis motor 223 is in transmission connection with the Z-axis movable plate 250, and the Z-axis motor 223 is fixedly connected with the X-axis movable plate 230.

Through the above possible embodiment modes of this embodiment, the X-axis motor 221, the Y-axis motor 222, and the Z-axis motor 223 may adopt linear motors or rotary motors, when a rotary motor is adopted, a synchronous belt is used for transmission, the motor drives the synchronous belt to move, and the synchronous belt pulls the movable plate to move. When a linear motor is adopted, the motor is directly connected with the movable plate to drive the movable plate to move. The Y-axis motor 222 drives the Y-axis moving plate 240 to move along the Y-axis, thereby driving the X-axis moving plate 230, the X-axis motor 221, the Z-axis moving plate 250, and the Z-axis motor 223 to move along the Y-axis. The X-axis motor 221 drives the X-axis movable plate 230 to move along the X-axis, thereby driving the Z-axis movable plate 250 and the Z-axis motor 223 to move along the X-axis. The Z-axis motor 223 drives the Z-axis movable plate 250 to move along the Z-axis, and finally controls the moving direction and the moving speed of the nozzle 211 by respectively controlling the transmission speeds of the X-axis motor 221, the Y-axis motor 222 and the Z-axis motor 223.

In a possible implementation manner of this embodiment, a Y-axis guide 260 is fixedly connected to the upper surface of the table 100, the Y-axis guide 260 is disposed along the Y-axis direction, and the Y-axis moving plate 240 is slidably connected to the Y-axis guide 260 along the Y-axis direction.

Through the above possible embodiments of this embodiment, the Y-axis guide rail 260 can guide the Y-axis movable plate 240, so that the Y-axis movable plate 240 slides more smoothly and the moving direction is more accurate.

In a possible implementation manner of this embodiment, the Y-axis moving plate 240 is fixedly connected with an X-axis guide rail 270, the X-axis guide rail 270 is disposed along the X-axis direction, the X-axis guide rail 270 is perpendicular to the Y-axis guide rail 260, the X-axis guide rail 270 is disposed horizontally to the Y-axis guide rail 260, and the Y-axis moving plate 240 is slidably connected with the X-axis guide rail 270 along the X-axis direction.

Through the above possible embodiment modes of the present embodiment, the X-axis guide 270 can guide the X-axis moving plate 230, so that the X-axis moving plate 230 slides more stably and the moving direction is more accurate.

In a possible implementation manner of this embodiment, a Z-axis guide rail 280 is fixedly connected to the X-axis movable plate 230, the Z-axis guide rail 280 is disposed along the Z-axis direction, the Z-axis guide rail 280 is perpendicular to the X-axis guide rail 270 and the Y-axis guide rail 260, the Z-axis guide rail 280 is disposed vertically, and the Z-axis movable plate 250 and the Z-axis guide rail 280 are slidably connected along the Z-axis direction.

Through the above possible embodiments of the present embodiment, the Z-axis guide rail 280 can guide the Z-axis moving plate 250, so that the Z-axis moving plate 250 slides more stably and the moving direction is more accurate.

Referring to fig. 5 and 6, in a possible implementation manner of this embodiment, a lead frame 213 is fixedly connected to the X-axis moving plate 230, the nozzle 211 is fixedly connected to one end of the lead frame 213, the nozzle 211 is located outside the lead frame 213, a lead hole 214 corresponding to the nozzle 211 is formed in the other end of the lead frame 213, and the lead hole 214 penetrates through the lead frame 213.

With the above possible embodiments of the present embodiment, the diameter of the lead passage 212 is smaller than that of the lead hole 214, and the lead frame 213 spaces the lead hole 214 and the nozzle 211 at a distance, so that the wire can enter the lead passage 212 straightly, and the friction force between the wire and the edge of the port of the lead passage 212 when the wire enters the lead passage 212 is reduced.

In one possible embodiment of this embodiment, the nozzle 211 includes a lead tube 215 and a fixed seat 216, the lead channel 212 is located in the lead tube 215 and extends through the lead seat, and the lead seat is screwed to the lead frame 213.

With the above possible embodiments of this embodiment, the lead frame 213 is screwed to the lead frame, so that the lead frame can be easily mounted on the lead frame 213 or dismounted from the lead frame 213, thereby facilitating maintenance and replacement of the nozzle 211.

In one possible implementation of this embodiment, the lead tube 215 is resilient.

Through the possible embodiment modes of the present embodiment, the lead tube 215 is made of a stainless steel tube, which has good corrosion resistance and prevents the lead from being scratched by the rust slag generated on the surface. In the process that the wire twines on the stator, the wire can form the contained angle with the axis of lead wire pipe 215, and the wire rubs with the port edge of lead wire pipe 215, because lead wire pipe 215 has elasticity, consequently, lead wire pipe 215 can deviate the axis bending after receiving the extrusion of wire, forms the arc, makes the wire smooth transition crooked, and the degree of buckling reduces to reduce the wire and the friction at lead wire pipe 215 port edge, reduce the wearing and tearing and the scratch that the wire received.

In one possible implementation of the present embodiment, the distance between the wire hole 214 and the wire passage 212 is L1, and the length of the wire tube 215 is L2, wherein L2< L1.

With the above possible embodiment modes of the present embodiment, in order to improve the elastic performance of the lead tube 215, the wall thickness of the lead tube 215 is set to about 0.5mm, so that the lead tube 215 is not too long, which may result in insufficient rigidity of the lead tube 215 and excessive bending after being pressed by the lead. The length of the lead tube 215 is set at about 25mm, in order to enable the lead wire to pass through the lead tube 215 more straightly, after the lead wire passes through the lead hole 214, the lead wire needs to be straightened by a longer distance, and through experimental comparison, the distance between the lead hole 214 and the lead tube 215 needs to be larger than 50mm, the lead wire winding effect meets the requirement, meanwhile, the distance between the lead tube 215 and the wire hole is not too large, and the structure is compact.

Referring to fig. 7 and fig. 8, in a possible implementation manner of the present embodiment, the clamping device 300 further includes a fixing frame 350, the fixing frame 350 is fixedly connected to the upper surface of the worktable 100, the clamping plate 310 is rotatably connected to the fixing frame 350, the clamping plate 310 is horizontal relative to a central axis of rotation of the fixing frame 350, the turnover driving device 320 includes a turnover motor 321, the turnover motor 321 is fixedly connected to the fixing frame 350, and the turnover motor 321 is in transmission connection with the clamping plate 310.

Through the above possible embodiment mode of this embodiment, fix the stator on clamping device 300 in-process, the upset motor 321 moves clamping plate 310 and overturns to fixed station up before, and the staff of being convenient for fixes the stator on clamping plate 310, and after the stator is fixed to be accomplished, upset drive arrangement 320 drives clamping plate 310 again and overturns to fixed station towards line mouth 211, the line mouth 211 of being convenient for twines the wire on the stator.

In a possible implementation manner of this embodiment, the clamping plate 310 includes a turning plate 360, a fixed clamping block 330 and a sliding clamping block 340, the turning plate 360 is rotatably connected to the fixed frame 350, and the turning motor 321 is in transmission connection with the turning plate 360; the fixed clamping block 330 is fixedly connected with the turnover plate 360, the sliding clamping block 340 is slidably connected with the turnover plate 360, and the sliding clamping block 340 can be close to or far away from the fixed clamping block 330 after sliding relative to the turnover plate 360.

By the above possible embodiment modes of the present embodiment, in the process of fixing the stator on the clamping plate 310, the stator is placed on the turnover plate 360, the stator is located between the fixed clamping block 330 and the sliding clamping block 340, the sliding clamping block 340 is pushed towards the direction close to the fixed clamping block 330, and the sliding clamping block 340 presses the stator on the fixed clamping block 330, so that the stator is limited to move in the direction parallel to the sliding direction of the sliding clamping block 340.

In a possible implementation manner of this embodiment, the clamping device 300 further includes a clamping motor 370, the clamping motor 370 is fixedly connected to the fixed frame 350, and the clamping motor 370 is in transmission connection with the sliding clamping block 340.

By the above possible embodiment modes of the present embodiment, after the stator is placed between the fixed clamping block 330 and the sliding clamping block 340, the clamping motor 370 can drive the sliding clamping block 340 to move towards the direction close to or away from the fixed clamping block 330, so as to automatically press the stator on the fixed clamping block 330.

In one possible embodiment of this embodiment, the slide block is horizontally slidably connected to the flipping panel 360.

Through the above possible embodiment modes of the present embodiment, the plurality of wire mouths 211 are arranged side by side along the horizontal direction, therefore, the stators need to be combined together side by side along the horizontal direction and then fixed on the turnover plate 360, and after the number of the stators is adjusted, the distance between the fixed clamping block 330 and the sliding clamping block 340 needs to be changed, therefore, the clamping motor 370 is used to drive the sliding clamping block 340 to move along the horizontal direction to change the distance between the sliding clamping block 340 and the fixed clamping block 330, so as to adapt to the total length of the stator after the number is adjusted.

In a possible implementation manner of this embodiment, the clamping device 300 further includes a positioning device 380, and the positioning device 380 abuts against the turning plate 360 to limit the rotation of the turning plate 360.

Through the above possible embodiment mode of this embodiment, in the winding process, the wire has certain tightness on the stator winding, and the stator receives the pulling force effect by the winding dynamics, especially when the stator quantity of wire winding is more simultaneously, the total effort that returning face plate 360 received is great, therefore the torque that produces is also great. The positioning device 380 abuts against or clamps the main turnover plate 360 to limit the rotation of the turnover plate 360, so that the stability of the stator in the winding process is improved.

In a possible implementation manner of this embodiment, the positioning device 380 includes a locking cylinder 381 and a positioning block 382, the locking cylinder 381 is fixedly connected to the fixing frame 350, the positioning block 382 is in transmission connection with the locking cylinder 381, and the locking cylinder 381 drives the positioning block 382 to move into the range of the rotation space of the turnover plate 360 and abuts against the turnover plate 360 to limit the rotation of the turnover plate 360.

Through the above possible embodiment mode of this embodiment, locking cylinder 381 and locating piece 382 are located the top of returning face plate 360, and returning face plate 360 overturns to vertical state after, the stator of fixing on returning face plate 360 is towards line mouth 211, and at this moment, locking cylinder 381 drive locating piece 382 move down to returning face plate 360 one side of keeping away from the stator, and locating piece 382 keeps away from the one side butt of stator with returning face plate 360 to restriction returning face plate 360 rotates.

In a possible implementation manner of this embodiment, the positioning device 380 further includes a pressing cylinder 383, the pressing cylinder 383 is located above the turnover plate 360, and the pressing cylinder 383 is used for pressing the stator on the turnover plate 360 downwards.

Through the above possible embodiment modes of this embodiment, the clamping motor 370 can drive the sliding clamping block 340 to press the stator on the fixing clamping block 330 in the horizontal direction, but in the winding process, the lead generates pulling force or pushing force to the stator periodically in the 360 direction, in the winding process, the piston rod of the pressing cylinder 383 moves downward to press the upper surface of the stator, the lower surface of the stator abuts against the horizontal step surface on the turnover plate 360, so as to limit the stator to move in the vertical direction, one surface of the stator far away from the wire nozzle 211 abuts against the surface of the turnover plate 360, so the stator can only move in the direction close to the wire nozzle 211, but under the pressing constraint of the pressing cylinder 383 and the clamping motor 370, the stator can be limited to move in the direction close to the wire nozzle 211 by friction force.

In a possible implementation manner of this embodiment, the positioning device 380 further includes a moving cylinder 384, the moving cylinder 384 is fixedly connected with the fixed frame 350, the pressing cylinder 383 is horizontally slidably connected with the fixed frame 350, and the moving cylinder 384 is drivingly connected with the pressing cylinder 383.

Through the above possible embodiment modes of this embodiment, since the number of the stators may be changed, in order to make the compressing cylinder 383 compress the stator more stably, the position where the compressing cylinder 383 compresses the stator needs to be located on the upper surface of the center of the stator assembly, at this time, the moving cylinder 384 drives the compressing cylinder 383 to horizontally move to a position right above the center of a group of stators, and the piston rod of the compressing cylinder 383 moves downward and then can compress the upper surface of the center of the stator assembly.

In a possible implementation manner of this embodiment, the positioning device 380 further includes a slide rail 385 and a slide seat 386, the slide rail 385 is fixedly connected with the fixed frame 350, the slide rail 385 is horizontally disposed, the pressing cylinder 383 is fixedly connected with the slide seat 386, the slide seat 386 is horizontally slidably connected with the slide rail 385, and the moving cylinder 384 is drivingly connected with the slide seat 386.

Through the above possible embodiment modes of the present embodiment, the slider can guide the sliding seat 386, so that the sliding process of the sliding seat 386 is more stable.

Referring to fig. 9 and 10, in a possible implementation manner of this embodiment, a gap is formed between the surfaces of the fixed block 420 and the movable block 430, the gap forms a clamping groove 440, a cutting groove 421 is formed on the fixed block 420, a cutting block 431 corresponding to the cutting groove 421 is fixedly connected to the movable block 430, the cutting block 431 and the cutting groove 421 are respectively located inside the clamping groove 440, and after the movable block 430 and the fixed block 420 are closed, the cutting block 431 is inserted into the cutting groove 421.

With the above possible embodiments of this embodiment, after the wire passes through the clamping groove 440, the movable block 430 presses the wire against the fixed block 420, and the cutout 431 is inserted into the cutout groove 421, so that the wire is cut off, and after the wire is cut off, the movable block 430 and the fixed block 420 still clamp the wire.

In one possible implementation of this embodiment, the depth of cutout 421 is greater than the diameter of the wire, and the length of cutout 431 is greater than twice the diameter of the wire.

By means of the above-mentioned possible embodiments of the present embodiment, the cutout 431 is designed to be knife-edged, and the wire can be cut off after the cutout 431 is inserted into the cutout groove 421.

In a possible implementation manner of this embodiment, the clamping and shearing device 400 further includes a lifting plate 450, the lifting plate 450 is connected with the workbench 100 in a sliding manner along a vertical direction, the fixed block 420 is fixedly connected with the lifting plate 450, the clamping and shearing driving device 410 includes a clamping and shearing motor 411, the clamping and shearing motor 411 is in transmission connection with the movable block 430, and the clamping and shearing motor 411 is fixedly connected with the lifting plate 450.

By the above possible embodiments of this embodiment, the clipping device 400 is located below the turning plate 360 to make room for the winding movement of the nozzle 211. When the wires need to be clipped and cut, the lifting plate 450 moves upwards to enable the movable block 430 and the fixed block 420 to be close to the stator, so that the wire mouth 211 can conveniently pull the wires to be clipped into the clipping groove 421, the wires can be kept in a straight state relative to the clipping groove 421 when being clipped into the clipping groove 421, and clipping and clamping operations are convenient.

In a possible implementation manner of this embodiment, the clamping and shearing device 400 further includes a lifting cylinder 460 and a guide post 451, the guide post 451 is fixedly connected to the workbench 100, the guide post 451 is vertically disposed, the lifting plate 450 is slidably connected to the guide post 451 in a vertical direction, the lifting cylinder 460 is fixedly connected to the workbench 100, and the lifting cylinder 460 is in transmission connection with the lifting plate 450.

Through the above possible embodiment modes of the present embodiment, the lifting cylinder 460 can drive the lifting plate 450 to ascend or descend, and the guide posts 451 can guide the lifting plate 450, so that the ascending or descending process of the lifting plate 450 is more stable.

Referring to fig. 11, in a possible implementation manner of this embodiment, the tensioning device 500 includes a supporting frame 570, a sliding pulley 510, a fixed pulley 520, an elastic member 530, and a tensioning slider 540, the supporting frame 570 is fixedly connected to the worktable 100, the sliding pulley 510 is rotatably connected to the tensioning slider 540, the tensioning slider 540 is slidably connected to the supporting frame 570, the fixed pulley 520 is fixedly connected to the supporting frame 570, one end of the elastic member 530 is fixedly connected to the supporting frame 570, the other end of the elastic member 530 is fixedly connected to the tensioning slider 540, and the sliding pulley 510 and the fixed pulley 520 are respectively located at two ends of the elastic member 530.

Through the above possible embodiment mode of the present embodiment, the wire is wound on the fixed pulley 520, then wound on the sliding pulley 510, and after wound around the sliding pulley 510, the bending angle of the wire with respect to the direction entering the fixed pulley 520 is greater than 150 degrees, and finally the wire penetrates into the wire hole 214, when the tension of the wire is increased, the pressure generated by the wire on the sliding pulley 510 pushes the sliding pulley 510 to move towards the direction close to the fixed pulley 520, the tensioning slider 540 compresses the elastic member 530, and when the tension of the wire is reduced, the elastic member 530 pushes the tensioning slider 540 to move towards the direction far from the fixed pulley 520, so that the tension of the wire is increased, and the wire is buffered, and the wire is prevented from being broken due to the excessive instantaneous tension.

In a possible implementation manner of this embodiment, the tensioning device 500 further includes an electromagnetic brake 550, the electromagnetic brake 550 is fixedly connected to the supporting frame 570, the electromagnetic brake 550 is located at one end of the elastic member 530 far away from the sliding pulley 510, and the fixed pulley 520 is located between the sliding pulley 510 and the electromagnetic brake 550.

Through the above possible embodiment modes of the present embodiment, the electromagnetic brake 550 brakes the wire by using the electromagnetic damping principle, and there are a plurality of electromagnetic braking modes in practical application, and the following modes are adopted in the present embodiment but not limited to this mode: set up a runner on support frame 570, the runner rotates with support frame 570 to be connected, the inside hollow structure that is of runner, fixed connection magnet on the inner wall of runner, the inside coil that sets up in support frame 570 fixed connection of runner, the both ends of coil are closed, produce the magnetic field that changes around the coil when the runner is rotatory to at the inside electric current that produces of coil, the electric current produces the magnetic field around the coil again, thereby the magnetic field interact of the magnetic field that the electric current produced and magnet reduces the kinetic energy of runner. By using the principle, the wire is drawn from the sliding wire wheel 510 to the rotating wheel and wound on the rotating wheel, and finally penetrates into the wire nozzle 211, so that the multi-tensioning control of the wire is realized. When the elastic member 530 or the tension slider 540 is stuck, the battery brake can continuously control the tension of the wire.

In a possible embodiment of this embodiment, the tensioning device 500 further includes a sliding rod 560, the sliding rod 560 is fixedly connected to the supporting frame 570, and the tensioning slider 540 is slidably connected to the sliding rod 560.

Through the above possible embodiment modes of the present embodiment, the sliding rod 560 can guide the tensioning slider 540, so that the tensioning slider 540 slides more stably, the sliding direction of the tensioning slider 540 is more accurate, and the phenomenon that the magnitude of the received elastic force is too large due to the included angle between the sliding direction and the elastic deformation direction of the elastic member 530 is avoided.

In a possible implementation manner of this embodiment, the elastic member 530 includes a compression spring 531, the compression spring 531 is sleeved on the sliding rod 560, the compression spring 531 is slidably connected to the sliding rod 560, and two ends of the compression spring 531 are fixedly connected to the tensioning slider 540 and the supporting frame 570, respectively.

Through the above possible embodiment modes of the present embodiment, the sliding rod 560 can guide the compression spring 531, and the central axis is always kept consistent with the elastic deformation direction after the compression spring 531 is elastically deformed, so as to avoid the overlarge change of the received elastic force caused by the included angle generated between the sliding direction and the elastic deformation direction of the compression spring 531.

In another embodiment of the present invention, a multi-pin winding method is provided, which is applied to the three-pin straight bar winding machine in the above embodiments, and the structure and function of the winding machine related to the method are the same as those of the three-pin straight bar winding machine in the above embodiments, and specific reference may be made to the description of the three-pin straight bar winding machine in the above embodiments, and details thereof are not repeated here.

Referring to fig. 12, the multi-pin winding method includes the following steps:

s100, fixedly splicing a plurality of stators into a stator assembly along a linear direction;

s200, clamping the stator assembly into the clamping device 300;

s300, correcting the position of the wire nozzle 211 relative to the stator assembly to enable the wire nozzle 211 to move around the stator;

s400, leading the wire into a tensioning device 500, and tensioning the wire by the tensioning device 500;

s500, leading the conducting wire into the nozzle 211 and leading the conducting wire to pass through the nozzle 211;

s600, leading the conducting wire into the clamping and shearing device 400, and clamping the conducting wire by the clamping and shearing device 400;

s700, starting the winding device 200 to wind the conducting wire on the stator;

s800, starting the clamping and shearing motor 411, wherein the clamping and shearing motor 411 drives the movable block 430 to move towards the direction close to the fixed block 420, so that the lead is sheared and kept clamped, and a working cycle is completed.

In a possible implementation manner of this embodiment, S200 includes:

s210, starting a turnover motor 321, wherein the turnover motor 321 drives a turnover plate 360 to turn over until a clamping station on the turnover plate 360 faces upwards;

s220, placing the stator assembly on a clamping station on the turnover plate 360 to enable the stator assembly to be located between the fixed clamping block 361 and the sliding clamping block 362, wherein the arrangement direction of the stator assembly is parallel to a connecting line between the fixed clamping block 361 and the sliding clamping block 362;

and S230, starting the clamping motor 370, wherein the clamping motor 370 drives the sliding clamping block 362 to slide towards the direction close to the fixed clamping block 361, so that the sliding clamping block 362 presses the stator assembly onto the fixed clamping block 361.

In a possible implementation manner of this embodiment, S200 includes:

s240, starting the turnover motor 321, wherein the turnover motor 321 drives the turnover plate 360 to turn over until the clamping station on the turnover plate 360 horizontally faces the wire nozzle 211;

s250, the locking cylinder 381 is started, the locking cylinder 381 drives the positioning block 382 to move downwards, the positioning block 382 is inserted into a gap between the turnover plate 360 and the fixing frame 350, and the turnover plate 360 abuts against the positioning block 382 in the upward turnover direction to limit the turnover of the turnover plate 360.

In a possible implementation manner of this embodiment, S200 includes:

s260, starting the moving cylinder 384, driving the pressing cylinder 383 to move horizontally by the moving cylinder 384, and closing the moving cylinder 384 when the moving cylinder 384 is positioned right above the center of the stator component;

s270, the pressing cylinder 383 is started, a piston rod of the pressing cylinder 383 moves downwards to be in pressing and abutting connection with the upper surface of the stator assembly, and the stator assembly is pressed on a horizontal step surface of the turnover plate 360.

In a possible implementation manner of this embodiment, S300 includes:

s310, preliminarily correcting the position of the nozzle 211 relative to the stator assembly, starting the X-axis motor 221, the Y-axis motor 222 and the Z-axis motor 223, and driving the nozzle 211 to move to a position close to the stator assembly;

s320, accurately correcting the position of the wire nozzle 211 relative to the stator component, independently starting the Y-axis motor 222, driving the wire nozzle 211 to move along the Y axis, and recording the coordinate value of the Y axis at the moment and taking the coordinate value as the critical preset value of the bottom layer of the Y axis when the wire nozzle 211 moves to 90% of the depth of a gap between adjacent stators; when the nozzle 211 is moved to 10% of the depth of the gap between the inserted adjacent stators, the Y-axis coordinate value at this time is recorded and is taken as the Y-axis top layer critical preset value.

In a possible implementation manner of this embodiment, S320 includes:

s321, independently starting an X-axis motor 221, driving the line nozzles 211 to move along an X axis, wherein the X axis direction is parallel to the arrangement direction of the line nozzles 211 and the arrangement direction of the stator assemblies, the distance between the adjacent line nozzles 211 is equal to the distance between the adjacent stators, and when the first line nozzle 211 moves to one side of the first stator, which is far away from the second stator, and the second line nozzle 211 moves to the center position between the first stator and the second stator, the coordinate value of the X axis at the moment is recorded and is used as the X-axis left critical preset value; when the last nozzle 211 moves to a side of the last stator far from the penultimate stator and the penultimate nozzle 211 is located at the center position between the penultimate stator and the last stator, the coordinate value of the X axis at this time is recorded and used as the right critical preset value of the X axis.

In a possible implementation manner of this embodiment, S320 includes:

s322, independently starting the Z-axis motor 223, driving the line nozzle 211 to move along the Z axis, and recording a Z-axis coordinate value at the moment and taking the Z-axis coordinate value as a Z-axis lower critical preset value when the line nozzle 211 moves to the lower part of the stator component and the distance between the line nozzle 211 and the stator component in the vertical direction is equal to half of the distance between adjacent stators; when the line nozzle 211 moves above the stator assembly and the distance between the line nozzle 211 and the stator assembly in the vertical direction is equal to half of the distance between the adjacent stators, the coordinate value of the Z axis at the moment is recorded and is used as the critical preset value on the Z axis.

In one possible implementation manner of this embodiment, S700 includes:

s710, starting the Y-axis motor 222, driving the wire nozzle 211 to move to a position where the Y-axis coordinate is located at a Y-axis bottom preset value, and closing the Y-axis motor 222; starting the X-axis motor 221, driving the line nozzle 211 to move to a position where the X-axis coordinate is at the X-axis left critical preset value, and closing the X-axis motor 221; and starting the Z-axis motor 223, driving the line nozzle 211 to move to the position where the Z-axis coordinate is at the lower critical preset value of the Z axis, and closing the Z-axis motor 223.

In one possible implementation manner of this embodiment, S700 includes:

s720, starting the X-axis motor 221, driving the line nozzle 211 to move to a position where the coordinates are at the right critical preset value of the X-axis, and closing the X-axis motor 221; starting the Z-axis motor 223, driving the line nozzle 211 to move to a position where the Z-axis coordinate is at a critical preset value on the Z axis, and closing the Z-axis motor 223; starting the X-axis motor 221, driving the line nozzle 211 to move to a position with coordinates at a left critical value of the X-axis, and closing the X-axis motor 221; starting the Z-axis motor 223, driving the line nozzle 211 to move to a position where the Z-axis coordinate is at a lower critical preset value of the Z axis, and closing the Z-axis motor 223; starting the Y-axis motor 222, driving the Y coordinate of the wire nozzle 211 to be at a position deviating from the critical preset value of the bottom layer of the Y axis, and closing the Y-axis motor 222; completing a circumferential winding cycle, repeating the cycle process until the Y-axis coordinate of the nozzle 211 is at the critical value of the Y-axis top layer, completing a forward winding cycle, keeping the X-axis motor 221 and the Z-axis motor 223 in cycle operation, and driving the nozzle 211 to move reversely by the Y-axis motor 222, so as to complete a reverse winding cycle; one winding cycle is completed by one circumferential winding cycle plus one forward winding cycle plus one reverse winding cycle.

In one possible implementation manner of this embodiment, S700 includes:

s730, in the first two circumferential winding cycles, the speed of movement of the nozzle 211 is V1, and in the third or more circumferential winding cycles, the speed of movement of the nozzle 211 is V2, where V1= V2/10;

and S740, when the winding period reaches the preset period value, the winding driving device 220 drives the nozzle 211 to move until the wire is clamped into the clamping groove 440.

The above "S100, S200 …" represents the sequence number of the workflow, but is not limited to this sequence, and the above steps may be combined and arranged in other ways in practical applications.

The above examples are only illustrative and not restrictive, and those skilled in the art can make modifications to the embodiments of the present invention as required without any inventive contribution thereto after reading the present specification, but all such modifications are intended to be protected by the following claims.