WO2021109585A1 - 绕线设备的绕线方法 - Google Patents

绕线设备的绕线方法 Download PDF

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Publication number
WO2021109585A1
WO2021109585A1 PCT/CN2020/103672 CN2020103672W WO2021109585A1 WO 2021109585 A1 WO2021109585 A1 WO 2021109585A1 CN 2020103672 W CN2020103672 W CN 2020103672W WO 2021109585 A1 WO2021109585 A1 WO 2021109585A1
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Prior art keywords
winding
driving device
tooth
controlled
turntable
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PCT/CN2020/103672
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English (en)
French (fr)
Inventor
刘元江
刘元宜
贺子和
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歌尔股份有限公司
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Publication of WO2021109585A1 publication Critical patent/WO2021109585A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/08—Forming windings by laying conductors into or around core parts

Definitions

  • the invention relates to the technical field of motor production and manufacturing, in particular to a winding method of a winding device.
  • the annular iron core can be the annular iron core of the stator or the annular iron core of the rotor.
  • the inner or outer circumferential side of the annular iron core is provided with a plurality of teeth for the wire to be wound to form a plurality of corresponding
  • the coil winding is generally manually wound. Then, the manual winding will have the problems of low efficiency and unstable quality.
  • the main purpose of the present invention is to propose a winding method for winding equipment, which aims to solve the problems of low efficiency and unstable quality caused by manual winding in the prior art.
  • the present invention proposes a winding method for a winding device, which includes a machine base, a turntable rotatably installed on the machine base, and is movably installed in the vertical and horizontal directions
  • the first driving device and the second driving device are controlled so that the winding part moves horizontally and vertically.
  • the first driving device, the second driving device, and the rotation driving device are controlled to work, so that the winding part aligns the loops according to the set sequence.
  • the multiple teeth of the iron core are wound.
  • the plurality of teeth of the annular core includes a plurality of first teeth and a plurality of second teeth, and the plurality of first teeth and the plurality of second teeth are in the ring
  • the iron core is alternately arranged in the circumferential direction;
  • the steps of winding multiple teeth of the iron core include:
  • the operations of the first driving device, the second driving device and the rotation driving device are controlled to sequentially wind the plurality of second tooth portions.
  • the step of making the first driving device, the second driving device, and the rotation driving device work, and sequentially winding the plurality of first tooth portions includes:
  • the operation of the first driving device, the second driving device, and the rotation driving device are controlled to sequentially wind the plurality of second tooth portions
  • the steps include:
  • the operation of the first driving device, the second driving device, and the rotation driving device are controlled to respectively wind the plurality of second tooth portions alternately in clockwise and counterclockwise winding directions, wherein the The winding direction of the second tooth portion is opposite to the winding direction of the adjacent first tooth portion.
  • the first driving device is a horizontal driving device
  • the second driving device is a vertical driving device
  • the tooth portion has an upper side and a lower side, and two sides connecting the upper side and the lower side;
  • the winding step of the multiple teeth of the iron core includes the winding step of a single tooth, and the winding step of the single tooth includes:
  • the rotation of the turntable is controlled to make the turntable and the winding part relatively move in the circumferential direction of the winding part, so as to wind the upper side or the lower side of the winding part.
  • the plurality of teeth are provided on the inner peripheral side of the annular iron core
  • a circular groove for the installation of an annular iron core is arranged in the middle of the turntable, and a plurality of positioning posts arranged in a circumferential direction are arranged on the periphery of the circular groove on the turntable;
  • the step of winding the multiple teeth of the iron core includes a switching step between the windings of the multiple teeth, and the switching step includes:
  • the first driving device and the second driving device are controlled so that the winding part passes around the periphery of the positioning column, so as to wind the windings on the two tooth parts.
  • the connecting section frame between the lines is set at the positioning column;
  • control the rotation driving device to drive the turntable to rotate, so that the next tooth to be wound is moved to the winding station;
  • the first driving device and the second driving device are controlled so that the winding part moves to the initial winding position of the tooth part at the winding station.
  • the rotation driving device is a three-phase permanent magnet synchronous AC servo motor.
  • the first driving device and the second driving device both include an electric cylinder
  • the second driving device is installed on the electric cylinder shaft of the first driving device
  • the winding part is installed on the second driving device.
  • the first driving device and the second driving device are controlled so that the winding part Move to the initial winding position of the annular iron core in the horizontal and vertical directions; when the winding part is at the initial winding position, the first driving device, the second driving device and the rotating drive are controlled
  • the device works so that the winding part respectively winds the multiple tooth parts of the annular iron core according to a set sequence. The entire winding process is automated, with high production efficiency and high quality stability.
  • FIG. 1 is a three-dimensional schematic diagram of an embodiment of a winding device provided by the present invention
  • Figure 2 is a three-dimensional schematic diagram of the winding device in Figure 1 after it is equipped with winding;
  • Fig. 3 is an enlarged schematic diagram of part A of Fig. 2;
  • Fig. 4 is a three-dimensional schematic diagram of the turntable and the rotating drive device in Fig. 1;
  • Fig. 5 is an enlarged schematic diagram of part B in Fig. 4;
  • FIG. 6 is a three-dimensional schematic diagram of the first driving device in FIG. 1;
  • FIG. 7 is a three-dimensional schematic diagram of the second driving device in FIG. 1;
  • FIG. 8 is a schematic flowchart of an embodiment of a winding method of a winding device provided by the present invention.
  • the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.
  • the present invention provides a winding device.
  • Figures 1 to 7 are an embodiment of the winding device provided by the present invention. Please refer to Figures 1 to 3.
  • the winding device 100 is used to
  • the toroidal core 200 provided with a plurality of teeth 201 on the circumferential side is used to wind the coil winding.
  • the toroidal core 200 may be the toroidal core 200 of the stator or the toroidal core 200 of the rotor. It depends on the actual situation.
  • the winding device 100 includes a base 1, a turntable 2, a winding part 3, a rotation driving device 4, and a first driving device 5 and a second driving device 6, wherein the The turntable 2 is rotatably mounted on the machine base 1, and a mounting structure (specifically, the mounting groove 21, see later) for mounting the annular iron core 200 is provided on the turntable 2, and the winding part 3 is aligned vertically and downwardly.
  • the rotating drive device 4 drives the turntable 2 to rotate, and one of the first drive device 5 and the second drive device 6 drives the winding part 3 moves up and down, and the other drives the winding part 3 to move horizontally.
  • the wire is wound on the teeth 201 of the toroidal core 200 to form a coil winding.
  • the coil winding includes a multi-turn coil distributed along the radial direction of the toroidal core 200, and is usually placed on the toroidal core 200. It is arranged in multiple layers in the circumferential direction.
  • the winding part 3 in the winding process, the winding part 3 first moves up and down and horizontally to the position of the tooth 201 of the toroidal core 200, and the specific movement is In the tooth slot 202 formed by the adjacent tooth portion 201, then, the winding is started on the tooth portion 201, and one turn of the coil is wound on the tooth portion 201, which can be divided into four stages, which correspond to The upper and lower sides of the tooth part 201 and the two side sides are wound.
  • the winding part 3 can move up and down. For the upper and lower sides of 201, it is only necessary to move the winding part 3 up and down to positions corresponding to the upper and lower sides of the tooth part 201, and then drive the turntable 2 to rotate.
  • the winding part 3 For the next coil to be wound, and the coil and the wound coil are distributed along the radial direction of the toroidal core 200, the winding part 3 needs to be moved horizontally to a set distance, and the subsequent winding The control process is consistent with the previous one.
  • the winding of the coil can be completed by the horizontal and up-and-down movement of the winding part 3 and the rotation of the turntable 2.
  • the winding process is automated, and the production efficiency is high and the quality is stable. high.
  • the rotation driving device 4 is a three-phase Permanent magnet synchronous AC servo motor
  • the inner rotor assembly of the three-phase permanent magnet synchronous AC servo motor is a moving magnet structure
  • the outer stator assembly is a sleeve design of outer cogging and yoke, which not only ensures the closure of the magnetic circuit, but also reduces Magnetic loss effectively reduces the starting torque and improves the running smoothness and control accuracy.
  • the turntable 2 is provided with a mounting structure for mounting the annular iron core 200.
  • the specific shape and structure of the mounting structure are not limited, and a clamping structure may be provided on the turntable 2.
  • In the embodiment of the present invention In the middle part of the turntable 2 is provided with a mounting groove 21 for mounting the annular iron core 200 to form the mounting structure.
  • the turntable 2 is provided with a periphery of the mounting structure.
  • a plurality of positioning posts 22 arranged in the circumferential direction.
  • the winding part 3 is installed on the machine base 1, which can be directly installed on the machine base 1, or can be installed on the machine base 1 through other structures, that is, indirectly installed on the machine base 1.
  • the specific installation structure of the winding part 3 is not limited, as long as the winding part 3 can be moved vertically and horizontally.
  • the base 1 is provided with A freely movable manipulator
  • the winding part 3 is provided with the manipulator, or alternatively, a sliding seat is provided on the base 1
  • the first driving device 5 drives the sliding seat to slide
  • the second driving device 6 is provided In the sliding seat
  • the winding part 3 is movably arranged on the sliding seat to be driven by the second driving device 6 to slide.
  • the first driving device 5 is installed on the base 1
  • the second driving device 6 is installed on the driving part of the first driving device 5
  • the winding part 3 Installed in the driving part of the second driving device 6, so that the structure of the first driving device 5 and the second driving device 6 can be simplified, and specifically, in the embodiment of the present invention, the first driving device 5
  • the driving device 5 is a horizontal driving device
  • the second driving device 6 is a vertical driving device.
  • the first driving device 5 may be a vertical driving device
  • the second driving device 6 may be a horizontal driving device.
  • the first driving device 5 and the second driving device 6 are linear driving devices, and the specific implementation is not limited.
  • the first driving device 5 and the second driving device 6 each include an electric cylinder
  • the second driving device 6 is mounted on the electric cylinder shaft of the first driving device 5
  • the winding part 3 is installed on the axis of the electric cylinder of the second driving device 6.
  • the winding equipment 100 usually further includes a pay-off device for placing a reel and pay-off.
  • the pay-off device is a tensioner 7, and the tensioner 7 includes a tensioner main body 71, a spool mounting portion 72 and a wire routing structure.
  • the wire reel mounting portion 72 is provided on one side of the tensioner main body 71 for the wire reel to install the wire routing structure on the tensioner main body 71, and the wire routing structure is used to support the winding, In order to define the wire routing path of the wire wound on the tensioner main body 71.
  • the internal structure of the tensioner main body 71 will not be described in detail again.
  • the technical solutions in the prior art can be used.
  • the tensioner 7 is used to pay off the wire to ensure that the winding can have sufficient tension. In order to improve the accuracy of winding.
  • the wiring structure includes a plurality of wiring posts 73 and a wiring support frame 74 arranged on the side of the tensioner main body 71 where the wire reel mounting portion 72 is provided, One end of the cable support frame 74 is provided on the tensioner main body 71, and the other end extends above the winding portion 3.
  • the upper end of the cable support frame 74 is provided with a cable portion 741.
  • the multiple wire routing posts 73 and the wire routing bracket can lay the winding wires along a set route and maintain sufficient tension.
  • the winding device 100 further includes an anti-jumping device 8.
  • the anti-jumping device 8 is arranged above the winding part 3 and adjacent to the winding part 3 to allow the winding to pass and limit the winding.
  • the second driving device 6 includes a driving seat 61 and a driving part provided on the driving seat 61
  • the winding part 3 is provided on the driving part of the second driving device 6
  • the The jumper prevention device 8 is provided on the drive base 61.
  • the number of the anti-jumping devices 8 is not limited, depending on actual needs.
  • the anti-jumping devices 8 are arranged in two up and down to improve the stability of the winding. In turn, the winding accuracy of the winding can be guaranteed.
  • the anti-jumping device 8 plays the role of wire-crossing on the one hand, and on the other hand, it acts to clamp the wire to prevent the winding from jumping.
  • the anti-jump device 8 includes a mounting board 81 and at least three anti-jump devices 82 provided on the mounting board 81, and the three anti-jump devices 82 It is arranged in a triangle, and two of the jumper preventing devices 82 are located on the upper side of the other one of the jumper preventing devices 82, so that the winding is routed in the horizontal direction first, and then the wires are routed downward.
  • the jumper preventing device 82 includes a wire passing post 821 and a wire clamping structure 822 arranged on the wire passing post 821.
  • the wire clamping structure 822 is arranged on the wire passing post 821 and defines a wire clamping groove.
  • the specific structure of the winding part 3 is not limited, and the wire can be routed inside the winding part 3, or can be routed outside the winding part 3.
  • the The winding part 3 is hollow for the winding to pass through. Since the winding part 3 is hollow, an entrance 3a for winding entry and an exit 3b for winding exit are formed. In order to protect the winding, avoid the entrance 3a of the thread passing part. And/or the outlet 3b is bent, causing damage to the winding.
  • a wire sheath 34 is provided at the inlet 3a and/or the outlet 3b, specifically, A protective wire cover 34 is provided at the entrance 3a.
  • the winding portion 3 includes an adapter plate 31, a mounting rod 32, and a nozzle 33
  • the adapter plate 31 is used as the mounting portion of the winding portion 3 ( Specifically, it is installed on the second driving device 6 through the adapter plate 31), the mounting rod 32 is mounted on the lower end of the adapter plate 31, and the nozzle 33 is installed from a side of the mounting rod 32.
  • the adapter plate 31 is provided with a wire passing hole which penetrates the adapter plate 31 upwards to form an entrance 3a for the winding to enter, and the mounting rod 32 is arranged in a hollow and In communication with the threading hole, the thread nozzle 33 is provided with a threading hole communicating with the inner cavity of the mounting rod 32 to form an outlet 3b for winding out to pass through the mounting rod 32 and the mounting rod 32.
  • the wire nozzle 33 can well confine the winding in the wire passing channel formed by the mounting rod 32 and the wire nozzle 33, thereby further improving the stability of the winding.
  • the present invention also provides a winding method of a winding device.
  • FIG. 8 is an embodiment of the winding method of the winding device provided by the present invention. Please refer to FIG. 8, and also refer to FIGS. 1 to 7.
  • the winding equipment 100 includes a machine base 1, a turntable rotatably mounted on the machine base 1, a winding part 3 movably arranged on the machine base 1 in the vertical and horizontal directions, and drives the turntable 2
  • the rotating rotary driving device 4, the first driving device 5 and the second driving device 6 that drive the winding part 3 to move up and down and horizontally.
  • the winding method of the winding device 100 includes the following steps:
  • Step S10 when the winding wire is erected on the winding equipment 100 and the annular iron core 200 is placed on the turntable 2, the first driving device 5 and the second driving device 6 are controlled so that the winding part 3 Move horizontally and up and down to the initial winding position of the annular iron core 200;
  • Step S20 When the winding part 3 is at the initial winding position, the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work, so that the winding part 3 is in accordance with the design.
  • the plurality of teeth 201 of the annular iron core 200 are respectively wound in a predetermined order.
  • the first driving device 5 and the second driving device 6 are controlled so that The winding part 3 moves in the horizontal and vertical directions to the initial winding position of the annular core 200; when the winding part 3 is at the initial winding position, the first driving device 5, the The second driving device 6 and the rotation driving device 4 work, so that the winding part 3 respectively winds the plurality of teeth 201 of the annular iron core 200 in a set sequence, and the entire winding process is automated With high production efficiency and high quality stability.
  • the plurality of teeth 201 of the annular iron core 200 includes a plurality of first teeth (the subsequent No. 1, No. 3, No. 5, and No. 7 teeth) and a plurality of second teeth (the subsequent No. 2, No. No. 4, No. 6 and No. 8 tooth parts), the plurality of first tooth parts and the plurality of second tooth parts are alternately arranged in the circumferential direction of the annular core 200.
  • step S20 includes:
  • Step S22 controlling the operation of the first driving device 5, the second driving device 6 and the rotation driving device 4, and winding the plurality of first tooth portions 201 in sequence;
  • Step S24 After the winding of the plurality of first tooth portions 201 is completed, the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work, and the plurality of first tooth portions 201 are sequentially The two-tooth part 201 is wound.
  • the tooth 201 of the current winding and the tooth 201 of the next winding are the spaced teeth 201 instead of the adjacent teeth 201, so that the teeth that are wound twice before and after The space of the part 201 is large enough to facilitate operation, and at the same time, when the turntable 2 is rotated and switched, the rotation angle is also large enough to facilitate accurate switching.
  • step S22 includes: controlling the first driving device 5, the second driving device 6 and the rotation driving device 4 to work, alternating clockwise and counterclockwise winding directions Winding the plurality of first tooth portions respectively;
  • Step S24 includes: controlling the operation of the first driving device 5, the second driving device 6 and the rotation driving device 4, and performing alternately on the plurality of second tooth portions according to the clockwise and counterclockwise winding directions. Winding, wherein the winding direction of the second tooth portion is opposite to that of the adjacent first tooth portion 201.
  • the following takes the winding of the toroidal core 200 in FIGS. 2 to 5 as an example for description, and the teeth 201 of the toroidal core 200 in FIGS. 2 to 8 are arranged sequentially in the circumferential direction of the toroidal core 200.
  • the numbers are No. 1, No. 2, No. 3, No. 4, No. 5, No. 6, No. 7 and No. 8 tooth part 201:
  • the first drive device 5 When the winding wire is erected on the winding equipment 100 and the ring core 200 is placed on the turntable 2, and a winding start instruction is received, the first drive device 5, the second drive device 6 and The rotation driving device 4 enables the winding part 3 to move in the horizontal and vertical directions to the initial winding position of the annular iron core 200, specifically the tooth groove formed between adjacent tooth parts 201;
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work, so that the winding part 3 starts at a low speed in a clockwise direction.
  • control the rotation driving device 4 to drive the turntable 2 to rotate, so that the No. 3 tooth part 201 is switched to the winding station;
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is counterclockwise.
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is clockwise First, set the number of turns for the No. 5 tooth 201 at a low speed (for example, 2 turns), and then wind the No. 5 tooth 201 at a high speed until the winding is completed;
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is counterclockwise.
  • the number of turns for the No. 7 tooth 201 at a low speed for example, 2 turns
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is counterclockwise.
  • the number of turns for example, 2 turns
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is clockwise Set the number of turns (for example, 2 turns) on the 4th tooth 201 at a low speed, and then wind the 4th tooth 201 at a high speed until the winding is completed;
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is counterclockwise.
  • the first driving device 5, the second driving device 6 and the rotation driving device 4 are controlled to work so that the winding part 3 is clockwise First, set the number of turns (for example, 2 turns) on the 8th tooth 201 at a low speed, and then wind the 8th tooth 201 at a high speed until the winding is completed.
  • the first driving device 5 is a horizontal driving device
  • the second driving device 6 is a vertical driving device
  • the tooth portion 201 has an upper side and a lower side, and a connecting upper side and a lower side. On both sides
  • Step S22 includes a winding step of a single tooth 201, and the winding step of the single tooth 201 includes:
  • the plurality of teeth 201 are provided on the inner peripheral side of the ring iron core 200, and the center of the turntable 2 is provided with a circular groove 21 for the ring iron core 200 to be installed.
  • the turntable 2 is provided with a plurality of positioning posts 22 arranged in the circumferential direction on the periphery of the circular groove 21;
  • Step S22 includes a switching step between the windings of the plurality of teeth 201, and the switching step includes:
  • the first driving device 5 and the second driving device 6 are controlled so that the winding portion 3 passes around the periphery of the positioning column 22 to connect the two
  • the connecting section frame between the windings on the tooth part 201 is set at the positioning column 22;
  • control the rotation driving device 4 to drive the turntable 2 to rotate, so that the next tooth 201 to be wound is moved to the winding station;
  • the first driving device 5 and the second driving device 6 are controlled so that the winding part 3 moves to the initial winding position of the tooth 201 at the winding station.

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  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
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Abstract

一种绕线设备的绕线方法，所述绕线设备的绕线方法包括以下步骤；在绕线线材在绕线设备上架设好且环形铁芯置于所述转盘时，控制所述第一驱动装置和第二驱动装置，使得所述绕线部沿水平向和上下向活动至所述环形铁芯的初始绕线位置（S10）；在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线（S20）；整个绕制过程采用自动化进行，生产效率高且质量稳定性高。

Description

绕线设备的绕线方法 技术领域
本发明涉及电机生产制造技术领域，特别涉及一种绕线设备的绕线方法。
背景技术
环形铁芯可以是定子的环形铁芯，也可以是转子的环形铁芯，环形铁芯的内环周侧或外环周侧设有多个齿部，以供线材绕设以对应形成多个线圈绕组，现有技术中，一般采用人工进行绕制，然后，人工绕制会存在效率低且质量不稳定的问题。
发明内容
本发明的主要目的是提出一种绕线设备的绕线方法，旨在解决现有技术中采用人工绕线而导致效率低且质量不稳定的问题。
为实现上述目的，本发明提出一种绕线设备的绕线方法，所述绕线设备包括机座、转动安装于所述机座上的转盘、沿上下向和水平向可活动地设于所述机座上的绕线部、驱动所述转盘转动的转动驱动装置、驱动所述绕线部上下和水平向移动的第一驱动装置和第二驱动装置，所述绕线设备的绕线方法包括以下步骤；
在绕线线材在绕线设备上架设好且环形铁芯置于所述转盘时，控制所述第一驱动装置和第二驱动装置，使得所述绕线部沿水平向和上下向活动至所述环形铁芯的初始绕线位置；
在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线。
可选地，所述环形铁芯的多个齿部包括多个第一齿部和多个第二齿部，所述多个第一齿部与所述多个第二齿部在所述环形铁芯的环周方向上呈交替设置；
在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动 装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括：
控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第一齿部进行绕线；
在所述多个第一齿部绕线完成后，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第二齿部进行绕线。
可选地，制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第一齿部进行绕线的步骤包括：
控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，按照顺时针和逆时针绕线方向交替分别对所述多个第一齿部进行绕线；
在所述多个第一齿部绕线完成后，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第二齿部进行绕线的步骤包括：
控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，按照顺时针和逆时针绕线方向交替分别对所述多个第二齿部进行绕线，其中，所述第二齿部与相邻的所述第一齿部的绕线方向相反。
可选地，所述第一驱动装置为水平向驱动装置，所述第二驱动装置为上下向驱动装置；
所述齿部具有上侧和下侧、以及连接上侧和下侧的两旁侧；
在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括单个齿部的绕线步骤，所述单个齿部的绕线步骤包括：
控制所述第二驱动装置驱动所述绕线部上下移动，以对所述齿部的一旁侧进行绕制；
控制所述转盘转动，使所述转盘与所述绕线部在所述绕线部的周向上发生相对移动，以对所述绕线部的上侧或者下侧进行绕制。
可选地，所述环形铁芯的内周侧设置所述多个齿部；
所述转盘的中部设置用以供环形铁芯安装的圆形槽，所述转盘上在所述圆形槽的***设置有多个沿周向排布的定位柱；
在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括多个齿部的绕线之间的切换步骤，所述切换步骤包括：
在当前的齿部完成绕线后，控制所述第一驱动装置和所述第二驱动装置，使得所述绕线部绕所述定位柱***经过，以将两个所述齿部上的绕线之间的连接段架设定位于所述定位柱；
接着，控制所述转动驱动装置驱动所述转盘转动，以使得下一待绕线的齿部移动至绕线工位；
而后，控制所述第一驱动装置和所述第二驱动装置，使得所述绕线部移动至处在所述绕线工位的齿部的绕线初始位置。
可选地，所述转动驱动装置为三相永磁同步交流伺服电机。
可选地，所述第一驱动装置和第二驱动装置均包括电缸，所述第二驱动装置安装于所述第一驱动装置的电缸轴，所述绕线部安装于所述第二驱动装置的电缸轴。
在本发明提供的技术方案中，在绕线线材在绕线设备上架设好且环形铁芯置于所述转盘时，控制所述第一驱动装置和第二驱动装置，使得所述绕线部沿水平向和上下向活动至所述环形铁芯的初始绕线位置；在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线，整个绕制过程采用自动化进行，生产效率高且质量稳定性高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明提供的绕线设备的一实施例的立体示意图；
图2为图1中的绕线设备在装有绕线后的立体示意图；
图3为图2的局部A放大示意图；
图4为图1中的转盘和转动驱动装置的立体示意图；
图5为图4中的局部B放大示意图；
图6为为图1中的第一驱动装置的立体示意图；
图7为为图1中的第二驱动装置的立体示意图；
图8为本发明提供的绕线设备的绕线方法的一实施例的流程示意图。
附图标号说明：
标号 名称 标号 名称
100 绕线设备 61 驱动座
1 机座 7 张力器
2 转盘 71 张力器主体
21 圆形槽 72 线盘安装部
22 定位柱 73 走线柱
3 绕线部 74 走线支撑架
3a 入口 741 走线部
3b 出口 8 防跳线装置
31 转接板 81 安装板
32 安装杆 82 防跳线器
33 线嘴 821 过线柱
34 护线套 822 夹线结构
4 转动驱动装置 200 环形铁芯
5 第一驱动装置 201 齿部
6 第二驱动装置 202 齿槽
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例， 而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中出现的“和/或”的含义，包括三个并列的方案，以“A和/或B”为例，包括A方案、或B方案、或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明提出一种绕线设备，图1至图7为本发明提供的绕线设备的一实施例，请参阅图1至图3，所述绕线设备100用以对内环周侧或外环周侧设有多个齿部201的环形铁芯200进行线圈绕组的绕制，所述环形铁芯200可以是定子的环形铁芯200，也可以是转子的环形铁芯200。具体视实际情况而定。
请进一步参阅图1至图5，所述绕线设备100包括机座1、转盘2、绕线部3、转动驱动装置4、以及第一驱动装置5和第二驱动装置6，其中，所述转盘2转动安装于所述机座1上，所述转盘2上设置有用以供环形铁芯200安装的安装结构(具体为安装槽21，见后续)，所述绕线部3沿上下向和水平向可活动地设于所述机座1上，所述转动驱动装置4驱动所述转盘2转动，所述第一驱动装置5和第二驱动装置6，其中之一驱动所述绕线部3上下移动，另一驱动所述绕线部3水平向移动。
绕线绕制在所述环形铁芯200的齿部201形成线圈绕组，线圈绕组包括沿着所述环形铁芯200的径向分布的多匝线圈，并且通常会在所述环形铁芯 200的周向上呈多层设置，以下以所述线圈绕组的一匝绕组进行介绍：在绕制过程中，绕线部3先通过上下和水平移动至环形铁芯200的齿部201所在位置，具体移动到相邻齿部201形成的齿槽202中，接着，开始在齿部201上进行绕制，在齿部201进行绕制一匝线圈，可以分为四个阶段，该四个阶段分别对应为齿部201的上侧和下侧以及两个旁侧的绕制，在绕所述齿部201的两个旁侧时，所述绕线部3上下移动即可，在绕制所述齿部201的上侧和下侧时，只要要将绕线部3上下移动至所述齿部201的上侧和下侧对应的位置后，驱动所述转盘2转动即可。
对于绕制下一匝线圈，且该匝线圈与已绕制的线圈沿着环形铁芯200的径向分布，此时需要水平移动所述绕线部3至一设定距离即可，后续绕制过程与前面是一致的。
在本发明提供的技术方案中，通过绕线部3的水平和上下移动，以及配合所述转盘2的转动即可完成线圈的绕制，绕制过程采用自动化进行，生产效率高且质量稳定性高。
所述转动驱动装置4的具体构造不做限制，只要驱动所述转盘2转动的装置均可理解为所述转动驱动装置4，在本发明的实施例中，所述转动驱动装置4为三相永磁同步交流伺服电机，所述三相永磁同步交流伺服电机的内转子组件为动磁结构，外定子组件为外齿槽与轭部套装设计，既保证了磁路的闭合，减小了磁损，又有效的降低启动力矩，提高了运转平顺性和控制精度。
所述转盘2上设置有供所述环形铁芯200安装的安装结构，对于所述安装结构的具体形状和构造不做限制，可以是在转盘2上设置夹持结构，在本发明的实施例中，所述转盘2的中部设置用以供环形铁芯200安装的安装槽21，以形成所述安装结构。
在绕线过程中，通常在每绕一个线圈绕组的开始，需要对其起始线段进行定位，为此，在本发明的实施例中，所述转盘2上在所述安装结构的***设置有多个沿周向排布的定位柱22，在绕制线圈绕制时，先在定位柱22上绕设固定该绕制线圈的起始段，以为起始段提供支点，接着，开启后续的绕制。
所述绕线部3是安装在所述机座1上，可以是直接安装在所述机座1上，也可以是通过其他结构安装在所述机座1上，也即间接安装在所述机座1上，所述绕线部3的具体安装结构不做限制，只要实现所述绕线部3在上下向和 水平向可以移动的结构均可，例如，所述机座1上设置有可自由活动地机械手，绕线部3设置所述机械手上，亦或者，所述机座1上设有滑动座，所述第一驱动装置5驱动滑动座滑动，所述第二驱动装置6设于所述滑动座，所述绕线部3活动设置在所述滑动座，以被所述第二驱动装置6驱动滑动。
在本发明的实施例中，所述第一驱动装置5安装于所述机座1上，所述第二驱动装置6安装于所述第一驱动装置5的驱动部，所述绕线部3安装在所述第二驱动装置6的驱动部，如此可以简化所述第一驱动装置5和所述第二驱动装置6的结构，并且具体地，在本发明的实施例中，所述第一驱动装置5为水平向驱动装置，所述第二驱动装置6为上下向驱动装置。显然，也可以是所述第一驱动装置5为上下向驱动装置，所述第二驱动装置6为水平向驱动装置。
所述第一驱动装置5和所述第二驱动装置6为直线驱动装置，具体实施方式不做限制，在本发明的实施例中，为了提高所述第一驱动装置5和所述第二驱动装置6的驱动精度，所述第一驱动装置5和第二驱动装置6均包括电缸，所述第二驱动装置6安装于所述第一驱动装置5的电缸轴，所述绕线部3安装于所述第二驱动装置6的电缸轴。
请进一步参阅图1至图3和图6，所述绕线设备100通常还包括放线装置，用以置放线盘和放线，具体地，在本发明的实施例中，所述放线装置为张力器7，所述张力器7包括张力器主体71、线盘安装部72和走线结构。所述线盘安装部72设于所述张力器主体71的一侧，用以供线盘安装所述走线结构设于所述张力器主体71，所述走线结构用以支撑绕线，以限定出绕线在所述张力器主体71上的走线路径。所述张力器主体71的内部构造再此不做详细介绍，可以采用现有技术中技术方案，本发明的实施例通过张力器7放线，可以保障绕线在能够具有足够的张紧度，以可以提高绕线的精度。
具体地，在本发明的实施例中，所述走线结构包括多个走线柱73和走线支撑架74设于所述张力器主体71设有所述线盘安装部72的一侧，所述走线支撑架74的一端设于所述张力器主体71，另一端延伸至所述绕线部3的上方，所述走线支撑架74的上端设置有走线部741，通过设置所述多个走线柱73和所述走线支架可以将所述绕线沿着设定的路线布设且保持足够的张紧。
请进一步参阅图1至图3和图7，通常绕线在所述绕线部3处容易发生 跳线，故而，在本发明的实施例中，所述绕线设备100还包括防跳线装置8，所述防跳线装置8设置在所述绕线部3的上方且邻近所述绕线部3设置，用以供绕线经过且对绕线进行限位。
并且进一步，具体地，所述第二驱动装置6包括驱动座61以及设于所述驱动座61的驱动部，所述绕线部3设于所述第二驱动装置6的驱动部，所述防跳线装置8设于所述驱动座61。所述防跳线装置8设置数量不做限制，具体视实际需要，具体地，在本发明的实施例中，所述防跳线装置8上下设置为两个，以提高绕线的稳定性，进而可以保障绕线的绕制精度。
所述防跳线装置8一方面起到过线的作用，另一方面起到夹线而防止绕线跳到，只要具有上述两个特征的结构均可以理解为所述防跳线装置8，具体地，在本发明的实施例中，所述防跳线装置8包括安装板81以及设于所述安装板81上的至少三个防跳线器82，所述三个防跳线器82呈三角形布置，且其中两个所述防跳线器82位于另一个所述防跳线器82的上侧，以使得绕线先在水平向走线，然后向下走线，每一所述防跳线器82包括过线柱821、以及设于所述过线柱821上夹线结构822，所述夹线结构822设于所述过线柱821上且限定出夹线槽。
所述绕线部3的具体结构不做限制，可以在所述绕线部3的内部过线，也可以在所述绕线部3的外部过线，在本发明的实施例中，所述绕线部3呈中空设置，以供绕线穿过。因所述绕线部3呈中空设置，故而，形成有供绕线进入的入口3a和供绕线出来的出口3b，为了对绕线起到保护作用，避免在所述过线部的入口3a和/或出口3b处因为弯折，对绕线造成损伤，进一步地，在本发明的实施例中，在所述入口3a和/或所述出口3b处设置护线套34，具体地，在所述入口3a处设置护线套34。
具体地，在本发明的实施例中，所述绕线部3包括转接板31、安装杆32以及线嘴33，所述转接板31用以作为所述绕线部3的安装部(具体是通过所述转接板31安装在所述第二驱动装置6上)，所述安装杆32安装于所述转接板31的下端，所述线嘴33自所述安装杆32的一侧延伸出，所述转接板31设有过线孔，所述过线孔向上贯穿所述转接板31设置，以形成供绕线进入的入口3a，所述安装杆32呈中空设置且与所述过线孔连通，所述线嘴33设置有与所述安装杆32的内腔连通的过线口，以形成供绕线出来的出口3b，以通 过所述安装杆32和所述线嘴33能够很好地将绕线限定在所述安装杆32和所述线嘴33共同形成的过线通道内，进一步提高绕线的稳定性。
本发明还提供一种绕线设备的绕线方法，图8为本发明提供的绕线设备的绕线方法的一实施例，请参阅图8，并一并参阅图1至图7，所述绕线设备100包括机座1、转动安装于所述机座1上的转盘2、沿上下向和水平向可活动地设于所述机座1上的绕线部3、驱动所述转盘2转动的转动驱动装置4、驱动所述绕线部3上下和水平向移动的第一驱动装置5和第二驱动装置6。所述绕线设备100的绕线方法包括以下步骤；
步骤S10、在绕线线材在绕线设备100上架设好且环形铁芯200置于所述转盘2时，控制所述第一驱动装置5和第二驱动装置6，使得所述绕线部3沿水平向和上下向活动至所述环形铁芯200的初始绕线位置；
步骤S20、在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照设定的顺序分别对所述环形铁芯200的多个齿部201进行绕线。
在本发明提供的技术方案中，在绕线线材在绕线设备100上架设好且环形铁芯200置于所述转盘2时，控制所述第一驱动装置5和第二驱动装置6，使得所述绕线部3沿水平向和上下向活动至所述环形铁芯200的初始绕线位置；在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照设定的顺序分别对所述环形铁芯200的多个齿部201进行绕线，整个绕制过程采用自动化进行，生产效率高且质量稳定性高。
所述环形铁芯200的多个齿部201包括多个第一齿部(为后续的1号、3号、5号和7号齿部)和多个第二齿部(后续的2号、4号、6号和8号齿部)，所述多个第一齿部与所述多个第二齿部在所述环形铁芯200的环周方向上呈交替设置。在本发明的实施例中，步骤S20包括：
步骤S22、控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，依次对所述多个第一齿部201进行绕线；
步骤S24、在所述多个第一齿部201绕线完成后，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，依次对所述多个第二齿部201进行绕线。
也即在该实施例中，当前绕线的齿部201与下一绕线的齿部201为间隔的齿部201，而不是相邻的齿部201，如此，使得前后两次绕制的齿部201的空间足够大，而方便操作，同时转盘2在转动切换时，转角也足够大而有利于实现精确切换。
进一步地，在本发明的实施例中，步骤S22包括：控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，按照顺时针和逆时针绕线方向交替分别对所述多个第一齿部进行绕线；
步骤S24包括：控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，按照顺时针和逆时针绕线方向交替分别对所述多个第二齿部进行绕线，其中，所述第二齿部与相邻的所述第一齿部201的绕线方向相反。
在本实施例中，通过设置所述多个齿部201的绕线方向的分布，而可以获得一个足够大的磁通量，进而使得电机的功率较大。
具体地，以下以图2至图5的环形铁芯200的绕线为例进行说明，对图2至图8中的环形铁芯200的齿部201按照环形铁芯200的周向排布依次编号为1号、2号、3号、4号、5号、6号、7号和8号齿部201：
当绕线线材在绕线设备100上架设好且环形铁芯200置于所述转盘2时，且接收到开始绕线指令，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4，使得所述绕线部3沿水平向和上下向活动至所述环形铁芯200的初始绕线位置，具体为相邻的齿部201之间形成的齿槽；
在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照顺时针先低速对1号齿部201绕线设定圈数(例如2圈)，然后高速对1号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得3号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照逆时针先低速对3号齿部201绕线设定圈数(例如2圈)，然后高速对3号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得5号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照顺时针先低速对5号齿部201绕线设定圈数(例如2圈)，然后高速对5号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得7号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照逆时针先低速对7号齿部201绕线设定圈数(例如2圈)，然后高速对7号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得2号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照逆时针先低速对2号齿部201绕线设定圈数(例如2圈)，然后高速对2号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得4号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照顺时针先低速对4号齿部201绕线设定圈数(例如2圈)，然后高速对4号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得6号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照逆时针先低速对6号齿部201绕线设定圈数(例如2圈)，然后高速对2号齿部201进行绕线至完成绕制；
接着，控制所述转动驱动装置4驱动所述转盘2转动，使得8号齿部201切换至绕线工位；
而后，在绕线部3处在初始绕线位置时，控制所述第一驱动装置5、所述第二驱动装置6和所述转动驱动装置4工作，使得所述绕线部3按照顺时针先低速对8号齿部201绕线设定圈数(例如2圈)，然后高速对8号齿部201进行绕线至完成绕制。
可选地，所述第一驱动装置5为水平向驱动装置，所述第二驱动装置6为上下向驱动装置，所述齿部201具有上侧和下侧、以及连接上侧和下侧的两旁侧；
步骤S22包括单个齿部201的绕线步骤，所述单个齿部201的绕线步骤包括：
控制所述第二驱动装置6驱动所述绕线部3上下移动，以对所述齿部201的一旁侧进行绕制；
控制所述转盘2转动，使所述转盘2与所述绕线部3在所述绕线部3的周向上发生相对移动，以对所述绕线部3的上侧或者下侧进行绕制。
在本发明的实施例中，所述环形铁芯200的内周侧设置所述多个齿部201，所述转盘2的中部设置用以供环形铁芯200安装的圆形槽21，所述转盘2上在所述圆形槽21的***设置有多个沿周向排布的定位柱22；
步骤S22包括多个齿部201的绕线之间的切换步骤，所述切换步骤包括：
在当前的齿部201完成绕线后，控制所述第一驱动装置5和所述第二驱动装置6，使得所述绕线部3绕所述定位柱22***经过，以将两个所述齿部201上的绕线之间的连接段架设定位于所述定位柱22；
接着，控制所述转动驱动装置4驱动所述转盘2转动，以使得下一待绕线的齿部201移动至绕线工位；
而后，控制所述第一驱动装置5和所述第二驱动装置6，使得所述绕线部3移动至处在所述绕线工位的齿部201的绕线初始位置。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围。

Claims (7)

  1. 一种绕线设备的绕线方法，其特征在于，所述绕线设备包括机座、转动安装于所述机座上的转盘、沿上下向和水平向可活动地设于所述机座上的绕线部、驱动所述转盘转动的转动驱动装置、驱动所述绕线部上下和水平向移动的第一驱动装置和第二驱动装置，所述绕线设备的绕线方法包括以下步骤；
    在绕线线材在绕线设备上架设好且环形铁芯置于所述转盘时，控制所述第一驱动装置和第二驱动装置，使得所述绕线部沿水平向和上下向活动至所述环形铁芯的初始绕线位置；
    在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线。
  2. 如权利要求1所述的绕线设备的绕线方法，其特征在于，所述环形铁芯的多个齿部包括多个第一齿部和多个第二齿部，所述多个第一齿部与所述多个第二齿部在所述环形铁芯的环周方向上呈交替设置；
    在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括：
    控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第一齿部进行绕线；
    在所述多个第一齿部绕线完成后，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第二齿部进行绕线。
  3. 如权利要求2所述的绕线设备的绕线方法，其特征在于，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第一齿部进行绕线的步骤包括：
    控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，按照顺时针和逆时针绕线方向交替分别对所述多个第一齿部进行绕线；
    在所述多个第一齿部绕线完成后，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，依次对所述多个第二齿部进行绕线的步骤包括：
    控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，按照顺时针和逆时针绕线方向交替分别对所述多个第二齿部进行绕线，其中，所述第二齿部与相邻的所述第一齿部的绕线方向相反。
  4. 如权利要求1所述的绕线设备的绕线方法，其特征在于，所述第一驱动装置为水平向驱动装置，所述第二驱动装置为上下向驱动装置；
    所述齿部具有上侧和下侧、以及连接上侧和下侧的两旁侧；
    在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括单个齿部的绕线步骤，所述单个齿部的绕线步骤包括：
    控制所述第二驱动装置驱动所述绕线部上下移动，以对所述齿部的一旁侧进行绕制；
    控制所述转盘转动，使所述转盘与所述绕线部在所述绕线部的周向上发生相对移动，以对所述绕线部的上侧或者下侧进行绕制。
  5. 如权利要求1所述的绕线设备的绕线方法，其特征在于，所述环形铁芯的内周侧设置所述多个齿部；
    所述转盘的中部设置用以供环形铁芯安装的圆形槽，所述转盘上在所述圆形槽的***设置有多个沿周向排布的定位柱；
    在绕线部处在初始绕线位置时，控制所述第一驱动装置、所述第二驱动装置和所述转动驱动装置工作，使得所述绕线部按照设定的顺序分别对所述环形铁芯的多个齿部进行绕线的步骤，包括多个齿部的绕线之间的切换步骤，所述切换步骤包括：
    在当前的齿部完成绕线后，控制所述第一驱动装置和所述第二驱动装置，使得所述绕线部绕所述定位柱***经过，以将两个所述齿部上的绕线之间的连接段架设定位于所述定位柱；
    接着，控制所述转动驱动装置驱动所述转盘转动，以使得下一待绕线的齿部移动至绕线工位；
    而后，控制所述第一驱动装置和所述第二驱动装置，使得所述绕线部移动至处在所述绕线工位的齿部的绕线初始位置。
  6. 如权利要求1至5任意一项所述的绕线设备的绕线方法，所述转动驱动装置为三相永磁同步交流伺服电机。
  7. 如权利要求1至5任意一项所述的绕线设备的绕线方法，其特征在于，所述第一驱动装置和第二驱动装置均包括电缸，所述第二驱动装置安装于所述第一驱动装置的电缸轴，所述绕线部安装于所述第二驱动装置的电缸轴。
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