CN114050047A

CN114050047A - Full-automatic annular framework type four-axis winding machine

Info

Publication number: CN114050047A
Application number: CN202111254627.6A
Authority: CN
Inventors: 刘德旺; 刘永松; 盛超; 吴裕达
Original assignee: Tanac Automation Co Ltd
Current assignee: Tanac Automation Co Ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-02-15

Abstract

A full-automatic annular framework type four-shaft winding machine comprises a base frame, a material taking mechanism and a winding mechanism. The material taking mechanism is used for taking and placing the annular framework and comprises a mechanical arm, a conveying device and a framework clamping jig. The manipulator is used for clamping the annular framework. The conveying device is used for arranging the framework clamping jig and conveying the framework clamping jig to a specified position. The framework clamping jig is used for clamping the annular framework. The winding mechanism comprises a jig taking and placing device and a winding device. The winding device comprises a jig setting table, a wire lifting clamping unit and a winding unit. The jig taking and placing device is used for placing the framework clamping jig from the conveying device on the jig setting table. This full-automatic annular skeleton formula four-axis coiling machine can accomplish winding of this annular skeleton coil full-automatically and establish, and then can improve production efficiency, reduces the cost of labor.

Description

Full-automatic annular framework type four-axis winding machine

Technical Field

The invention relates to the technical field of coil winding equipment, in particular to a full-automatic annular framework type four-axis winding machine.

Background

The toroidal coil is used as a common coil structure in many fields such as transformers, inductors and the like, so that the toroidal coil has the characteristics of large usage amount, variable models and complex winding. As is well known, a toroidal coil has a toroidal skeleton, and a wire wound around the toroidal skeleton. Meanwhile, after winding is completed, a start line and a tail line are formed. Therefore, many apparatuses specially used for winding the annular coil are developed in production practice to improve the production efficiency. For example, patent application No. 201710894063.X, the patent name is a technical solution disclosed by a ring coil winding machine. In the technical scheme, the coil winding device comprises a workbench, a controller, a winding executing mechanism, a coil adjusting mechanism, a coil clamping and supporting mechanism, a coil rotating mechanism and the like, and the coil is adjusted by a front and rear adjusting assembly and a left and right adjusting assembly. Then this coiling machine still is a semi-automatization's equipment, needs processes such as artifical material loading, unloading, point and glues, trimming, can not realize full-automaticly, has improved the cost of labor.

In addition, the winding machine only winds one winding machine at a time, and cannot wind a plurality of winding machines at one time, so that the requirement of large quantity cannot be met, and the production efficiency is not high.

Disclosure of Invention

In view of this, the invention provides a full-automatic annular skeleton type four-axis winding machine which can reduce labor cost and improve production efficiency.

A full-automatic annular framework type four-axis winding machine is used for winding a lead for at least one annular framework, and the lead is provided with a starting line and a tail line. The full-automatic annular framework type four-axis winding machine comprises a base frame, a material taking mechanism arranged on the base frame and a winding mechanism arranged on the base frame. The material taking mechanism is used for taking and placing the annular framework and comprises a manipulator arranged on the base frame, a conveying device arranged on the base frame and at least one framework clamping jig arranged on the conveying device. The manipulator is used for clamping the annular framework. The conveying device is used for arranging the framework clamping jig and conveying the framework clamping jig to a specified position. The framework clamping jig is used for clamping the annular framework. The winding mechanism comprises a jig taking and placing device arranged on the base frame and a winding device arranged on the base frame. The winding device comprises at least one jig setting table, at least one wire starting clamping unit and at least one winding unit. The jig taking and placing device is used for placing the framework clamping jig from the conveying device on the jig setting table. The jig setting table is used for placing the framework clamping jig so as to facilitate the rotation and winding of the framework clamping jig. The line-drawing clamping unit is used for clamping the line-drawing and is matched with the winding unit to wind the line-drawing on the annular framework. The winding unit is used for winding a lead on the annular framework. The movement direction of the jig taking and placing device is perpendicular to the conveying direction of the conveying device. The line-starting clamping unit slides along the X direction and the Y direction, and the winding unit slides along the X direction, the Y direction and the Z direction to complete the winding action.

Further, full-automatic annular skeleton still includes a setting and is in mechanism is glued to the point in the ejection of compact direction of winding mechanism, it is fixed that mechanism is glued to the point is used for carrying out the point around the line that starts and the tail-wire of the annular skeleton coil that is equipped with the wire.

Furthermore, full-automatic annular skeleton still includes a setting and is in play tail line waste wire processing mechanism on the ejection of compact direction of mechanism is glued to the point, play tail line waste wire processing mechanism is used for cutting the line and handling the waste wire to the play tail line of gluing after fixing.

Furthermore, full-automatic annular skeleton still includes a setting and is in play the ascending baling mechanism of tail wire waste wire processing mechanism's ejection of compact direction, baling mechanism is used for carrying out the packing processing with the coil after the tail wire is cuted.

Furthermore, the material taking mechanism is provided with four framework clamping jigs to complete the winding processing of the four annular frameworks at one time, and the winding device comprises four jig setting tables, four wire starting clamping units and four winding units.

Further, the jig taking and placing device comprises eight clamping claws, wherein four clamping claws in the eight clamping claws are used for clamping the framework clamping jig on the conveying device and placing the framework clamping jig on the jig setting table, and meanwhile, the remaining four clamping claws are used for clamping the framework clamping jig arranged on the jig setting table so as to put back the conveying jig.

Further, the jig taking and placing device further comprises at least one hot air device, when the jig taking and placing device places the framework clamping jig on the jig placing table, the hot air device blows hot air to the annular framework on the jig placing table, and the original position returned along with the jig taking and placing device after winding is completed.

Furthermore, the thread take-up clamping unit comprises a bidirectional driving mechanism arranged on the base frame and at least one thread take-up clamping assembly arranged on the bidirectional driving mechanism, and the bidirectional driving mechanism drives the thread take-up clamping assembly to slide in the X direction and the Y direction so as to complete thread take-up winding.

Further, the bidirectional driving mechanism comprises a first two-dimensional driving mechanism arranged on the base frame, and a rotating assembly arranged on the first two-dimensional driving mechanism, wherein the rotating assembly comprises a driving plate, at least one linear tooth arranged on the driving plate, and at least one circular gear arranged on the thread take-up clamping assembly, and the circular gear is driven to rotate when the driving plate drives the linear tooth to reciprocate.

Furthermore, the winding unit comprises a three-dimensional driving mechanism arranged on the base frame and at least one winding clamping assembly arranged on the three-dimensional driving mechanism, the three-dimensional driving mechanism drives the winding clamping assembly to do three-dimensional motion so as to achieve winding motion, and the winding clamping assembly comprises a U-shaped support arranged on the three-dimensional driving mechanism, a rotating support rod arranged on the U-shaped support and at least one tail wire clamp arranged on the support rod.

Compared with the prior art, the full-automatic annular framework type four-shaft winding machine provided by the invention comprises the material taking mechanism, the winding mechanism, the glue dispensing mechanism, the tail line starting and waste line processing mechanism and the packing mechanism which are sequentially arranged on the base frame, so that the winding of an annular framework coil can be completed fully automatically, the production efficiency can be improved, and the labor cost can be reduced. Specifically, the material taking mechanism is provided with a conveying device, and a guide rail assembly included in the material taking mechanism extends to the winding mechanism, the dispensing mechanism, the tail line starting and waste line processing mechanism and the packaging mechanism, so that a plurality of work stations can be connected in series, and a foundation is laid for realizing automation. The winding mechanism comprises a jig taking and placing device and a winding device which are respectively arranged on two sides of the conveying device, and the jig taking and placing device is provided with two clamping claws for clamping the number of the jigs, so that the circulation of taking and placing the jigs can be realized, and the efficiency can be improved. In addition, because winding device will rise the line centre gripping unit, the platform is placed to the tool to and the unit separation of winding sets up, and control respectively, it is used for around establishing the line to rise the line centre gripping unit promptly, the tool places the bench skeleton centre gripping tool and is rotated the wire winding alone, and the unit of winding is used for around establishing the tail-wire, thereby make this winding mechanism's compact structure and simple structure, because each wire winding stage all is realized by different mechanisms respectively, thereby can realize quick wire winding, and then further can improve production efficiency, in order to adapt to the speed of other functional module.

Drawings

Fig. 1 is a schematic structural view of a full-automatic annular skeleton type four-axis winding machine provided by the invention.

Fig. 2 is a schematic view of an assembly structure of a winding mechanism of the full-automatic annular skeleton-type four-axis winding machine of fig. 1.

Fig. 3 is a schematic view of an angle of the jig pick-and-place device of the winding mechanism of fig. 2.

Fig. 4 is a schematic structural view of another angle of the jig taking and placing device of the winding mechanism in fig. 2.

Fig. 5 is an assembly structure diagram of a winding device of the winding mechanism of fig. 2.

Fig. 6 is a schematic structural view of a jig placing table of the winding device of fig. 5.

Fig. 7 is a schematic structural view of a thread take-up clamping unit of the winding device of fig. 5.

Fig. 8 is a schematic structural diagram of a winding unit of the winding device of fig. 5.

Fig. 9 is a partially enlarged structural view of the winding unit of fig. 8 at a.

Detailed Description

Specific examples of the present invention will be described in further detail below. It should be understood that the description herein of embodiments of the invention is not intended to limit the scope of the invention.

As shown in fig. 1 to 9, which are schematic structural views of a full-automatic annular skeleton-type four-axis winding machine according to the present invention. The full-automatic annular framework type four-axis winding machine comprises a base frame 10, a material taking mechanism 20 arranged on the base frame 10, a winding mechanism 30 arranged on the base frame 10, a dispensing mechanism 40 arranged in the discharging direction of the winding mechanism 30, a tail wire starting waste wire processing mechanism 50 arranged in the discharging direction of the dispensing mechanism 40, and a packing mechanism 60 arranged in the discharging direction of the tail wire starting waste wire processing mechanism 50. It is conceivable that the fully automatic annular skeleton type four-axis winding machine further includes other functional modules, such as a wire guiding drum, an assembling component, a mounting component, a control module, etc., which are well known to those skilled in the art and will not be described herein again.

The base frame 10 is used for installing or assembling the above-mentioned modules and making them work orderly, so the structure and shape of the base frame 10 should be based on the installation or assembly of the above-mentioned functional modules, and will not be described in detail herein.

The material taking mechanism 20 includes a bin assembly 21 disposed on the base frame 10, a manipulator 22 disposed on the base frame 10, a conveying device 23 disposed on the base frame 10, and at least one frame clamping fixture 24 disposed on the conveying device 23. The stock bin assembly 21 can comprise a plurality of stock bins, and the stock bins can be switched by a control device before being switched, so that manual feeding, transferring, material taking and other three steps are realized without mutual interference. Thus, in this embodiment, the magazine assembly 21 includes three magazine positions, namely, a manual loading position 211, a tray indexing position 212, and a material taking position 213. The manual feeding level 211 is used for manually placing an annular framework material tray which is not wound. The tray middle indexing part 212 is used for switching between the manual feeding position 211 and the material taking position 214, namely the tray is firstly taken from the manual feeding position 211 to the tray middle indexing part 212 and then taken from the tray middle indexing part 212 to the material taking position 213, so that mutual interference of the tray middle indexing part 212 and the tray middle indexing part 213 is avoided, and therefore work efficiency is improved, and time is saved. The manipulator 22 is a conventional manipulator, and is programmed to switch between a plurality of positions and angles, and will not be described herein. It is conceivable that the robot 22 is provided with a gripper (not shown) for gripping the ring frame to be wound around. With the difference of the structural shape of the annular framework, the structure and the working principle of the clamp are different, and the clamp is selected according to actual needs, so that the details are not repeated. The conveying device 23 includes two track assemblies 231 disposed on the base frame 10, and a plurality of trolleys 232 mounted on the track assemblies 231. The guide rail assembly 231 itself should be conventional, including a track, a servo motor, a belt, etc., and the operation principle thereof should be well known to those skilled in the art, and will not be described herein. In this embodiment, the guide rail assembly 231 has two rails, so that the trolley 232 can be transported in a reciprocating manner, the degree of automation is improved, and the production efficiency is improved. The trolley 232 is disposed on the rail assembly 231 and can slide under the driving of the rail assembly 231 to realize the switching between different stations, and therefore the rail passes through all stations. The framework clamping fixture 24 is disposed on the trolley 232 and can be switched between different stations along with the trolley. The structure of the framework clamping fixture 24 itself should be specifically set according to the actual structure and shape of the annular framework, and therefore, the detailed description thereof is omitted here. In order to improve the production efficiency and wind a plurality of toroidal coils at a time, four skeleton holding jigs 24 are provided on each carriage 232.

The winding mechanism 30 includes a jig taking and placing device 31 disposed on the base frame 10, and a winding device 32 disposed on the base frame 10. The jig taking and placing device 31 comprises a base 311 arranged on the base frame 10, a two-dimensional driving mechanism 312 arranged on the base 311, at least two clamping claws 313 arranged on the two-dimensional driving mechanism 312, and at least one hot air device 314 arranged on the two-dimensional driving mechanism 312. The base 311 is fixedly disposed on the base frame 10 and separated from the winding device 32 at two sides of the rail assembly 231, so that the volume of the whole winding machine can be reduced. The two-dimensional driving mechanism 312 can drive the clamp 313 and the hot air device 314 to move in two directions, i.e., two directions perpendicular to the sliding direction of the trolley 232, so that the clamp 313 and the hot air device 314 approach a fixture mounting table 321 of the winding device 32, which will be described below. The gripper 313 is used to transport the frame holding jig 24 from the transport device 23 to the jig setting table 321 and to transport the frame holding jig 24 from the jig setting table 321 to the transport device 23. In order to improve the efficiency, the clamping claw 313 has two parts, one part is used for clamping the framework clamping jig 24 to be wound, and the other part is used for clamping the wound framework clamping jig 24, so that the reciprocating times of the two-dimensional driving mechanism 312 are reduced. In this embodiment, since four frame clamping jigs 24 are disposed on one trolley 232, the number of the clamping grippers 313 is eight to achieve circular picking and placing. In operation, the empty gripper 313 is first removed and placed on the jig mounting table 321, and then the gripper 313 holding the frame holding jig 24 is placed on the jig mounting table 321, and the frame holding jig 24 with the wound wire is again placed back on the conveyor 23. The hot air device 314 is used for blowing hot air to the wires during winding so that the wires can be adhered together. When the clamping claw 313 places the framework clamping jig 24 to be wound on the jig placing table 321, the framework clamping jig stays for a certain time, so that the hot air device 314 blows hot air to the lead. Therefore, the angle and structure of the hot air device 314 should be set according to actual requirements.

The winding device 32 includes a fixture setting table 321 fixedly disposed on the base 10, a bracket 324 disposed on the base 10, at least one wire-drawing clamping unit 322 disposed on the bracket 322, and at least one winding unit 323 disposed on the bracket 322. In this embodiment, the jig setting tables 321 are respectively used for inserting the four framework clamping jigs 24, and the specific structure thereof can be set according to actual needs. When the frame holding jig 24 is inserted into the jig mounting table 321, it can be driven by the driving mechanism to rotate, so as to achieve the purpose of winding. The driving mechanism is prior art, and is not described herein in detail. The bracket 324 is fixedly arranged on the base 10, and the specific structural shape thereof can be set according to actual requirements. The thread take-up clamping unit 322 includes a bidirectional driving mechanism 3221 disposed on the base frame 10, and at least one thread take-up clamping assembly 3222 disposed on the bidirectional driving mechanism 3221. With reference to three-dimensional coordinates known to those skilled in the art, assuming that the moving direction of the cart 232 on the guide rail assembly 231 is the Y direction, the arrangement direction of the jig taking and placing device 31 and the winding device 32 is the X direction, and the moving direction perpendicular to both the X direction and the Y direction is the Z direction, therefore, the bidirectional driving mechanism 3221 drives the thread take-up clamping assembly 3222 to slide along the X direction and the Y direction. The bidirectional driving mechanism 3221 includes a first two-dimensional driving mechanism 3223 disposed on the base frame 10, and a rotating component 3224 disposed on the first two-dimensional driving mechanism 3223. The first two-dimensional driving mechanism 3223 is conventional in the art, and includes a servo motor, a screw, a guide rail, a cylinder, etc. The rotating assembly 3224 includes a linear drive motor 3225, a drive plate 3226 driven by the linear drive motor 3225, at least one linear tooth 3227 disposed on the drive plate 3226, and at least one circular gear 3228 disposed on the thread take-up clamp assembly 3222. The linear driving motor 3225 drives the driving plate 3226 to perform linear reciprocating motion in the Y direction, so as to drive the linear teeth 3227 to perform linear reciprocating motion. The linear teeth 3227 are engaged with the circular gear 3228, so that when the linear teeth 3227 reciprocate linearly, the circular gear 3228 rotates, thereby driving the thread take-up clamping assembly 3222 to rotate to complete a predetermined motion. In this embodiment, the number of the linear teeth 3227 is four, because the number of the thread take-up clamping components 3222 is also four, so as to match the number of the framework clamping jigs 24. The thread take-up clamp assembly 3222 includes a connecting rod 3229 connected to the circular gear 3228, and a thread take-up clamp 3220 fixedly disposed on the connecting rod 3229. When the circular gear 3228 rotates, the connecting rod 3229 also rotates, which in turn drives the thread take-up clamp 3220 to rotate. The thread take-up clamp 3220 should comprise a component in the prior art, which may comprise an air cylinder and a clamp driven by the air cylinder, and will not be described herein.

The wire winding unit 323 includes a three-dimensional driving mechanism 3231 disposed on the base frame 10, and at least one wire winding clamping assembly 3232 disposed on the three-dimensional driving mechanism 3231. The structure and operation principle of the three-dimensional driving mechanism 3231 should be prior art, and include, for example, a servo motor, a screw, a guide rail, a cylinder, etc., and will not be described herein. The three-dimensional driving mechanism 3231 drives the winding clamping assembly 3232 to move in three dimensions to achieve a winding movement. The winding clamping assembly 3232 includes a U-shaped support 3233 disposed on the three-dimensional driving mechanism 3231, a rotating support rod 3234 disposed on the U-shaped support 3233, and at least one tail clamp 3235 disposed on the support rod 3234. The pivoting support bar 3234 includes a support bar 3236 mounted on the U-shaped support 3233, and a pivoting cylinder 3237 for pivoting the support bar 3236. The rotating cylinder 3227 can drive the rack rod 3236 to rotate to achieve a predetermined movement, such as winding a tail wire around a pin on a circular frame. The tail clamp 3235 includes a top bar 3238 disposed on the rack bar 3236, and an L-shaped top plate 3239. The L-shaped top plate 3239 is provided with a wire passing hole through which the push rod 3238 can cooperate with the L-shaped top plate 3239 to clamp or release a wire when the wire passes through the wire passing hole. In particular, when the winding of the loop bobbin coil is completed, the tail wire of the coil is held by the tail wire clamp 3235, and the wire can be torn off by sliding the tail wire clamp 3235.

The dispensing mechanism 40 is arranged in the discharging direction of the winding mechanism 30 and used for dispensing and fixing the start line and the tail line of the annular framework coil wound with the lead. The dispensing mechanism 40 includes a driving mechanism (not shown) disposed on the base frame 10, and a dispenser 41 driven by the driving mechanism. The driving mechanism is prior art, and can realize three-dimensional motion, and the description is omitted here. The dispenser 41 is per se prior art and will not be described in detail here. After the winding of the wire is completed, the tail wire and the start wire are fixed by dispensing by the dispensing mechanism 40, that is, the tail wire and the start wire are fixed on the corresponding pins.

The tail wire waste disposal mechanism 50 is disposed in the discharge direction of the dispensing mechanism 40, and it is conceivable that the endless frame around which the wire is wound is transported by the transport device 23. The pigtail scrap handling mechanism 50 also includes a drive mechanism (not shown), and at least one scissor mechanism 51 driven by the drive mechanism. The drive mechanism itself is prior art and will not be described in detail here. The scissors mechanism 51 is driven by the driving mechanism, and cuts off the excess thread and tail thread, respectively, and puts them into the waste thread collecting box.

The packaging mechanism 60 is arranged in the discharging direction of the tail line starting and waste line processing mechanism 50 and is used for placing the wound annular skeleton coil into a material tray. It will be appreciated, of course, that the wrapping mechanism 60 may also include a flipping mechanism to flip the toroidal skeleton coil 180 degrees, as desired by the user. The packing mechanism 60 further includes a robot, a magazine transfer assembly, and the like to achieve rapid packing.

Compared with the prior art, the full-automatic annular framework type four-shaft winding machine provided by the invention comprises the material taking mechanism 20, the winding mechanism 30, the glue dispensing mechanism 40, the tail wire starting waste wire processing mechanism 50 and the packing mechanism 60 which are sequentially arranged on the base frame 10, so that the winding of an annular framework coil can be completed fully automatically, the production efficiency can be improved, and the labor cost can be reduced. Specifically, the material taking mechanism 20 has a conveying device 23, and a guide rail assembly included in the conveying device extends to the winding mechanism 30, the dispensing mechanism 40, the tail line waste processing mechanism 50 and the packaging mechanism 60, so that a plurality of work stations can be connected in series, and a foundation is laid for realizing automation. The winding mechanism 30 includes a jig taking and placing device 31 and a winding device 32 respectively disposed at two sides of the conveying device 23, and the jig taking and placing device 31 has two clamping claws for clamping the number of the frame clamping jigs 24, so that the circulation of taking and placing jigs can be realized, and the efficiency can be improved. In addition, because the winding device 32 will rise the line clamping unit 322, the platform 321 is placed to the tool, and winding unit 323 separation sets up, and control respectively, it is that rise the line clamping unit 322 is used for around establishing the line, the skeleton clamping jig 24 on the platform 321 is placed to the tool is alone rotatory wire winding, and winding unit 323 is used for around establishing the tail wire, thereby make this winding mechanism 30 compact structure and simple structure, because each winding stage is all realized by different mechanisms respectively, thereby can realize quick wire winding, and then further can improve production efficiency, in order to adapt to the speed of other functional module.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, and any modifications, equivalents or improvements that are within the spirit of the present invention are intended to be covered by the following claims.

Claims

1. A fully automatic annular skeleton type four-axis winding machine, which is used for winding a wire for at least one annular skeleton, and the wire has a starting line and a tail line, it is characterized in that: the fully automatic annular skeleton type four-axis winding machine The winding machine includes a base frame, a reclaiming mechanism arranged on the base frame, and a winding mechanism arranged on the base frame, and the reclaiming mechanism is used for picking and placing the annular frame and includes A manipulator set on the base frame, a conveying device set on the base frame, and at least one frame clamping jig set on the conveying device, the manipulator is used for gripping the ring The skeleton, the conveying device is used for setting the skeleton clamping jig and transporting the skeleton clamping jig to the designated position, the skeleton clamping jig is used for clamping the annular skeleton, the winding mechanism It includes a jig pick-and-place device set on the base frame, and a wire winding device set on the base frame. The wire winding device includes at least one jig setting table, at least one wire starting clamping unit , and at least one winding unit, the jig pick-and-place device is used to place the skeleton clamping jig from the conveying device on the jig setting table, and the jig setting table is used to place the The skeleton clamping fixture is used to facilitate the rotation of the skeleton clamping fixture to wind the wire, and the starting wire clamping unit is used for clamping the starting wire and cooperating with the winding unit to wind the starting wire on the On the annular frame, the winding unit is used to wind the wire on the annular frame, the movement direction of the fixture pick-and-place device is perpendicular to the conveying direction of the conveying device, and the wire starting and clamping unit is along the line. Sliding in the X direction and the Y direction, the winding unit slides in the X direction, the Y direction and the Z direction to complete the winding action.

2. The fully automatic annular skeleton type four-axis winding machine according to claim 1, wherein the fully automatic annular skeleton further comprises a glue dispensing mechanism arranged in the discharging direction of the winding mechanism, The glue dispensing mechanism is used for dispensing and fixing the starting line and the tail line of the annular bobbin coil wound with the conducting wire.

3. The fully automatic annular skeleton type four-axis winding machine according to claim 2, characterized in that: the fully automatic annular skeleton further comprises a starting and tailing wire waste disposed in the discharging direction of the glue dispensing mechanism A thread processing mechanism, the waste thread processing mechanism for starting and ending threads is used for trimming the starting and ending threads after dispensing and fixing and processing the waste threads.

4. The fully automatic annular skeleton type four-axis winding machine according to claim 3, characterized in that: the fully automatic annular skeleton further comprises a A packing mechanism, which is used for packing the coils after cutting the starting and tailing lines.

5. The fully automatic annular skeleton type four-axis winding machine according to claim 1, wherein the reclaiming mechanism has four skeleton clamping fixtures to complete the winding processing of the four annular skeletons at one time, The winding device includes four jig setting tables, four starting and clamping units, and four winding units.

6. The fully automatic annular skeleton type four-axis winding machine according to claim 5, wherein the jig pick-and-place device comprises eight grippers, and four of the eight grippers The skeleton clamping jig on the conveying device is placed on the jig setting table, while the remaining four clamps grab the skeleton clamping jig set on the jig setting table to put it back on the jig setting table. Delivery jig.

7. The fully automatic annular skeleton type four-axis winding machine according to claim 1, wherein the jig picking and placing device further comprises at least one hot air device, when the jig picking and placing device clamps the skeleton When the jig is placed on the jig placing table, the hot air device blows hot air on the annular frame on the jig placing table, and returns to the original position with the jig pick-and-place device after the winding is completed.

8. The fully automatic annular skeleton type four-axis winding machine according to claim 1, wherein the wire starting and clamping unit comprises a bidirectional driving mechanism arranged on the base frame, and at least one The thread take-up clamp assembly on the bidirectional drive mechanism drives the thread take-up clamp assembly to slide in the X direction and the Y direction to complete the winding of the thread take-up.

9 . The fully automatic annular skeleton type four-axis winding machine according to claim 8 , wherein the bidirectional driving mechanism comprises a first two-dimensional driving mechanism arranged on the base frame, and a first two-dimensional driving mechanism arranged on the base frame. 10 . The rotating assembly on the first two-dimensional driving mechanism, the rotating assembly includes a driving plate, at least one linear tooth arranged on the driving plate, and at least one circular tooth arranged on the thread starting clamping assembly The circular gear is driven to rotate when the driving plate drives the linear teeth to reciprocate.

10. The fully automatic annular skeleton type four-axis winding machine according to claim 1, wherein the winding unit comprises a three-dimensional driving mechanism arranged on the base frame, and at least one A winding clamping assembly on a three-dimensional driving mechanism, the three-dimensional driving mechanism drives the winding clamping assembly to perform three-dimensional movement to realize the winding movement, and the winding clamping assembly includes a set on the three-dimensional driving mechanism. a U-shaped bracket on the U-shaped bracket, a rotating bracket rod arranged on the U-shaped bracket, and at least one tail wire clip arranged on the bracket rod.