Research On Coiling Robot Of Integrate Electromotor Motor

Because of the winding framework of integrate electromotor motor is very complex and the thread diameter that coiling on it is thick, it's difficult to realize the automatic coiling of the winding. In order to solve this problem, we research and develop a new type coiling equipment, i.e. robot coiling system. Bionics theory is employed to analyze and imitate manual coiling behavior in mechanical design of this new coiling machine. Automatic coiling can be realized with the help of the coiling machine, and it would achieve much more social efficiency and economic efficiency.Based on the analysis on winding framework of the motor and the characteristic of manual coiling behavior, bending coiling plan is put forward. And a coiling method that integrated groove winding with smooth winding has been applied after comparing the advantage and disadvantage of groove winding with that of smooth winding. As fluctuating tension force has greatly effects on coiling quality, tension mechanism is very important in the coiling robot. So a tension closed loop system that applied optimum robust control method is proposed, simulation results show that dynamic characteristic of tension system is greatly improved.Master-slave control mode is adopted depending on coiling robot control requirements. The control system that combined strong data processing ability of industrial PC with high reliability of PLC has excellent performance. And communication program between PC and PLC is developed. Now the coiling robot has accomplished automatic coiling of integrate electromotor motor winding, and achieved high coiling quality.