Flat wire hairpin putting into slot control method

Abstract

The application provides a flat wire hairpin putting slot control method, which comprises the following steps: placing the front side leg of a previous hairpin into a hairpin putting slot of a material cylinder, and placing the back side leg on a lifting mechanism; the lifting mechanism lifts the back side leg of the previous hairpin; the material cylinder rotates intermittently at a predetermined angle; when the material cylinder rotates by a given angle, the lifting mechanism lifts the back side leg of the previous hairpin, the front side leg of a next hairpin is placed into the hairpin putting slot of the material cylinder below the back side leg of the previous hairpin, and then the back side leg of the previous hairpin is separated from the lifting mechanism and placed into the hairpin putting slot under the driving of the material cylinder. The back side leg of the previous hairpin is lifted and then lifted by the lifting mechanism, the lifting and lifting actions of the lifting mechanism are orderly connected with the rotating motion of the material cylinder, the hairpin can be sequentially placed into the hairpin placing slot according to the set layering structure, the method has the advantages of high placing precision and convenient control, and can effectively prevent the problem of scattering in the hairpin placing process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flat wire motor production, in particular to a flat wire hairpin placement slot control method. BACKGROUND

[0002] The existing flat wire motor generally adopts a multi-layer flat wire structure, commonly 4 layers and 8 layers. The multi-layer flat wire structure causes the flat wire motor winding to be arranged in layers in the stator slot. The existing multi-layer flat wire motor winding is mostly installed in the stator slot by layer-by-layer placement. As for flat wire insertion, the existing technology has a manual wire-by-wire insertion method, but with the increasing demand for automation, the automatic wire-by-wire insertion method gradually replaces the manual insertion method. Patent No. 201880012303.1, granted publication No. CN110337776B discloses a coil assembly device, a coil assembly method, and a rotating electric machine manufacturing device, which can smoothly insert the coil segment from the outer side of the radial direction into the coil segment holding portion arranged in a circular ring shape, and can easily arrange these coil segments in a circular ring shape. Furthermore, the coil segments delivered in sequence are directly guided to the coil segment holding portion for insertion as the coil segment arrangement body rotates, so that the coil can be quickly and efficiently assembled into a circular ring shape.

[0003] In the process of placing the latter hairpin into the hairpin placement slot, the front side leg of the latter hairpin needs to be placed below the rear side leg of the former hairpin to form a sequential stacking structure, thereby improving the slot fill rate. However, the existing technology lacks an effective method for controlling the above wire placement process, resulting in low placement accuracy between hairpins, affecting the quality of flat wire winding formation, and further affecting the performance of the motor. SUMMARY

[0004] The present application provides a flat wire hairpin placement slot control method that controls the lifting and lifting action of the picking mechanism and the rotational movement of the barrel to realize the sequential placement of hairpins in the barrel mold according to the set stacking structure.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] A flat wire hairpin placement slot control method, comprising the following steps:

[0007] Place the front side leg of the former hairpin in the barrel hairpin placement slot, and place the rear side leg on the picking mechanism;

[0008] The picking mechanism lifts the rear side leg of the former hairpin;

[0009] The barrel is intermittently rotated at a predetermined angle, and when the barrel rotates by a given angle, the picking mechanism picks up the rear leg of the previous card and places the front leg of the next card in the card placing groove of the barrel below the rear leg of the previous card, and then the rear leg of the previous card is separated from the picking mechanism and placed in the card placing groove under the action of the barrel.

[0010] The subsequent card repeats the above steps until all the flat wire card required by the stator core is placed on the surface of the barrel.

[0011] Preferably, the step of placing the front leg of the previous card in the card placing groove of the barrel and placing the rear leg on the picking mechanism further comprises the step of extending the baffle radially along the barrel to form a card placing groove on the outer periphery of the barrel.

[0012] Preferably, the step of placing the front leg of the previous card in the card placing groove of the barrel and placing the rear leg on the picking mechanism comprises:

[0013] The servo assembly drives the picking mechanism to move to the card laying position above the barrel;

[0014] The horizontal height of the driving lever assembly in the picking mechanism is lower than the horizontal height of the support rod assembly in the picking mechanism to reserve a card insertion space;

[0015] The front leg of the previous card is placed in the card placing groove of the barrel through the above-mentioned space, and the rear leg is placed on the driving lever assembly.

[0016] Preferably, the step of lifting the rear leg of the previous card by the picking mechanism comprises the step of driving the driving lever assembly to move upward to the same horizontal height as the support rod assembly to lift the rear leg of the previous card.

[0017] Preferably, the step of driving the picking mechanism to move to the card laying position above the barrel by the servo assembly comprises the step of moving the picking mechanism to the appropriate laying position above the barrel by the action of the transverse servo mechanism and the longitudinal servo mechanism.

[0018] Preferably, the support rod assembly comprises front support rods distributed along the axial direction of the barrel and front support plates distributed at the top of the front support rods for picking up the rear leg of the card.

[0019] Preferably, the driving lever assembly comprises a driving lever vertically displaced by a vertical cylinder and rear support plates arranged at the top of the driving lever for the rear leg of the card.

[0020] Preferably, the step of driving the driving lever assembly to move upward to the same horizontal height as the support rod assembly to lift the rear leg of the previous card comprises the step of driving the driving lever upward to the same horizontal height as the front support rod by the vertical cylinder to lift the rear leg of the previous card.

[0021] Preferably, the barrel is intermittently rotated at a predetermined angle, and when the barrel rotates by a given angle, the pick-up mechanism picks up the previous rear leg, and the next front leg is placed in the barrel card placing groove below the previous rear leg, and then the previous rear leg is separated from the pick-up mechanism and placed in the card placing groove under the action of the barrel.

[0022] When the barrel rotates by a given angle, the previous rear leg is transferred from the push rod assembly to the support rod assembly to be picked up.

[0023] The push rod assembly is lowered and reset to provide an insertion space again.

[0024] The next front leg is placed in the barrel card placing groove below the previous rear leg through the insertion space, and then the next rear leg is placed on the push rod assembly.

[0025] The barrel is further rotated, and the previous rear leg is separated from the support rod assembly and placed in the corresponding card placing groove.

[0026] Preferably, the subsequent card repeats the above steps until all the flat wire card required by the stator core is placed on the surface of the barrel, and the steps include:

[0027] The barrel rotates one revolution to form a layer of flat wire card winding on the outer periphery of the barrel.

[0028] The baffle extends radially along the barrel to form a two-layer card placing groove.

[0029] The above card placing operation is repeated until the required number of layers of flat wire card winding is placed on the outer periphery of the barrel.

[0030] From the above technical solution, the present application has the following advantages: the push rod assembly in the pick-up mechanism first lifts the previous rear leg, and then transfers the previous rear leg from the push rod assembly to the support rod assembly under the action of the barrel rotation force, to realize the pick-up of the previous rear leg, so that the next front leg is placed in the barrel card placing groove below the previous rear leg. The lifting and pick-up action of the pick-up mechanism is orderly connected with the rotation movement of the barrel, and the card can be placed in the card placing groove in the order of the set layer structure, which has the advantages of high placing precision and convenient control, and can effectively prevent the problem of scattering during card placing. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The control method provided by the present application is shown in the flow chart;

[0032] Figure 2 The structure diagram of the guide device provided by the present application is shown in the structure diagram;

[0033] Figure 3 Figure 1 is a schematic view of the present application; Figure 2 Figure 2 is an enlarged view of the lifting mechanism;

[0034] Figure 4 Figure 3 is a schematic view of the lifting mechanism cooperating with the cartridge.

[0035] In the figure: 10, bracket; 20, guide assembly; 210, horizontal servo mechanism; 211, horizontal servo motor; 212, horizontal screw; 220, vertical servo mechanism; 221, vertical servo motor; 222, vertical mounting base; 30, lifting mechanism; 310, support rod assembly; 311, front support rod; 312, front support plate; 320, lever assembly; 321, vertical air cylinder; 322, lever; 323, rear support plate; 330, auxiliary support; 331, horizontal air cylinder; 332, auxiliary support rod; 333, support plate. DETAILED DESCRIPTION

[0036] The preferred embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0037] Embodiment:

[0038] With reference to Figure 2 , Figure 3 , Figure 4 , a flat wire hairpin slot guiding device, comprising a bracket 10, further comprising a guide assembly 20 and a lifting mechanism 30, the guide assembly can be displaced horizontally and vertically along the bracket, the lifting mechanism is arranged at the mounting portion of the guide assembly, the lifting mechanism comprises a support rod assembly 310 arranged at the mounting portion and a lever assembly 320 arranged at the rear side of the support rod assembly and capable of being displaced vertically along the bracket to lift the rear side leg of the hairpin to the support rod assembly to facilitate the insertion of the next hairpin, in use, the guiding device is arranged above the hairpin placing mold, initially, the lever assembly is located below the rear side of the support rod assembly to reserve space, the hairpin is grabbed by a mechanical hand, the front side leg of the hairpin is placed on the hairpin placing slot on the cartridge through the above-mentioned reserved space, while the rear side leg of the hairpin is placed on the lever assembly, then the lever assembly is used to lift the rear side leg of the hairpin to the same horizontal height as the support rod assembly by moving upward along the vertical direction of the bracket, the cartridge drives the hairpin to rotate synchronously in the process of rotation, thereby moving the rear side leg of the hairpin to the support rod assembly, thereby realizing the lifting of the rear side leg of the hairpin, and the lever assembly is lowered to facilitate the insertion of the front side leg of the next hairpin into the cartridge hairpin placing slot below the rear side leg of the previous hairpin.

[0039] As a preferred technical scheme of the present application, the guiding assembly 20 comprises a horizontal servo mechanism 210 and a vertical servo mechanism 220 arranged on the horizontal servo mechanism mounting portion, wherein the horizontal servo mechanism comprises a horizontal servo motor 211 arranged on the support frame, a horizontal lead screw 212 rotatably arranged on the output end of the horizontal servo motor, a horizontal lead screw nut screw-engaged with the horizontal lead screw, and a horizontal mounting seat arranged on the outer wall of the horizontal lead screw nut, so that the horizontal servo motor drives the horizontal lead screw nut to axially displace along the horizontal lead screw when in operation, thereby realizing horizontal displacement of the horizontal mounting seat and the components arranged thereon along the support frame.

[0040] Further, the vertical servo mechanism 220 comprises a vertical servo motor 221 arranged on the horizontal mounting seat, a vertical lead screw rotatably arranged on the output end of the vertical servo motor, a vertical lead screw nut screw-engaged with the vertical lead screw, and a vertical mounting seat 222 arranged on the outer wall of the vertical lead screw nut, so that the vertical servo motor drives the vertical lead screw nut to axially displace along the vertical lead screw when in operation, thereby realizing vertical displacement of the vertical mounting seat and the components arranged thereon along the support frame.

[0041] Since the windings of the existing flat wire motor are divided into multiple layers, the position of the picking mechanism needs to be adaptively adjusted when placing the hairpins of different layers, therefore, the horizontal displacement function of the horizontal servo mechanism 210 and the vertical displacement function of the vertical servo mechanism 220 can be utilized to realize horizontal and vertical displacement of the picking mechanism, so as to adjust the picking mechanism to the optimal working position.

[0042] Further, sensors for limiting the displacement limits of the horizontal mounting seat and the vertical mounting seat are arranged on the horizontal servo mechanism 210 and the vertical servo mechanism 220 respectively, specifically, the sensors can be arranged on the support frame for fixing the servo motor, and correspond to the positions of the displacement limits of the horizontal mounting seat and the vertical mounting seat, so that the corresponding motor can be triggered to stop moving when the horizontal mounting seat and the vertical mounting seat move to the limit positions, thereby preventing the picking mechanism from moving too much.

[0043] As a preferred technical scheme of the present application, the support rod assembly 310 comprises a front support rod 311 vertically arranged on the vertical mounting seat, and a front support plate 312 fixedly arranged on the top of the front support rod, specifically, the front support plate is a long strip-shaped plate body, which can be fixed on the front support rod by screws or other fasteners, correspondingly, in order to facilitate fixing of the front support plate, the top of the front support rod can be arranged as a flat surface, thereby facilitating fixing of the front support plate thereon.

[0044] Further, the number of the front support plates 312 is at least two, when the number of the front support plates is two, the two front support plates are arranged in parallel and spaced apart, and the gap between the two front support plates forms a space which facilitates the robot to place the grabbed hairpin into the hairpin placing groove of the barrel. In addition, the front support plate in the present application can be arranged perpendicular to the front support rod, or can be arranged at an angle with the front support rod, and is preferably designed to be arranged perpendicular to the front support rod, thereby facilitating the robot to place the hairpin into the hairpin placing groove of the barrel.

[0045] As a preferred technical solution of the present application, the dial lever assembly 320 comprises a vertical cylinder 321 fixed on a vertical mounting seat, a dial lever 322 arranged at the output end of the vertical cylinder, and a rear support plate 323 arranged on the side wall of the dial lever. Specifically, the rear support plate is also a long strip-shaped plate body, which is also fixed on the front support rod by screws or other fasteners. Correspondingly, in order to facilitate the fixing of the rear support plate, the top of the dial lever can be designed as a flat surface, thereby facilitating the fixing of the rear support plate.

[0046] Further, the number of the rear support plates 323 is at least two, and the number thereof is the same as that of the front support plates 312. When the number of the rear support plates is two, the two rear support plates are arranged in parallel and spaced apart on the top of the dial lever.

[0047] As a preferred technical solution of the present application, an auxiliary support member 330 is arranged on the rear side of the dial lever assembly. The auxiliary support member comprises a horizontal cylinder 331 fixed on a vertical mounting seat, an auxiliary support rod 332 arranged at the output end of the horizontal cylinder, and a supporting plate 333 arranged on the side wall of the auxiliary support rod. The supporting plate is located between the rear support plates 323 and extends in an arc shape towards the front support rod. By arranging the auxiliary support member, when the rear side leg of the hairpin is placed on the rear support plate, the supporting plate can be further used for supporting. When the rear side leg needs to be lifted to the front support plate, the displacement of the horizontal cylinder can be used to separate the supporting plate from the rear support plate, thereby avoiding the interference with the movement of the rear support plate.

[0048] Referring to Figure 1 The present application discloses a flat wire hairpin placing groove control method, comprising the following steps:

[0049] S10: placing the front side leg of the previous hairpin into the hairpin placing groove of the barrel, and placing the rear side leg on the lifting mechanism.

[0050] Specifically, the front side leg of the previous hairpin is placed into the hairpin placing groove of the barrel before the rear side leg, and the rear side leg is supported by the lifting mechanism, so as to facilitate the subsequent lifting and make the next hairpin enter smoothly.

[0051] S20: lifting the rear side leg of the previous hairpin by the lifting mechanism.

[0052] Specifically, the lifting mechanism first lifts the rear side leg of the previous hairpin, so as to facilitate the smooth performance of the subsequent lifting action.

[0053] S30: The barrel rotates intermittently at a predetermined angle, and when the barrel rotates a given angle, the pick-up mechanism picks up the rear leg of the previous card, and the front leg of the next card is placed in the card placing groove of the barrel below the rear leg of the previous card, and then the rear leg of the previous card is separated from the pick-up mechanism and placed in the card placing groove under the action of the barrel.

[0054] Specifically, the barrel rotates intermittently at a predetermined angle under the driving of the external servo rotation mechanism, and when the barrel rotates a given angle, the pick-up mechanism picks up the lifted rear leg of the previous card, so that the rear leg of the next card is placed in the card placing groove of the barrel below the rear leg of the previous card under the action of the manipulator, and in the further rotation process of the barrel, the rear leg of the previous card is separated from the pick-up mechanism and finally placed in the card placing groove, realizing the orderly placement of the previous card.

[0055] S40: The subsequent card repeats the above steps until all the flat wire cards required by the stator core are placed on the surface of the barrel.

[0056] Specifically, after the previous card is placed, the next card can be placed in sequence according to the principle of the previous card placement, and when the barrel rotates one circle, the placement of the flat wire card winding of one layer is completed, and the placement requirement of the flat wire winding of multiple layers is completed.

[0057] The flat wire card placing groove control method provided by the application first lifts the rear leg of the previous card through the pick-up mechanism, and then picks it up under the action of the rotation power of the barrel, so that the front leg of the next card is placed in the barrel card placing groove below the rear leg of the previous card. The lifting and picking action of the pick-up mechanism is orderly connected with the rotation movement of the barrel, which can realize the orderly placement of the card into the card placing groove according to the set layer structure, has the advantages of high placement precision and convenient control, and can effectively prevent the problem of scattering during card placement.

[0058] S10': Before the step of placing the front leg of the previous card in the barrel card placing groove and the rear leg on the pick-up mechanism, the step of extending the baffle radially along the barrel to form a card placing groove on the outer periphery of the barrel is further included.

[0059] Specifically, the baffle is a plurality of baffles arranged along the groove of the outer periphery of the barrel, and a core shaft rod is arranged in the barrel to drive the baffle to extend radially along the barrel. Under the driving of the core shaft rod, the baffle can be extended or retracted from the outer periphery of the barrel, so that the distance of the baffle extending from the outer periphery of the barrel can be adjusted. After the inner layer flat wire winding is placed, the baffle can be further extended from the barrel, so as to facilitate the placement of the outer layer flat wire winding.

[0060] S110: The pick-up mechanism is driven by the servo assembly to move to the card placing position above the barrel.

[0061] Specifically, the pick-up mechanism can be driven by the servo assembly, such as a horizontal servo mechanism and a vertical servo mechanism for horizontal and vertical movement, so as to adjust the pick-up mechanism to the appropriate card placing position above the barrel.

[0062] S120: The horizontal height of the push rod assembly in the pick-up mechanism is lower than that of the support rod assembly in the pick-up mechanism to reserve a card insertion space.

[0063] Specifically, before the previous card is placed in the card placing slot of the barrel, the horizontal height of the push rod assembly is driven to be lower than that of the support rod assembly, so as to reserve a certain card insertion space between the push rod assembly and the support rod assembly, avoiding interference of the push rod assembly with the insertion process.

[0064] S130: The front side leg of the previous card is placed in the card placing slot of the barrel through the above-mentioned space, and the rear side leg is placed on the push rod assembly.

[0065] Specifically, since the horizontal height of the push rod assembly is lower than that of the support rod assembly, after the front side leg of the previous card is placed in the card placing slot of the barrel by the robot, the rear side leg will be placed on the push rod assembly under the action of gravity after the robot is withdrawn, achieving effective support for the previous card.

[0066] S210: The step of lifting the rear side leg of the previous card by the pick-up mechanism includes the step of driving the push rod assembly to move upward to the same horizontal height as the support rod assembly to lift the rear side leg of the previous card.

[0067] Specifically, after the rear side leg of the previous card is placed on the push rod assembly, the push rod assembly can be further moved upward to the same horizontal height as the support rod assembly, achieving lifting of the rear side leg and facilitating subsequent pick-up action.

[0068] It should be noted that the support rod assembly of the present application includes a front support rod distributed along the axial direction of the barrel and a front support plate distributed at the top of the front support rod for picking up the rear side leg of the card. Specifically, the front support plate is arranged in two spaced-apart parts, and the gap between the two front support plates can facilitate the robot to place the card in the card placing slot of the barrel, so as to pick up the rear side leg of the card transmitted by the push rod assembly by using the above-mentioned front support plate, to obtain the card pick-up action.

[0069] Further, the pushing rod assembly comprises a pushing rod capable of vertical displacement driven by a vertical cylinder and a rear support plate arranged at the top of the pushing rod and used for supporting the rear side leg of the hairpin after the hairpin is inserted, and specifically, the rear support plate is also arranged in two and forms a support position between the two rear support plates for supporting the rear side leg of the hairpin to prevent the hairpin from falling.

[0070] S211: the step of driving the pushing rod assembly to move upwards to the same horizontal level as the support rod assembly to lift the rear side leg of the previous hairpin comprises the step of driving the pushing rod to move upwards to the same horizontal level as the front support rod by the vertical cylinder to lift the rear side leg of the previous hairpin.

[0071] Specifically, after the rear side leg of the previous hairpin is supported on the pushing rod of the pushing rod assembly and the rear support rod, the pushing rod is moved upwards along the support rod assembly by the vertical cylinder, and the rear support plate is moved upwards to the same horizontal level as the front support rod to lift the rear side leg of the previous hairpin.

[0072] S310: when the barrel rotates by a given angle of one unit, the rear side leg of the previous hairpin is transferred from the pushing rod assembly to the support rod assembly to lift the rear side leg of the previous hairpin.

[0073] Specifically, since the front side leg of the previous hairpin is placed in the hairpin placing groove of the barrel, when the barrel rotates by a given angle of one unit, the previous hairpin is moved, and since the rear side leg of the previous hairpin is placed on the rear support plate of the pushing rod assembly, when the barrel rotates, the hairpin is transferred from the pushing rod assembly to the front support plate of the support rod assembly, thereby lifting the rear side leg of the previous hairpin.

[0074] It should be noted that the above given angle corresponds to the number of the upper baffle of the barrel, and when the number of the baffle is 48, the given angle of one unit is 7.5°.

[0075] S320: the pushing rod assembly is moved downwards to reset to reserve the insertion space again.

[0076] Specifically, after the rear side leg of the previous hairpin is transferred from the rear support plate to the front support plate, the pushing rod assembly is then moved downwards relative to the support rod assembly to reserve the insertion space again, thereby facilitating the insertion of the subsequent hairpin.

[0077] S330: the front side leg of the subsequent hairpin is placed in the hairpin placing groove of the barrel below the rear side leg of the previous hairpin, and the rear side leg of the subsequent hairpin is supported on the pushing rod assembly.

[0078] Specifically, the insertion process of the subsequent hairpin can refer to the insertion process of the previous hairpin, that is, the front side leg of the subsequent hairpin enters the hairpin placing groove of the barrel through the insertion space, and the rear side leg is supported on the rear support plate of the pushing rod assembly.

[0079] S340: The barrel rotates further, and the previous hairpin rear leg is separated from the support rod assembly and placed in the corresponding hairpin placing groove.

[0080] Specifically, the rear leg of the previous hairpin is gradually separated from the rear support plate of the support rod assembly during the further movement of the barrel, and is finally placed in the corresponding hairpin placing groove.

[0081] S410: The barrel rotates one round to form a layer of flat wire hairpin winding on the outer periphery of the barrel.

[0082] Specifically, after the barrel rotates one round, the placement of a layer of flat wire winding can be realized.

[0083] S420: The baffle extends radially along the barrel to form a two-layer hairpin placing groove.

[0084] Specifically, after the placement of a layer of flat wire winding is completed, the baffle can be extended from the inside of the barrel according to the use requirements to form a two-layer hairpin placing groove, so that the placement operation of a two-layer flat wire hairpin can be performed.

[0085] S430: Repeat the above hairpin placing operation until the required number of layers of flat wire hairpin winding is placed on the outer periphery of the barrel.

[0086] Specifically, the baffle is radially extended layer by layer from the barrel to form a placing groove for placing hairpins, thereby achieving the technical effect of placing hairpins layer by layer. In combination with the lifting and picking up action of the picking mechanism, the ordered placement of multiple layers of flat wire motor winding can be realized.

[0087] The above-described embodiments only describe the preferred embodiments of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A flat wire hairpin placement slot control method, characterized by, It comprises the following steps: The baffle extends radially along the barrel to form a hairpin placement groove on the outer periphery of the barrel, the baffle is a plurality of baffle plates arranged along the slot on the outer periphery of the barrel, and a mandrel rod is arranged inside the barrel to drive the baffle to extend radially along the barrel; The front side leg of the previous hairpin is placed in the hairpin placement groove of the barrel, and the rear side leg is placed on the lifting mechanism; The lifting mechanism lifts the rear side leg of the previous hairpin, which comprises the step of driving the lifting lever assembly to move upward to the same horizontal level as the support rod assembly to lift the rear side leg of the previous hairpin; The barrel rotates intermittently at a predetermined angle, and the lifting mechanism lifts the rear side leg of the previous hairpin every time the barrel rotates a unit of the given angle, the front side leg of the next hairpin is placed in the hairpin placement groove of the barrel below the rear side leg of the previous hairpin, and then the rear side leg of the previous hairpin is separated from the lifting mechanism and placed in the hairpin placement groove under the action of the barrel, which comprises the following steps: The barrel rotates a unit of the given angle every time, and the rear side leg of the previous hairpin is transferred from the lifting lever assembly to the support rod assembly to lift the rear side leg of the previous hairpin; The lifting lever assembly moves downward to reset and reserve the insertion space again; The front side leg of the next hairpin is placed in the hairpin placement groove of the barrel below the rear side leg of the previous hairpin, and then the rear side leg of the next hairpin is placed on the lifting lever assembly; The barrel rotates further, and the rear side leg of the previous hairpin is separated from the support rod assembly and placed in the corresponding hairpin placement groove; The subsequent hairpins repeat the above steps until all the flat wire hairpins required by the stator core are placed on the surface of the barrel.

2. The flat wire hairpin placement slot control method according to claim 1, characterized by, The step of placing the front side leg of the previous hairpin in the hairpin placement groove of the barrel and placing the rear side leg on the lifting mechanism comprises the following steps: The servo assembly drives the lifting mechanism to move to the hairpin placement position above the barrel; The horizontal height of the lifting lever assembly in the lifting mechanism is lower than that of the support rod assembly in the lifting mechanism to reserve the hairpin insertion space; The front side leg of the previous hairpin is placed in the hairpin placement groove of the barrel through the above space, and the rear side leg is placed on the lifting lever assembly.

3. The flat wire hairpin placement slot control method according to claim 2, wherein The step of driving the lifting mechanism to move to the hairpin placement position above the barrel by the horizontal servo mechanism and the vertical servo mechanism.

4. The flat wire hairpin placement slot control method according to claim 1, wherein The support rod assembly comprises front support rods distributed along the axial direction of the barrel and front support plates spaced on the top of the front support rods for lifting the rear side leg of the hairpin.

5. The flat wire hairpin placement slot control method according to claim 1, wherein The lifting lever assembly comprises lifting levers vertically displaced by vertical cylinders and rear support plates spaced on the top of the lifting levers for the rear side leg of the hairpin.

6. The flat wire hairpin placement slot control method according to claim 5, wherein The step of driving the lifting lever assembly to move upward to the same horizontal level as the support rod assembly to lift the rear side leg of the previous hairpin comprises the step of driving the lifting lever to move upward to the same horizontal level as the front support rod to lift the rear side leg of the previous hairpin by the vertical cylinder.

7. The flat wire hairpin placement slot control method according to claim 1, wherein The step of repeating the above steps for the subsequent hairpins until all the flat wire hairpins required by the stator core are placed on the surface of the barrel comprises: The barrel rotates one round to form a layer of flat wire hairpin winding on the outer periphery of the barrel; The baffle extends radially along the barrel to form a two-layer hairpin placement groove; Repeat the above hairpin placement operation until the required number of layers of flat wire hairpin winding are placed on the outer periphery of the barrel.

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