Research On Multi-line Parallel Automatic Winding Robot For Stator Of Small Motor

Small motors are mainly used in electric vehicles,spacecraft and other fields.Early single-winding stators can not meet the technical requirements of large-power motors with the same volume.Therefore,most small motors use multi-winding stators.At present,most of the small multi-wire winding stators still use the traditional manual winding method,which is difficult to guarantee the accuracy of winding.Therefore,the automatic winding and precise winding arrangement of the multi-wire winding stators have become an urgent problem to be solved.In order to solve the above problems,this paper designs a multi-line parallel automatic winding robot.The winding mechanism design,kinematics and dynamics analysis are used,and the simulation and experimental verification are combined to carry out the research.Structural design and analysis of multi-wire parallel winding robot for small motor stator are carried out.According to the technical requirements of the winding robot,the multi-wire parallel winding technology and winding principle are designed,and the overall structure of the winding robot is designed,including the robot arm,the arm and the threading manipulator.Then,the sensitivity analysis method is used to select the structural parameters of the arm and arm of the winding robot,so as to avoid the structural instability caused by factors that cannot be considered in the conventional design.Finally,the model of non-overlapping condition of winding is established,and the assistant telescopic device of manipulator is designed,and the power source of pushing wire is selected by using the modified Coulomb friction model.The kinematics and dynamics of the winding robot are analyzed.Firstly,the basic coordinate system is established to analyze the degree of freedom and the accompanying motion of the robot;the kinematics inverse solution is used to analyze the motion posture of the arm and the arm of the robot,so as to obtain the motion relationship of the wrist joint;the block motion model is established and the closure condition of the manipulator is determined;the dynamics of the working state of the robot winding is analyzed by the space absolute node coordinate beam element method,and the machine is established.The Jacobian matrix of the rotating speed of the manipulator and the damping force of multi-wire parallel enameled wire winding is used to determine the relationship between the speed and the damping force.In this paper,Adams is used to simulate the kinematics of the winding robot to verify the correctness of the inverse kinematics solution and the closure condition of the manipulator block.Finally,the scheme of tension and friction experiment of enameled wire is designed,and the correctness of dynamic analysis is verified by rigid-flexible coupling tension experiment.The principle of multi-wire parallelism and the rationality of related structure design are verified by friction experiment of enameled wire during pushing process.Through the research on multi-wire parallel automatic winding robot for small motor stator,the automatic winding of enameled wire is realized.This technology is of great significance to the research of multi-wire parallel winding automation equipment.