CN215733947U - Double-end quadruplex position vertical coiling machine - Google Patents

Abstract

The application provides a double-head four-station vertical winding machine which comprises a frame, a fly fork assembly, a longitudinal driving device, a winding driving device, a turntable and a transposition driving device, wherein the winding driving device is in transmission connection with the fly fork assembly; the rotary table is provided with a plurality of wire cups, the winding driving device is used for driving the fly fork assembly to rotate around the wire cups, the longitudinal driving device is used for driving the fly fork assembly to move along the vertical direction, and the fly fork assembly is positioned above the rotary table; compared with the prior art, the double-end quadruplex position vertical coil winding machine that this application provided degree of automation is higher, and work efficiency is higher, can reduce staff's intensity of labour.

Description

Double-end quadruplex position vertical coiling machine

Technical Field

The application relates to the technical field of winding equipment, in particular to a double-head four-station vertical winding machine.

Background

A winding machine in the field of motor manufacturing is winding equipment for winding a wire on a motor rotor, and generally, one piece of equipment can only wind on one motor rotor simultaneously, and after the winding is finished, the winding needs to be suspended firstly, the wound motor rotor is taken down from a wire winding machine manually, then the motor rotor to be wound is installed on the winding machine, the winding is continued, and the working efficiency is low.

Disclosure of Invention

The application provides a vertical coiling machine of double-end quadruplex position for improve the work efficiency of coiling machine.

In order to achieve the above purpose, the embodiments of the present application propose the following technical solutions:

a double-head four-station vertical winding machine comprises a frame, a fly fork assembly, a longitudinal driving device, a winding driving device, a turntable and a transposition driving device, wherein the winding driving device is in transmission connection with the fly fork assembly, the longitudinal driving device is in transmission connection with the fly fork assembly, the transposition driving device is in transmission connection with the turntable, the turntable is in rotation connection with the frame, and the longitudinal driving device, the winding driving device and the transposition driving device are respectively installed on the frame; the wire winding driving device is used for driving the fly fork assembly to rotate around the wire cup, the longitudinal driving device is used for driving the fly fork assembly to move in the vertical direction, and the fly fork assembly is located above the turntable.

In some embodiments, the longitudinal driving device comprises a first linear motor and a second linear motor, the winding driving device comprises a first rotating motor and a second rotating motor, the fly fork assembly comprises a first fly fork and a second fly fork, and the first fly fork and the second fly fork are provided with wire nozzles; the first linear motor is in transmission connection with the first flying fork, the first flying fork is in sliding connection with the rack along the vertical direction, the first rotating motor is in transmission connection with the first flying fork, and the first flying fork is in rotating connection with the rack; the second linear motor is in transmission connection with the second flying fork, the second flying fork is in sliding connection with the rack along the vertical direction, the second rotating motor is in transmission connection with the second flying fork, and the second flying fork is in rotating connection with the rack.

In some embodiments, the first flying fork includes a first weight block and a first transmission shaft, the first weight block is fixedly connected with the first flying fork, the first flying fork is fixedly connected with the first transmission shaft, the first transmission shaft is vertically arranged, the first flying fork and the first weight block are located at the lower end of the first transmission shaft, the first flying fork and the first weight block are located at two sides of a central axis of the first transmission shaft, the first transmission shaft is rotatably connected with the frame and is slidably connected with the frame in a vertical direction, and the first transmission shaft is respectively in transmission connection with the first linear motor and the first rotating motor;

and/or, the second flies to pitch the subassembly and includes second balancing weight and second transmission shaft, the second balancing weight with the second flies to pitch fixed connection, the second fly pitch with second transmission shaft fixed connection, the vertical setting of second transmission shaft, the second fly pitch with the second balancing weight is located the lower extreme of second transmission shaft, the second fly pitch with the second balancing weight is located the both sides of the axis of second transmission shaft, the second transmission shaft with the frame rotates to be connected simultaneously with frame along vertical direction sliding connection, the second transmission shaft respectively with the second direct current motor and the transmission of second rotating electrical machines is connected.

In some embodiments, the index driving device includes a third rotating motor, the third rotating motor is fixedly connected to the frame, the third rotating motor is in transmission connection with the turntable, the turntable is horizontally disposed, the number of the wire cups is four, and the four wire cups are distributed in an equiangular circumferential array around a central axis of the turntable.

In some embodiments, two of the wire cups are located below the first drive shaft and the second drive shaft, respectively.

In some embodiments, the double-end quadruplex position vertical coil winding machine still includes presss from both sides and cuts the device, it includes dead lever, slide bar and presss from both sides and cuts drive arrangement to press from both sides the device, the dead lever with the frame is connected, the slide bar with dead lever sliding connection, it installs to press from both sides and cut drive arrangement on the dead lever, press from both sides and cut drive arrangement with the slide bar transmission is connected, fixedly connected with presss from both sides the cutting head on the dead lever, it is close to press from both sides the cutting head the one side of slide bar is equipped with shearing portion and clamping part, the slide bar is followed after the dead lever slides can respectively with shearing portion and the clamping part cooperation.

In some embodiments, the clamping and shearing device further comprises a front and rear driving device and a movable frame, the fixed rod is connected with the movable frame, the movable frame is slidably connected with the machine frame, the front and rear driving device is fixedly connected with the machine frame, the front and rear driving device is in transmission connection with the movable frame, and the front and rear driving device is used for driving the movable frame to move horizontally.

In some embodiments, the clamping and shearing device further comprises a swinging traction driving device, the swinging traction driving device is mounted on the movable frame, the fixed rod is rotatably connected with the movable frame, the fixed rod is horizontally arranged on a central axis of relative rotation of the movable frame, and the swinging traction driving device is in transmission connection with the fixed rod.

In some embodiments, the clamping and shearing device further includes a left and right driving device, the left and right driving device is fixedly connected to the frame, the left and right driving device is in transmission connection with the movable frame, the left and right driving device is used for driving the movable frame to move horizontally, and the direction in which the left and right driving device drives the movable frame to move is perpendicular to the direction in which the front and rear driving device drives the movable frame.

In some embodiments, the clamping and shearing device further comprises a left transmission screw rod, a right transmission screw rod and a front transmission screw rod and a rear transmission screw rod, the left transmission screw rod and the right transmission screw rod are rotatably connected with the frame, the left transmission screw rod and the right transmission screw rod are in transmission connection with the left driving device and the right driving device, the left transmission screw rod and the right transmission screw rod are in threaded connection with the movable frame, and the left transmission screw rod and the right transmission screw rod are horizontally arranged; the front and rear transmission screw rods are rotatably connected with the rack, the front and rear transmission screw rods are in transmission connection with the front and rear driving devices, the front and rear transmission screw rods are in threaded connection with the movable frame, the front and rear screw rods are horizontally arranged, and the front and rear screw rods are perpendicular to the left and right screw rods.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a double-head four-station vertical winding machine in the embodiment of the application;

FIG. 2 is a view in the direction A of FIG. 1;

FIG. 3 is a view in the direction B of FIG. 1;

FIG. 4 is a schematic structural diagram of the connection between the winding driving device and the longitudinal driving device and the frame in the embodiment of the present application;

FIG. 5 is a view in the direction of C in FIG. 4;

FIG. 6 is a view in the direction D of FIG. 4;

FIG. 7 is a schematic structural diagram of the connection between the thread cup and the rotary disk in the embodiment of the present application;

FIG. 8 is a view in the direction E of FIG. 7;

FIG. 9 is a schematic view of the structure of the connection of the fixing rod, the sliding rod and the clipping head in the embodiment of the present application;

FIG. 10 is a schematic structural view of the movable frame and the frame in the embodiment of the present application;

FIG. 11 is a view in the direction F of FIG. 10;

FIG. 12 is an enlarged view of a portion of FIG. 10 at G;

FIG. 13 is a flowchart illustrating a winding method according to an embodiment of the present application.

Description of reference numerals:

100. a frame;

201. a turntable; 202. a thread cup;

301. a first linear motor; 302. a second linear motor; 303. a first rotating electrical machine; 304. a second rotating electrical machine; 305. A first fly fork; 306. a second fly fork; 307. a thread nozzle; 308. a first weight block; 309. a first drive shaft; 310. a second counterweight block; 320. a second drive shaft;

401. a third rotating electrical machine; 402. fixing the rod; 403. a slide bar; 404. a clamp shear drive device; 405. a shearing section; 406. a clamping portion; 407. a front and rear driving device; 408. a movable frame; 409. a swing traction drive; 410. a left and right driving device; 411. A left and right drive screw; 412. a front and rear drive screw; 413. clipping heads are clipped.

Detailed Description

Embodiments of the present application will be described in further detail below with reference to the drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.

In the embodiments of the present application, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacted with the second feature or indirectly contacted with the second feature through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," "some examples," or "possible implementations" or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Referring to fig. 1 to 3, an embodiment of the present application provides a double-head four-station vertical winding machine, including a frame 100, a fly fork assembly, a longitudinal driving device, a winding driving device, a turntable 201, and a transposition driving device, where the winding driving device is in transmission connection with the fly fork assembly, the longitudinal driving device is in transmission connection with the fly fork assembly, the transposition driving device is in transmission connection with the turntable 201, the turntable 201 is in rotational connection with the frame 100, and the longitudinal driving device, the winding driving device, and the transposition driving device are respectively mounted on the frame 100; the turntable 201 is provided with a plurality of wire cups 202, the winding driving device is used for driving the fly fork assembly to rotate around the wire cups 202, the longitudinal driving device is used for driving the fly fork assembly to move along the vertical direction, and the fly fork assembly is located above the turntable 201.

Referring to fig. 4 to 6, in some embodiments, the longitudinal driving device includes a first linear motor 301 and a second linear motor 302, the winding driving device includes a first rotating motor 303 and a second rotating motor 304, the fly fork assembly includes a first fly fork 305 and a second fly fork 306, and the first fly fork 305 and the second fly fork 306 are provided with a wire nozzle 307; the first linear motor 301 is in transmission connection with a first flying fork 305, the first flying fork 305 is in sliding connection with the rack 100 along the vertical direction, the first rotating motor 303 is in transmission connection with the first flying fork 305, and the first flying fork 305 is in rotating connection with the rack 100; the second linear motor 302 is in transmission connection with the second flying fork 306, the second flying fork 306 is in sliding connection with the rack 100 along the vertical direction, the second rotating motor 304 is in transmission connection with the second flying fork 306, and the second flying fork 306 is in rotation connection with the rack 100.

In some embodiments, the first flying fork 305 includes a first weight block 308 and a first transmission shaft 309, the first weight block 308 is fixedly connected to the first flying fork 305, the first flying fork 305 is fixedly connected to the first transmission shaft 309, the first transmission shaft 309 is vertically disposed, the first flying fork 305 and the first weight block 308 are located at the lower end of the first transmission shaft 309, the first flying fork 305 and the first weight block 308 are located at both sides of a central axis of the first transmission shaft 309, the first transmission shaft 309 is rotatably connected to the rack 100 and is slidably connected to the rack 100 in the vertical direction, and the first transmission shaft 309 is respectively in transmission connection with the first linear motor 301 and the first rotating motor 303;

and/or the second flying fork 306 assembly comprises a second balancing weight 310 and a second transmission shaft 320, the second balancing weight 310 is fixedly connected with the second flying fork 306, the second flying fork 306 is fixedly connected with the second transmission shaft 320, the second transmission shaft 320 is vertically arranged, the second flying fork 306 and the second balancing weight 310 are positioned at the lower end of the second transmission shaft 320, the second flying fork 306 and the second balancing weight 310 are positioned at two sides of the central axis of the second transmission shaft 320, the second transmission shaft 320 is rotatably connected with the rack 100 and is simultaneously connected with the rack 100 in a sliding manner along the vertical direction, and the second transmission shaft 320 is respectively connected with the second linear motor 302 and the second rotating motor 304 in a transmission manner.

Referring to fig. 7 and 8, in some embodiments, the indexing driving device includes a third rotating motor 401, the third rotating motor 401 is fixedly connected to the frame 100, the third rotating motor 401 is in transmission connection with the turntable 201, the turntable 201 is horizontally disposed, the number of the wire cups 202 is four, and the four wire cups 202 are distributed in an equiangular circumferential array around the central axis of the turntable 201.

Referring to fig. 3, in some embodiments, two wire cups 202 are respectively located below the first transmission shaft 309 and the second transmission shaft 320.

In some embodiments, the double-head four-station vertical winding machine further includes a clamping and shearing device, the clamping and shearing device includes a fixing rod 402, a sliding rod 403 and a clamping and shearing driving device 404, the fixing rod 402 is connected with the machine frame 100, the sliding rod 403 is slidably connected with the fixing rod 402, the clamping and shearing driving device 404 is mounted on the fixing rod 402, the clamping and shearing driving device 404 is in transmission connection with the sliding rod 403, a clamping and shearing head 413 is fixedly connected with the fixing rod 402, a shearing portion 405 and a clamping portion 406 are arranged on a side, close to the sliding rod 403, of the clamping and shearing head 413, and the sliding rod 403 can be respectively matched with the shearing portion 405 and the clamping portion 406 after sliding along the fixing rod 402.

In some embodiments, the clipping and shearing apparatus further includes a front and rear driving device 407 and a movable frame 408, the fixed bar 402 is connected to the movable frame 408, the movable frame 408 is slidably connected to the frame 100, the front and rear driving device 407 is fixedly connected to the frame 100, the front and rear driving device 407 is drivingly connected to the movable frame 408, and the front and rear driving device 407 is configured to drive the movable frame 408 to move horizontally.

Referring to fig. 9 to 12, in some embodiments, the clipping and shearing apparatus further includes a swinging traction driving device 409, the swinging traction driving device 409 is mounted on the movable frame 408, the fixed rod 402 is rotatably connected to the movable frame 408, a central axis of the relative rotation between the fixed rod 402 and the movable frame 408 is horizontally disposed, and the swinging traction driving device 409 is in transmission connection with the fixed rod 402.

In some embodiments, the clipping and shearing device further includes a left and right driving device 410, the left and right driving device 410 is fixedly connected to the frame 100, the left and right driving device 410 is in transmission connection with the movable frame 408, the left and right driving device 410 is used for driving the movable frame 408 to move horizontally, and the direction in which the left and right driving device 410 drives the movable frame 408 is perpendicular to the direction in which the front and rear driving device 407 drives the movable frame 408.

In some embodiments, the clipping device further includes a left and right driving screw 411 and a front and back driving screw 412, the left and right driving screw 411 is rotatably connected to the frame 100, the left and right driving screw 411 is rotatably connected to the left and right driving device 410, the left and right driving screw 411 is in threaded connection with the movable frame 408, and the left and right driving screws are horizontally disposed; the front and rear drive screws 412 are rotatably connected to the frame 100, the front and rear drive screws 412 are drivingly connected to the front and rear driving devices 407, the front and rear drive screws 412 are threadedly connected to the movable frame 408, the front and rear drive screws are horizontally disposed, and the front and rear drive screws are perpendicular to the left and right drive screws.

Referring to fig. 13, a second embodiment of the present application provides a winding method, including the following steps:

s100, mounting a rotor to be wound on a wire cup 202 of a vacant position;

s200, operating the clamping and shearing device to clamp and pull out the wire at the wire nozzle 307;

s300, operating a winding driving device to drive the flyer assembly to rotate around the rotor on the winding cup 202, and winding the wire rod on the rotor;

s400, operating the clamping and shearing device again to shear the wire between the wire nozzle 307 and the rotor;

s500, operating a transposition driving device to drive the turntable 201 to rotate, moving the wound rotor out of the area below the fly fork assembly, and simultaneously rotating the rotor to be wound to the position below the fly fork assembly;

s600, detaching the wound rotor from the wire cup 202, and repeating the previous steps.

In some embodiments, a method of operating a pinch shear device comprises the steps of:

s210, operating a swinging traction driving device 409 to drive the fixing rod 402 to rotate up and down, so that the clamping and shearing head 413 moves to a position 5-30 mm lower than the wire nozzle 307;

and S220, operating the left-right driving device 410 to drive the movable frame 408 to move left and right, so that the clamping and shearing head 413 is aligned with the wire at the wire nozzle 307 along the front-back direction.

In some embodiments, a method of operating a pinch shear device comprises the steps of:

s230, operating the front and rear driving device 407, and driving the movable frame 408 to move back and forth to enable the clipping head 413 to move to the wire rod close to the wire nozzle 307, wherein the wire rod is positioned between the clipping head 413 and the sliding rod 403;

s240, operating the clamping and shearing driving device 404 to drive the sliding rod 403 to move towards the direction close to the clamping and shearing head 413, and enabling the sliding rod 403 to be matched with the clamping and shearing head 413 to clamp the wire.

In some embodiments, a method of operating a pinch shear device comprises the steps of:

and S250, operating the front and rear driving device 407 again, and driving the movable frame 408 to move back and forth to enable the clamping scissors 413 to move to a position outside the surrounding area of the rotating path of the clamping scissors 413.

In some embodiments, the operating winding drive device comprises the steps of:

and S310, operating a longitudinal driving device to drive the fly fork assembly to vertically move, so that the wire nozzle 307 moves to the inner side of a wire slot on the rotor to be wound.

In some embodiments, re-operating the pinch-shear device comprises the steps of:

s410, operating the left and right driving device 410 to drive the movable frame 408 to move left and right, so that the clamping and shearing head 413 is aligned with the wire at the wire nozzle 307 along the front and back direction;

and S420, operating the front and rear driving device 407 to drive the movable frame 408 to move back and forth, so that the clamping and shearing head 413 moves between the wire nozzle 307 and the wound rotor.

In some embodiments, re-operating the pinch-shear device comprises the steps of:

and S430, operating the swinging traction driving device 409 to drive the fixing rod 402 to rotate up and down, so that the wire is positioned between the clipping head 413 and the sliding rod 403.

In some embodiments, re-operating the pinch-shear device comprises the steps of:

s440, operating the clamping and shearing driving device 404 to drive the sliding rod 403 to move towards the direction close to the clamping and shearing head 413, wherein the sliding rod 403 is matched with the clamping and shearing head 413 to clamp the wire and cut the wire between the wound rotor and the clamping and shearing head 413.

In some embodiments, re-operating the pinch-shear device comprises the steps of:

and S450, operating the swinging traction driving device 409 again, driving the fixing rod 402 to rotate up and down, and enabling the clipping shear 413 to move to a position lower than the thread nozzle 307.

In some embodiments, the turntable 201 rotates 180 degrees at a time during the step of operating the indexing drive.

The above "S100, S200 …" is an example of one of the operation sequences, but the actual operation is not limited to the operation sequence described in the second embodiment, so the arrangement and combination described in the present embodiment should not be considered as limiting the protection scope.

In the first embodiment of the present application, please refer to the winding method in the second embodiment of the present application for the working process of the double-head four-station vertical winding machine. The driving device related to the first embodiment may be a linear driving device, such as an air cylinder, a lead screw nut pair, an electromagnetic linear module, or a rotary motor, and the selection of the driving device is determined according to a desired function, for example, a linear motor is used when other components are required to be driven to move along a linear direction, and a rotary motor is used when other components are required to be driven to move rotationally. In addition, a linear driving device can be used for driving to rotate, referring to fig. 12, the fixed rod 402 is rotatably connected with the movable frame 408, the swing traction driving device 409 adopts an air cylinder (linear driving device), a cylinder body of the air cylinder is hinged with the movable frame 408, a piston rod of the air cylinder is hinged with the fixed rod 402, and the air cylinder can drive the fixed rod 402 to rotate relative to the movable frame 408 by stretching.

According to the double-head four-station vertical winding machine provided by the first embodiment of the application, according to the winding method provided by the second embodiment of the application, except that the to-be-wound rotor is mounted on the bobbin 202 and the wound rotor is detached from the bobbin 202, other work can be automatically carried out, and compared with the prior art, the double-head four-station vertical winding machine is higher in automation degree and higher in working efficiency, and the labor intensity of workers can be reduced.

The above examples are only for explaining the present application and are not intended to limit the present application, and those skilled in the art can make modifications to the embodiments of the present application without inventive contribution as needed after reading the present specification, but are protected by patent laws within the scope of the claims of the present application.

Claims (10)

1. A double-head four-station vertical winding machine is characterized by comprising a frame, a fly fork assembly, a longitudinal driving device, a winding driving device, a turntable and a transposition driving device, wherein the winding driving device is in transmission connection with the fly fork assembly, the longitudinal driving device is in transmission connection with the fly fork assembly, the transposition driving device is in transmission connection with the turntable, the turntable is in rotation connection with the frame, and the longitudinal driving device, the winding driving device and the transposition driving device are respectively installed on the frame; the wire winding driving device is used for driving the fly fork assembly to rotate around the wire cup, the longitudinal driving device is used for driving the fly fork assembly to move in the vertical direction, and the fly fork assembly is located above the turntable.

2. The double-head four-station vertical winding machine according to claim 1, wherein the longitudinal driving device comprises a first linear motor and a second linear motor, the winding driving device comprises a first rotating motor and a second rotating motor, the fly fork assembly comprises a first fly fork and a second fly fork, and the first fly fork and the second fly fork are provided with wire nozzles; the first linear motor is in transmission connection with the first flying fork, the first flying fork is in sliding connection with the rack along the vertical direction, the first rotating motor is in transmission connection with the first flying fork, and the first flying fork is in rotating connection with the rack; the second linear motor is in transmission connection with the second flying fork, the second flying fork is in sliding connection with the rack along the vertical direction, the second rotating motor is in transmission connection with the second flying fork, and the second flying fork is in rotating connection with the rack.

3. The double-head four-station vertical winding machine according to claim 2, wherein the first flyer comprises a first balancing weight and a first transmission shaft, the first balancing weight is fixedly connected with the first flyer, the first flyer is fixedly connected with the first transmission shaft, the first transmission shaft is vertically arranged, the first flyer and the first balancing weight are located at the lower end of the first transmission shaft, the first flyer and the first balancing weight are located on two sides of a central axis of the first transmission shaft, the first transmission shaft is rotatably connected with the frame and is also slidably connected with the frame in the vertical direction, and the first transmission shaft is respectively in transmission connection with the first linear motor and the first rotating motor;

and/or, the second flies to pitch the subassembly and includes second balancing weight and second transmission shaft, the second balancing weight with the second flies to pitch fixed connection, the second fly pitch with second transmission shaft fixed connection, the vertical setting of second transmission shaft, the second fly pitch with the second balancing weight is located the lower extreme of second transmission shaft, the second fly pitch with the second balancing weight is located the both sides of the axis of second transmission shaft, the second transmission shaft with the frame rotates to be connected simultaneously with frame along vertical direction sliding connection, the second transmission shaft respectively with second linear electric motor and the transmission of second rotating electrical machines is connected.

4. The double-ended four-station vertical winding machine according to claim 3, wherein the transposition driving device comprises a third rotating motor, the third rotating motor is fixedly connected with the machine frame, the third rotating motor is in transmission connection with the turntable, the turntable is horizontally arranged, the number of the wire cups is four, and the four wire cups are distributed in an equiangular circumferential array around a central axis of the turntable.

5. The machine according to claim 4, wherein the two bobbins are respectively located below the first and second transmission shafts.

6. The double-end four-station vertical winding machine according to any one of claims 1 to 5, further comprising a clamping and shearing device, wherein the clamping and shearing device comprises a fixed rod, a slide rod and a clamping and shearing driving device, the fixed rod is connected with the frame, the slide rod is slidably connected with the fixed rod, the clamping and shearing driving device is installed on the fixed rod, the clamping and shearing driving device is in transmission connection with the slide rod, a clamping and shearing head is fixedly connected with the fixed rod, a shearing portion and a clamping portion are arranged on one side, close to the slide rod, of the clamping and shearing head, and the slide rod can be matched with the shearing portion and the clamping portion respectively after sliding along the fixed rod.

7. The double-ended four-station vertical winding machine according to claim 6, wherein the clamping and shearing device further comprises a front and rear driving device and a movable frame, the fixed rod is connected with the movable frame, the movable frame is slidably connected with the machine frame, the front and rear driving device is fixedly connected with the machine frame, the front and rear driving device is in transmission connection with the movable frame, and the front and rear driving device is used for driving the movable frame to move horizontally.

8. The double-ended four-station vertical winding machine according to claim 7, wherein the clamping and shearing device further comprises a swinging traction driving device, the swinging traction driving device is mounted on the movable frame, the fixed rod is rotatably connected with the movable frame, a central axis of the fixed rod and the movable frame which rotate relatively is horizontally arranged, and the swinging traction driving device is in transmission connection with the fixed rod.

9. The double-ended four-station vertical winding machine according to claim 7 or 8, wherein the clamping and shearing device further comprises a left driving device and a right driving device, the left driving device and the right driving device are fixedly connected with the machine frame, the left driving device and the right driving device are in transmission connection with the movable frame, the left driving device and the right driving device are used for driving the movable frame to move horizontally, and the moving direction of the left driving device and the right driving device is perpendicular to the moving direction of the front driving device and the back driving device for driving the movable frame.

10. The double-ended four-station vertical winding machine according to claim 9, wherein the clamping and shearing device further comprises a left transmission screw, a right transmission screw, a front transmission screw and a rear transmission screw, the left transmission screw and the right transmission screw are rotatably connected with the frame, the left transmission screw and the right transmission screw are in transmission connection with the left driving device and the right driving device, the left transmission screw and the right transmission screw are in threaded connection with the movable frame, and the left transmission screw and the right transmission screw are horizontally arranged; the front and rear transmission screw rods are rotatably connected with the rack, the front and rear transmission screw rods are in transmission connection with the front and rear driving devices, the front and rear transmission screw rods are in threaded connection with the movable frame, the front and rear screw rods are horizontally arranged, and the front and rear screw rods are perpendicular to the left and right screw rods.

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