Method and device for pressing a long-stator cable winding of a magnetic levitation system, and method and apparatus for laying

Abstract

The application discloses a maglev long-stator cable winding pressing embedding method and device, a laying method and equipment, relates to the technical field of maglev rail transit, and the maglev long-stator cable winding pressing embedding method comprises the following steps: receiving and positioning a cable winding unit, obtaining position information of a stator core, adjusting the pressing embedding position of the cable winding unit according to the position information and positioning information of the cable winding unit, and pressing embedding the cable winding unit in a groove of the stator core. The maglev long-stator cable winding pressing embedding method is simple and convenient to operate, has strong applicability, can effectively solve the problems of complex structure, poor positioning accuracy, difficult pressing embedding operation, slow operation speed and low efficiency in the existing pressing embedding device, and can reduce the risk of transmission damage, improve the pressing embedding accuracy, improve the operation efficiency and reduce the investment cost.

Description

Technical Field

[0001] This application relates to the field of magnetic levitation rail transit technology, and in particular to a method, device, method and equipment for pressing in the windings of a magnetic levitation long stator cable. Background Technology

[0002] High-speed maglev is a high-speed transportation mode in modern society. It is based on the principle of a long stator linear motor. The long stator interacts with the rotor installed on the train to make the train levitate. At the same time, the long stator generates a traveling magnetic field through three-phase alternating current, which propels the maglev train to travel at high speed.

[0003] The long stator mainly consists of long stator cable windings and a stator core. The long stator cable windings are one of the core components of maglev rail transit. These three-phase cables, embedded in the stator core slots on both sides below the track, form a traveling wave magnetic field and are used for traction or braking of the locomotive. To facilitate the alternating embedding of the three-phase cables into the stator core slots, the cables need to be bent into an S-shape, and the ends of the S-shaped cables need to be shaped.

[0004] Currently, large stator laying machines are generally used to lay long stator cable windings online. One phase of long stator cable winding is laid into the long stator core slot at a time. This method has problems such as long transmission distance of long stator cable windings, high risk of cable winding damage during transmission, difficulty in pressing and embedding operations, and high price of winding laying equipment. At the same time, it is not possible to lay long stator cable windings on both sides of the track beam at the same time, and the laying speed is slow. Furthermore, existing technologies also employ methods for laying long stator cable windings based on the length of the stator core or the track beam. While this method facilitates modular processing of cable windings, it introduces new problems, such as: the need to handle and transport long stator cable windings, increasing the risk of transportation damage; the inability to perform comprehensive flaw detection on the surface of the long stator after offline installation, hindering the discovery of damage points during transportation and installation; the excessively short unit length of the long stator cable windings increases the number of cable joints, significantly increasing joint costs and slowing down construction progress; and the inability to continuously lay the windings affects the continuity of the traveling wave magnetic field, increasing the risk of interface failure.

[0005] Meanwhile, the current status of long stator cable winding clamping devices is as follows:

[0006] (1) The long stator cable windings of domestic high-speed maglev trains are installed using German-imported embedded devices, which are expensive, bulky and complex in structure.

[0007] (2) The offline long stator winding cable batch embedding equipment is only suitable for offline operations and not for online operations. Moreover, the positioning accuracy is poor, and the cable winding is easily damaged during the embedding process, which has an adverse effect on the traveling wave magnetic field.

[0008] (3) Some portable handheld embedding devices are used, which require manual operation. The embedding speed is slow and the efficiency is low. They are suitable for embedding a single cable into the iron core groove, but not suitable for the large-scale online installation of cable windings.

[0009] Therefore, how to avoid the high risk of transmission damage, low embedding accuracy, low operation efficiency and high investment cost of traditional maglev long stator cable winding laying operations is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0010] The purpose of this application is to provide a method, device, method and equipment for pressing in the windings of a magnetic levitation long stator cable, which can reduce the risk of transmission damage, improve pressing accuracy, increase work efficiency and reduce investment costs.

[0011] To achieve the above objectives, this application provides a method for embedding a magnetic levitation long stator cable winding, comprising:

[0012] Receive and position the cable winding unit;

[0013] Obtain the position information of the stator core;

[0014] The insertion position of the cable winding unit is adjusted based on the location information and the positioning information of the cable winding unit.

[0015] The cable winding unit is pressed into the groove of the stator core.

[0016] In some embodiments, the step of receiving and positioning the cable winding unit includes:

[0017] Receive the cable winding unit transmitted from the transmission device and position the end of the cable winding unit along the first direction;

[0018] Position the limb-shaped portion of the cable winding unit along the second direction.

[0019] In some embodiments, the step of adjusting the clamping position of the cable winding unit based on the location information and the positioning information of the cable winding unit includes:

[0020] After analyzing and processing the positioning and location information, the required embedding position adjustment information is obtained;

[0021] Adjust the position of the cable winding unit according to the embedding position adjustment information so that the limb portion of the cable winding unit is directly below the groove of the stator core.

[0022] In some embodiments, the step of pressing the cable winding unit into a groove in the stator core includes:

[0023] The cable winding unit's limb-shaped parts are pressed into the grooves of the stator core one by one by the pressing teeth on the pressing plate;

[0024] Detect the embedding status of the limbs of the cable winding unit;

[0025] Determine whether the limb-shaped part of the cable winding unit is pressed into the groove of the stator core based on the embedding state;

[0026] If so, lower the pressure plate to the initial position.

[0027] This application also provides a method for laying a magnetic levitation long stator cable winding, including the magnetic levitation long stator cable winding pressing method of any of the above, which further includes, before the step of receiving and positioning the cable winding unit:

[0028] The cable winding unit is bent into an S-shape using a bending device;

[0029] The bent cable winding unit is transferred to the shaping device;

[0030] The bent cable winding unit is shaped using a shaping device;

[0031] The shaped cable winding unit is transferred to the pressing device.

[0032] In some embodiments, after the step of pressing the cable winding unit into the groove of the stator core, the method further includes:

[0033] Move the laying vehicle to the laying position corresponding to the next cable winding unit;

[0034] Lay the next cable winding unit at the laying location.

[0035] In some embodiments, it also includes:

[0036] The following steps are performed simultaneously: pressing the nth cable winding unit, shaping the bent cable winding unit using a shaping device for the (n+3)th cable winding unit, and bending the (n+5)th cable winding unit into an S-shape using a bending device, where n≥1, and / or.

[0037] The steps of moving the laying vehicle to the laying position corresponding to the next cable winding unit for the nth cable winding unit, transferring the shaped cable winding unit to the pressing device for the (n+1)th cable winding unit, and transferring the bent cable winding unit to the shaping device for the (n+4)th cable winding unit are executed synchronously, and the (n+2)th cable winding unit moves towards the pressing device synchronously following the (n+1)th cable winding unit, where n≥1.

[0038] This application also provides a magnetic levitation long stator cable winding pressing device, which uses any of the above-mentioned magnetic levitation long stator cable winding pressing methods to press the long stator cable winding, including:

[0039] A receiving module is used to receive cable winding units and to position the ends of the cable winding units in a first direction.

[0040] The positioning module, located on the receiving module, is used to position the limb-shaped part of the cable winding unit in a second direction.

[0041] The position information acquisition module, located on the receiving module, is used to acquire the position information of the stator core;

[0042] The pressing position adjustment module is located on the lower platform of the device and connected to the receiving module. It is used to adjust the pressing position of the cable winding unit according to the position information and the positioning information of the cable winding unit.

[0043] The pressing module, located on the receiving module, is used to press the cable winding unit into the groove of the stator core;

[0044] The control module connects the positioning module, the position information acquisition module, the embedding position adjustment module, and the embedding module, and is used to control the actions of the positioning module, the position information acquisition module, the embedding position adjustment module, and the embedding module.

[0045] In some embodiments, the receiving module includes:

[0046] A receiving plate is used to receive cable winding units. Limiting baffles are provided on both sides of the receiving plate. The limiting baffles are used to position the cable winding units in the first direction.

[0047] A sliding plate is slidably connected to the pressing position adjustment module;

[0048] The guide assembly includes a guide shaft and a guide slider. The guide shaft is fixed at the corner position between the receiving plate and the sliding plate, and the guide slider is slidably mounted on the guide shaft.

[0049] The positioning module includes:

[0050] Positioning clamps are used to clamp the limb-shaped portion of the cable winding unit along a second direction;

[0051] A flip drive assembly, located on a sliding plate and connected to a positioning clamp, is used to drive the positioning clamp to flip so as to hold the limb-shaped part of the cable winding unit.

[0052] This application also provides a magnetic levitation long stator cable winding laying device, including the magnetic levitation long stator cable winding pressing device of any of the above, and further including a cable laying transport vehicle and a winding installation vehicle. The cable laying transport vehicle is connected to the winding installation vehicle. The cable laying transport vehicle is equipped with a cable laying device. The adjacent ends of the cable laying transport vehicle and the winding installation vehicle are equipped with cable conveyor belts. A bending device, a shaping device, a transmission device and a pressing device are sequentially arranged on the lower platforms on both sides of the winding installation vehicle.

[0053] Compared with the above background technology, the magnetic levitation long stator cable winding pressing method provided in the embodiments of this application includes receiving and positioning the cable winding unit, obtaining the position information of the stator core, adjusting the pressing position of the cable winding unit according to the position information and the positioning information of the cable winding unit, and pressing the cable winding unit into the groove of the stator core.

[0054] Meanwhile, the magnetic levitation long stator cable winding laying method provided in this application embodiment includes the above-mentioned magnetic levitation long stator cable winding pressing method. Before the step of receiving and positioning the cable winding unit, it further includes bending the cable winding unit into an S-shape by a bending device, transmitting the bent cable winding unit to a shaping device, shaping the bent cable winding unit by the shaping device, and transmitting the shaped cable winding unit to the pressing device.

[0055] It is understood that the magnetic levitation long stator cable winding laying method provided in this application uses one cable winding unit to perform online bending, shaping, transmission and pressing processes for m (m≥1) stator cores. In the pressing process, the transmitted cable winding unit is first positioned, and then the position information of the stator core is obtained. Based on the position information and the positioning information of the cable winding unit, the pressing position of the cable winding unit is adjusted. Finally, the cable winding unit is pressed into the groove of the stator core.

[0056] Furthermore, the magnetic levitation long stator cable winding pressing device provided in this application embodiment uses the above-mentioned magnetic levitation long stator cable winding pressing method to press the long stator cable winding, including a receiving module, a positioning module, a position information acquisition module, a pressing position adjustment module, a pressing module, and a control module. The receiving module is used to receive cable winding units and can position the ends of the cable winding units in a first direction; the positioning module is disposed on the receiving module and is used to position the limb-shaped portions of the cable winding units in a second direction; the position information acquisition module is disposed on the receiving module and is used to acquire position information... The positioning module is used to acquire the position information of the stator core; the clamping position adjustment module is located on the lower platform of the device and connected to the receiving module. The clamping position adjustment module is used to adjust the clamping position of the cable winding unit according to the position information and the positioning information of the cable winding unit; the clamping module is located on the receiving module and is used to clamp the cable winding unit into the groove of the stator core; the control module is connected to the positioning module, the position information acquisition module, the clamping position adjustment module and the clamping module. The control module is used to control the operation of the positioning module, the position information acquisition module, the clamping position adjustment module and the clamping module.

[0057] The beneficial effects of this method of embedding the long stator cable windings of magnetic levitation, the embedding device, and the laying method mainly include:

[0058] Firstly, in the pressing process, the automatic positioning of the cable winding unit, the intelligent detection and positioning of the stator core position, the self-adjustment of the pressing position of the cable winding unit, and the automatic pressing function can be realized. After positioning, the cable winding unit has high positioning accuracy, and after adjustment, the pressing position of the cable winding unit is accurate. It can press the cable winding unit upward into the groove of the stator core. The operation is simple and convenient, and the applicability is strong. It can effectively solve the problems of complex structure, poor positioning accuracy, slow operation speed and low efficiency in existing pressing devices.

[0059] Secondly, the above-mentioned method for laying long stator cable windings for maglev can simultaneously and continuously lay at least one phase of long stator cable windings on each side of the track beam. During the laying process, before the cable on the cable laying device is used up, each cable winding unit does not need to be disconnected, thus maintaining the continuity of the laying. This reduces the risk of transportation damage, does not affect the continuity of the traveling wave magnetic field, reduces the number of cable joints, reduces the risk of interface failure, greatly reduces joint costs, and helps improve construction efficiency.

[0060] Third, it can not only simultaneously and continuously manufacture and lay cable windings on both sides of the track beam, but also effectively avoid problems such as long cable winding transmission distance, high risk of transmission damage, slow laying speed, and difficulty in pressing and embedding operations when laying long stator cable windings on the line.

[0061] Fourth, currently, the installation of long stator cable windings for high-speed maglev trains in China uses German-imported embedding devices, which are expensive, bulky, and complex in structure. Compared to this method, the maglev long stator cable winding laying method and device in this application are simple in structure, easy to operate, highly automated, and highly applicable, which can greatly reduce production costs.

[0062] The magnetic levitation long stator cable winding laying equipment provided in this application has the advantages described above. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0064] Figure 1 This is a flowchart of the magnetic levitation long stator cable winding pressing method in the embodiments of this application;

[0065] Figure 2 This is a flowchart of the method for laying the magnetic levitation long stator cable winding in the embodiments of this application;

[0066] Figure 3 This is a schematic diagram of the structure of the magnetic levitation long stator cable winding laying equipment in the embodiments of this application;

[0067] Figure 4 for Figure 3 Schematic diagram showing the positional relationship between the intermediate pressure embedding device and the stator core;

[0068] Figure 5 for Figure 3 A schematic diagram of the overall structure of the medium-pressure embedding device;

[0069] Figure 6 for Figure 5 Schematic diagram showing the positional relationship between the intermediate local pressing device and the stator core;

[0070] Figure 7 for Figure 3 A schematic diagram of the structure of the medium-pressure embedded position adjustment module.

[0071] in:

[0072] 100- Track beam, 200- Cable laying and transport vehicle, 300- Winding installation vehicle, 400- Cable laying device, 500- Cable conveyor belt, 600- Bending device, 700- Shaping device, 800- Transmission device, 900- Pressing device;

[0073] 110-Stator core, 1101-groove, 120-Cable winding unit, 1201-limb-shaped part, 1202-end;

[0074] 210 - First coupler;

[0075] 310 - Second coupler, 320 - Lower platform;

[0076] 910 - Receiver module, 920 - Positioning module, 930 - Position information acquisition module, 940 - Embedding position adjustment module, 950 - Embedding module, 960 - Control module;

[0077] 911-Receiving plate, 9111-Limiting baffle, 9112-Clamping plate hole, 9113-First position detection hole, 912-Sliding plate, 9121-Second position detection hole, 913-Guide assembly, 9131-Guide shaft, 9132-Guide slider

[0078] 921 - Positioning clamp, 9211 - Clamping surface;

[0079] 931 - Laser; 932 - Camera;

[0080] 941-First motion assembly, 9411-First mounting platform, 9412-First slide rail assembly, 942-Second motion assembly, 9421-Second mounting platform, 9422-Second slide rail assembly;

[0081] 951-Press-in plate, 9511-Press-in teeth, 952-Telescopic drive assembly. Detailed Implementation

[0082] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0083] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0084] It should be noted that the directional terms such as "upper end," "lower end," "left side," and "right side" mentioned below are defined based on the accompanying drawings in the instruction manual.

[0085] Please see Figure 1 The magnetic levitation long stator cable winding pressing method provided in this application includes:

[0086] S1: Receive and position cable winding unit 120;

[0087] S2: Obtain the position information of stator core 110;

[0088] S3: Adjust the clamping position of the cable winding unit 120 according to the position information and the positioning information of the cable winding unit 120;

[0089] S4: Press the cable winding unit 120 into the groove 1101 of the stator core 110.

[0090] It is understood that the magnetic levitation long stator cable winding laying method provided in this application involves online bending, shaping, transmission, and pressing processes for one cable winding unit 120 corresponding to m (m≥1) stator cores 110. The long stator cable winding on either side of the track beam 100 includes multiple cable winding units 120. In the pressing process, the transmitted cable winding unit 120 is first positioned. Then, after obtaining the position information of the stator core 110, the pressing position of the cable winding unit 120 is adjusted based on the position information of the stator core 110 and the positioning information of the cable winding unit 120. Finally, the cable winding unit 120 is pressed into the groove 1101 of the stator core 110.

[0091] In S1, the step of receiving and positioning the cable winding unit 120 includes first receiving the cable winding unit 120 transmitted from the transmission device 800, positioning the end 1202 of the cable winding unit 120 along a first direction, and then positioning the limb portion 1201 of the cable winding unit 120 along a second direction.

[0092] The first direction is as follows: Figure 3 The Y-axis direction shown is the second direction, which is the laying direction, as shown in the figure. Figure 3 The X-axis direction shown is as follows: Figure 3 The Z-axis direction shown is the third direction.

[0093] It should be noted that the transmitted cable winding unit 120 is specifically a cable winding that has been bent and shaped. This winding is an S-shaped winding, and each stator core needs to embed four limb-shaped portions of one phase cable winding. Preferably, the S-shaped cable winding unit 120 includes four limb-shaped portions 1201, each limb-shaped portion 1201 is arranged along a first direction, and any two adjacent limb-shaped portions 1201 are connected by an end 1202. Two limb-shaped portions 1201 and one end 1202 form a U-shaped structure, so that the cable winding unit 120 as a whole forms an S-shaped winding.

[0094] In this way, during positioning, the end 1202 of the cable winding unit 120 is first positioned along the first direction, and then the limb portion 1201 of the cable winding unit 120 is positioned along the second direction, thus achieving the positioning of the cable winding unit 120 in the horizontal plane.

[0095] In S2, the position information of the stator core 110 is mainly obtained through lasers 931 and camera 932. Specifically, two lasers 931 and one high-definition camera 932 form an image acquisition structure, which is installed at the front and rear ends of the receiving module 910 respectively, and is symmetrical about the front and rear center planes of the receiving module 910. The laser surface of the laser 931 in each image acquisition structure can be projected onto the boundary of the stator core 110, wherein one laser surface is parallel to the YOZ plane and the other laser surface is parallel to the XOZ plane. The lens center of the high-definition camera 932 is located on the left and right center planes of the receiving module 910, and the field of view of the high-definition camera 932 can capture part of the projection line of the laser surface of the laser 931 on the boundary of the stator core 110. Lasers 931 and camera 932 can be commercially available mature products.

[0096] In S3, the step of adjusting the pressing position of the cable winding unit 120 is completed according to the position information and the positioning information of the cable winding unit 120. This includes analyzing and processing the positioning information and the position information to obtain the required pressing position adjustment information; adjusting the position of the cable winding unit 120 according to the pressing position adjustment information so that the limb portion 1201 of the cable winding unit 120 is located directly below the groove 1101 of the stator core 110.

[0097] Specifically, after locating the cable winding unit 120, its positioning status is fed back to the control module 960. Then, position image data of the stator core 110 is collected, analyzed, and processed to obtain the position information (or parameters) of the stator core 110, which is then fed back to the control module 960. After analyzing and processing the positioning information of the cable winding unit 120 and the position information of the stator core 110, the control module 960 obtains the required pressing position adjustment information of the cable winding unit 120. Finally, the control module 960 adjusts the position of the cable winding unit 120 according to the pressing position adjustment information so that the front-back and left-right positions of the limb-shaped portion 1201 of the cable winding unit 120 are all located directly below the groove 1101 of the stator core 110, thereby completing the position adjustment of the cable winding unit 120 to be pressed.

[0098] In step S4, the step of pressing the cable winding unit 120 into the groove 1101 of the stator core 110 includes: firstly, pressing the limb-shaped portions 1201 of the cable winding unit 120 into the groove 1101 of the stator core 110 one by one using the pressing teeth 9511 on the pressing plate 951; then, detecting the embedding state of the limb-shaped portions 1201 of the cable winding unit 120 using a pressure sensor; then, the control module 960 determines whether the limb-shaped portions 1201 of the cable winding unit 120 are pressed into the groove 1101 of the stator core 110 based on the embedding state detected by the pressure sensor; if the limb-shaped portions 1201 of the cable winding unit 120 are completely pressed into the groove 1101 of the stator core 110, then lowering the pressing plate 951 to the initial position.

[0099] This application also provides a method for laying a magnetic levitation long stator cable winding, which includes the magnetic levitation long stator cable winding pressing method described in the above embodiments, and also includes a method for bending and shaping the magnetic levitation long stator cable winding.

[0100] Before the step of receiving and positioning the cable winding unit 120, the process includes bending and shaping the cable winding unit 120. Specifically, firstly, the bending device 600 bends the cable winding unit 120 into an S-shape; then, the bent cable winding unit 120 is transferred to the shaping device 700; next, the shaping device 700 shapes the bent cable winding unit 120; finally, the shaped cable winding unit 120 is transferred to the pressing device 900 via the transmission device 800. The bending and shaping processes are well-known to those skilled in the art, and will not be described in detail here.

[0101] In addition, after the step of pressing the cable winding unit 120 into the groove 1101 of the stator core 110, the method further includes:

[0102] Move the laying vehicle to the laying position corresponding to the next cable winding unit 120;

[0103] Lay the next cable winding unit 120 at the laying location.

[0104] In summary, please refer to Figure 2 The method for laying long stator cable windings for magnetic levitation provided in this application mainly includes the following steps:

[0105] S101: The cable winding unit 120 is bent into an S-shape by the bending device 600;

[0106] S102: Transmit the S-shaped cable winding unit 120 to the shaping device 700 over a short distance;

[0107] S103: The S-shaped cable winding unit 120 is shaped by the shaping device 700;

[0108] S104: The shaped cable winding unit 120 is transmitted short distance to the pressing device 900;

[0109] S105: The cable winding unit 120 is pressed into the groove 1101 of the stator core 110 by the pressing device 900;

[0110] S106: The laying vehicle moves to the laying position corresponding to the next cable winding unit 120;

[0111] S107: The laying process of the next cable winding unit 120 is repeated.

[0112] In step S103, the end 1202 of the S-shaped cable winding unit 120 is shaped into the required shape according to the phase of the three-phase winding cable; in step S105, the cable winding unit 120 is press-fitted into the groove 1101 of the corresponding stator core 110 according to the phase of the cable winding.

[0113] The above-mentioned laying method can be used to lay a cable winding unit 120 with m (m≥1) stator iron cores 110. At least one phase long stator cable winding on each side of the track beam 100 can be laid continuously on the line at the same time. During the laying process, before the cable on the cable laying device 400 is used up, each cable winding unit 120 does not need to be disconnected, and continuity can be maintained.

[0114] The above-mentioned laying method includes steps S101 to S107, which is a process of manufacturing and embedding a long stator cable winding unit 120. Each long stator cable winding unit 120 needs to be carried out from front to back according to these steps.

[0115] It is understandable that, in the implementation of the above-mentioned laying method, as a preferred method, the laying process of the nth (n≥1) long stator cable winding unit 120 and the (n+1)th (n≥1), (n+2)th (n≥1), (n+3)th (n≥1), (n+4)th (n≥1), and (n+5)th (n≥1) cable winding units 120 are partially synchronous. Specifically:

[0116] Step S105 of the nth (n≥1) long stator cable winding unit 120 should ideally start and end synchronously with steps S103 of the (n+3)th (n≥1)th (n≥1)th (n≥5)th (n≥1 ... Step S104 of unit 120 and step S102 of the (n+4)th (n≥1)th long stator cable winding unit 120 start and stop synchronously. At the same time, the (n+2)th (n≥1)th long stator cable winding unit 120 moves synchronously towards the pressing device 900 following the (n+1)th (n≥1)th long stator cable winding unit 120, ensuring that the long stator cable winding that has been installed in the groove 1101 of the stator core 110 is in a stationary state.

[0117] It should be noted that the main disadvantages of using the existing long stator cable winding laying method are as follows:

[0118] I. The online method for laying long stator cable windings has problems such as long cable winding transmission distance, high risk of cable winding transmission damage, difficulty in pressing and embedding operations, high price of winding laying equipment, and slow laying speed.

[0119] Second, laying long stator cable windings along the length of the long stator or 100mm of the track beam not only increases the risk of damage during transportation and makes it difficult to detect damage points of the long stator during transportation and installation, but also increases the number of cable joints, greatly increases joint costs, reduces construction progress, affects the continuity of the magnetic field, and increases the risk of interface failure.

[0120] Third, the existing long stator cable winding pressing device 900 has problems such as high equipment price, complex structure, poor positioning accuracy, slow operation speed and low efficiency.

[0121] Compared to traditional laying methods, the advantages of using the magnetic levitation long stator cable winding laying method provided in this application for laying cable windings mainly include:

[0122] Firstly, in the pressing process, the automatic positioning of the cable winding unit 120, the intelligent detection and positioning of the stator core 110, the self-adjustment of the pressing position of the cable winding unit 120, and the automatic pressing function can be realized. After positioning, the cable winding unit 120 has high positioning accuracy. After adjustment, the pressing position of the cable winding unit 120 is accurate, and the cable winding unit 120 can be pressed upward into the groove 1101 of the stator core 110. The operation is simple and convenient, and the applicability is strong. It can effectively solve the problems of complex structure, poor positioning accuracy, slow operation speed and low efficiency in the existing pressing device 900.

[0123] Secondly, the above-mentioned method for laying long stator cable windings of maglev can simultaneously and continuously lay at least one phase of long stator cable winding on each side of the track beam 100. During the laying process, before the cable on the cable laying device is used up, each cable winding unit 120 does not need to be disconnected, thus maintaining the continuity of the laying. This can reduce the risk of transportation damage, not affect the continuity of the traveling wave magnetic field, reduce the number of cable joints, reduce the risk of interface failure, greatly reduce joint costs, and help improve construction efficiency.

[0124] Thirdly, it can not only simultaneously and continuously manufacture and lay cable windings on both sides of the track beam 100, but also effectively avoid problems such as long cable winding transmission distance, high risk of transmission damage, slow laying speed, and difficulty in pressing and embedding operations when laying long stator cable windings on the line.

[0125] Fourth, currently, the installation of long stator cable windings for high-speed maglev trains in China uses German-imported embedding devices, which are expensive, bulky, and complex in structure. Compared to this method, the maglev long stator cable winding laying method and device in this application are simple in structure, easy to operate, highly automated, and highly applicable, which can greatly reduce production costs.

[0126] To achieve the above objectives, this application also provides a magnetic levitation long stator cable winding pressing device, which uses the magnetic levitation long stator cable winding pressing method of the above embodiment to press the long stator cable winding.

[0127] It should be noted that the current usage status of long stator cable winding crimping devices is as follows:

[0128] I. The long stator cable windings of domestic high-speed maglev trains are installed using German-imported embedding devices, which are expensive, bulky, and complex in structure.

[0129] Second, the offline long stator winding cable batch embedding equipment is only suitable for offline operations and not for online operations. Furthermore, the positioning accuracy is poor, and the cable winding is easily damaged during the embedding process, which has an adverse effect on the traveling wave magnetic field.

[0130] Third, some portable handheld embedding devices require manual operation, and the embedding speed is slow and the efficiency is low. They are suitable for embedding a single cable into the iron core groove, but not for the large-scale online installation of cable windings.

[0131] Compared to traditional press-fit devices, please refer to Figures 3 to 7 The magnetic levitation long stator cable winding pressing device provided in this application uses the magnetic levitation long stator cable winding pressing method of the above embodiment to press the long stator cable winding. The pressing device 900 includes a receiving module 910, a positioning module 920, a position information acquisition module 930, a pressing position adjustment module 940, a pressing module 950 and a control module 960.

[0132] The receiving module 910 receives the cable winding unit 120 and positions the end 1202 of the cable winding unit 120 in a first direction. A positioning module 920 is mounted on the receiving module 910 and positions the limb-shaped portion 1201 of the cable winding unit 120 in a second direction. A position information acquisition module 930 is mounted on the receiving module 910 and acquires the position information of the stator core 110. A pressing position adjustment module 940 is mounted on the lower platform 320 of the device and connected to the receiving module 910. The pressing position adjustment module 940 is used for... The positioning information of the stator core 110 and the positioning information of the cable winding unit 120 are used to adjust the pressing position of the cable winding unit 120. The pressing module 950 is located on the receiving module 910 and is used to press the cable winding unit 120 into the groove 1101 of the stator core 110. The control module 960 is connected to the positioning module 920, the position information acquisition module 930, the pressing position adjustment module 940 and the pressing module 950. The control module 960 is used to control the operation of the positioning module 920, the position information acquisition module 930, the pressing position adjustment module 940 and the pressing module 950.

[0133] Furthermore, this application also provides a magnetic levitation long stator cable winding laying device, which lays the magnetic levitation long stator cable winding using the above-described magnetic levitation long stator cable winding laying method. Specifically, the laying device includes the magnetic levitation long stator cable winding pressing device described in the above embodiments, and also includes a cable laying transport vehicle 200 and a winding installation vehicle 300. The cable laying transport vehicle 200 is equipped with a first coupler 210, and the winding installation vehicle 300 is equipped with a second coupler 310. The two vehicles are connected by the first coupler 210 and the second coupler 310. The cable laying device 400 is placed on the cable laying transport vehicle 200, and the cable conveyor belt 500 is installed at the adjacent ends of the cable laying transport vehicle 200 and the winding installation vehicle 300. A bending device 600, a shaping device 700, a transmission device 800, and a cable laying device 400 are also included. The pressing device 900 is placed sequentially on the lower platforms 320 on both sides of the winding installation vehicle 300. The pressing device 900 is located directly below the stator core 110 and has the functions of automatic positioning of cable winding unit 120, intelligent detection and positioning of stator core 110 position, self-adjustment of pressing position of cable winding unit 120 and automatic pressing. It can press the cable winding unit 120 upward into the groove 1101 of stator core 110, effectively avoiding the problems of long cable winding transmission distance, high transmission damage risk and high laying equipment price when laying long stator cable winding units 120 on line.

[0134] The specific structure of the magnetic levitation long stator cable winding clamping device is described below.

[0135] In some embodiments, the receiving module 910 includes a receiving plate 911, a sliding plate 912, and a guide assembly 913.

[0136] Specifically, the receiving plate 911 is preferably made of steel plate after welding and processing. The receiving plate 911 is used to receive the cable winding unit 120 transmitted by the transmission device 800. Limiting baffles 9111 are arranged on the left and right sides of the receiving plate 911. The two limiting baffles 9111 are used to limit the cable winding unit 120 to the left and right. The receiving plate 911 is provided with clamping hole 9112 and first position detection hole 9113. The clamping hole 9112 facilitates the front and rear positioning of the limb part 1201 of the cable winding unit 120. The first position detection hole 9113 provides a field of view for the position information acquisition module 930 to pass through.

[0137] The sliding plate 912 is preferably made of steel plate after welding and processing. The sliding plate 912 is slidably connected to the press-fit position adjustment module 940 to realize the position adjustment of the cable winding unit 120. The sliding plate 912 is provided with a second position detection hole 9121 to provide a field of view for the position information acquisition module 930.

[0138] The guide assembly 913 includes a guide shaft 9131 and a guide slider 9132, and can use commercially available products. The guide shaft 9131 is fixed at the four corners between the receiving plate 911 and the sliding plate 912, and the guide slider 9132 is mounted on the guide shaft 9131 and can slide up and down along the guide shaft 9131. The guide assembly 913 can guide the vertical movement of the pressing module 950 during the pressing process, thereby ensuring the stability and reliability of the movement of the pressing module 950.

[0139] The positioning module 920 includes positioning clamps 921 and a flipping drive assembly. Each positioning clamp 921 and the flipping drive assembly form a positioning set. Two sets are arranged at both ends of each clamp hole 9112, and the entire positioning module 920 has 16 sets of positioning sets. That is, one limb-shaped part 1201 corresponds to four sets of positioning sets. The positioning clamp 921 is preferably an L-shaped or straight structure with a rotating shaft. The positioning clamp 921 is connected to the upper end of the flipping drive assembly and is arranged on the side of the clamp hole 9112. Under the action of the flipping drive assembly, the positioning clamp 921 can rotate 90 degrees. When the positioning clamp 921 is rotated to the 0° position, the clamping surface 9211 of the positioning clamp 921 is basically coplanar with the cable receiving plane of the receiving plate 911. When the positioning clamp 921 is rotated to the 90° position, along the +Z axis direction, the distance between two adjacent clamping surfaces 9211 of the positioning clamp 921 is basically equal to the diameter of the limb-shaped portion 1201 of the cable winding unit 120, which can perform front and rear positioning of the limb-shaped portion 1201 of the cable winding unit 120. The lower end of the flipping drive assembly is mounted and fixed on the sliding plate 912 to provide power to the positioning clamp 921. The flipping drive assembly can be a commercially available pneumatic or hydraulic drive.

[0140] The location information acquisition module 930 includes a laser 931 and a camera 932. Two lasers 931 and one camera 932 form a group of image acquisition structures, respectively mounted at the front and rear ends of the receiving module 910, and symmetrical about the front and rear center planes of the receiving module 910. The laser surface of each laser 931 in each image acquisition structure can project onto the boundary of the long stator. One laser surface is parallel to the YOZ plane, and the other is parallel to the XOZ plane. The lens center of the camera 932 is located on the left and right center planes of the receiving module 910, and the field of view of the camera 932 can capture part of the projection line of the laser surface of the laser 931 onto the boundary of the stator core 110. The laser 931 and camera 932 can be commercially available mature products.

[0141] The pressing position adjustment module 940 mainly includes a first motion component 941 and a second motion component 942. A sliding plate 912 is slidably connected to the second motion component 942, and the second motion component 942 is slidably connected to the first motion component 941. The first motion component 941 is disposed on the lower platform 320. The second motion component 942 is used to drive the sliding plate 912 to move in a second direction, and the first motion component 941 is used to drive the second motion component 942 to move in a first direction.

[0142] Specifically, the first motion component 941 includes a first mounting platform 9411 and a first slide rail assembly 9412. The first mounting platform 9411 is mounted on the lower platform 320, and the first slide rail assembly 9412 is mounted on the first mounting platform 9411. The second motion component 942 includes a second mounting platform 9421 and a second slide rail assembly 9422. The second mounting platform 9421 is mounted on the slider of the first slide rail assembly 9412, and the second slide rail assembly 9422 is mounted on the second mounting platform 9421. A sliding plate 912 is mounted on the slider of the second slide rail assembly 9422. The slider on the first slide rail assembly 9412 can slide in the Y-axis direction, and the slider on the second slide rail assembly 9422 can slide in the X-axis direction. The slide rails, sliders, and motor drive components of the first slide rail assembly 9412 and the second slide rail assembly 9422 can be commercially available mature products.

[0143] The pressing module 950 includes a pressing plate 951 and a telescopic drive assembly 952. The two ends of the pressing plate 951 are connected and fixed to the telescopic rods of the telescopic drive assembly 952. The cylinder of the telescopic drive assembly 952 is mounted and fixed to both ends of the sliding plate 912. Four pressing teeth 9511 are evenly distributed on the pressing plate 951. When the pressing plate 951 is in the lowest position, in the initial position, the upper surface of the pressing plate 951 is coplanar with the cable receiving plane of the receiving plate 911. The four pressing teeth 9511 of the pressing plate 951 can simultaneously push the limb-shaped portions 1201 of the four cable winding units 120 into the grooves 1101 of the stator core 110 from bottom to top.

[0144] It should be noted that the telescopic drive assembly 952 can be a commercially available pneumatic or hydraulic drive and is equipped with a pressure sensor. The telescopic drive assembly 952 can lift the pressing plate 951 and move it up and down along the Z-axis. It can also automatically sense the embedding state of the limb-shaped part 1201 of the cable winding unit 120 based on the pressure value detected by the pressure sensor. It can automatically stop after the pressing plate 951 presses the limb-shaped part 1201 of the cable winding unit 120 into the groove 1101. Then, the pressing plate 951 automatically descends to the lowest position, i.e., the initial position.

[0145] The control module 960 includes a main controller (not shown), a positioning controller (not shown) of the positioning module 920, a detection controller (not shown) of the position information acquisition module 930, a motor controller (not shown) of the pressing position adjustment module 940, and a pressing controller (not shown) of the pressing module 950. The main controller is connected to the positioning controller, detection controller, motor controller, and pressing controller, and has integrated information processing and control functions. Furthermore, the status data of the positioning controller, detection controller, motor controller, and pressing controller can be transmitted and fed back to the main controller. The positioning controller controls the flip drive assembly to achieve a 90° rotation function of the positioning clamp 921. The detection controller controls the start and stop of the laser 931 and camera 932 to acquire, store, and analyze image data of the stator core 110's position. The motor controller controls the motor drive assembly of the pressing position adjustment module 940 to achieve the overall forward / backward and left / right movement of the receiving module 910, positioning module 920, position information acquisition module 930, and pressing module 950. The press-fit controller controls the telescopic drive assembly 952 to move the pressing teeth of the pressing plate 951 up and down, pressing the limb-shaped portion 1201 of the cable winding unit 120 into the groove 1101. The control module 960 can be, but is not limited to, a programmable logic controller (PLC), which has the advantage of allowing for easy modification of various action instructions. To improve safety and facilitate maintenance, a control cabinet can be installed, housing the control module 960 within the cabinet.

[0146] It should be noted that the front-to-back and left-to-right positional relationships between the cable winding unit 120 and the pressing module 950 after positioning by the positioning module 920 are fixed values.

[0147] Based on the above, this application provides a method for laying long stator cable windings for high-speed maglev trains, which involves simultaneously laying long stator cable winding units 120 on both sides of the track beam 100, specifically including the following steps:

[0148] In the first step, the cable laying and transport vehicle 200 and the winding installation vehicle 300 are stationary, the cable laying device 400 lays the cable, and the bending device 600 bends the long stator cable into an S-shape or U-shape according to the design requirements.

[0149] The second step is that the bending device 600 transmits the cable over a short distance to the designed position on the shaping device 700;

[0150] The third step is to shape the left and right ends of the bent cable into the required shape according to the phase of the cable, thereby completing the processing of the cable winding unit 120.

[0151] The fourth step involves changing the transmission direction of the cable winding unit 120 via the transmission device 800, transmitting it short distance to the upper right to the receiving module 910 of the pressing device 900. During this process, the positioning clamp 921 is in the 0° position.

[0152] The fifth step, the process of pressing the cable winding unit into the groove 1101 of the stator core 110 by the pressing device 900, is divided into the following steps:

[0153] 1. The positioning controller controls the positioning clamp 921 to rotate from the 0° position to the 90° position, restricting the limb-shaped part 1201 of the cable winding unit 120 between two adjacent clamping surfaces 9211, completing the front and rear positioning of the limb-shaped part 1201 of the cable winding unit 120. At the same time, the limiting baffle 9111 completes the left and right positioning of the end 1202 of the cable winding. The positioning controller feeds back the positioning status to the main controller.

[0154] 2. After positioning the cable winding unit 120, the detection controller controls the position information acquisition module 930 to collect the position image data of the stator core 110. After analysis and processing, the position parameters of the stator core 110 are obtained and fed back to the main controller.

[0155] 3. After analyzing and processing the position parameters of the cable winding unit 120 and the stator core 110, the main controller obtains the required pressing position of the pressing module 950. By controlling the motor controller, it controls the motor drive component of the pressing position adjustment module 940, so as to realize the forward and backward and left and right movement of the receiving module 910, the positioning module 920, the position information acquisition module 930 and the pressing module 950, so that the forward and backward and left and right positions of the limb part 1201 of the cable winding unit 120 are all directly below the groove 1101, thus completing the position adjustment of the pressing device 900.

[0156] 4. The press-fit controller controls the telescopic drive assembly 952 to rise. After pressing the limb-shaped part 1201 of the cable winding unit 120 into the groove 1101 through the pressing teeth of the pressing plate 951, it automatically stops. Then, it automatically descends to the lowest position and feeds back the motion status to the main controller.

[0157] Step 6: The cable laying and transport vehicle 200 and the winding installation vehicle 300 move to the laying position corresponding to the next long stator cable winding unit 120.

[0158] Step 7: Repeat the laying process for the next long stator cable winding unit 120.

[0159] The first to seventh steps of this laying method are the fabrication and embedding process of a long stator cable winding 120 unit. Each long stator cable winding 120 unit needs to be carried out in this manner from front to back. In the fifth step, according to the phase of the long stator cable winding unit 120, it is pressed and installed into the corresponding groove 1101 of the stator core 110.

[0160] The above method uses m (m≥1) stator cores 110 as a long stator cable winding unit 120 for online bending, shaping, transmission and pressing. It can simultaneously lay at least one phase of long stator cable winding on each side of the track beam 100 online continuously. During the laying process, before the cable on the cable laying device 400 is used up, each cable winding unit 120 does not need to be disconnected, thus maintaining continuity.

[0161] In the implementation of this laying method, preferably, the laying processes of the nth (n≥1) long stator cable winding unit 120 and the (n+1)th (n≥1), (n+2)th (n≥1), (n+3)th (n≥1), (n+4)th (n≥1), and (n+5)th (n≥1) cable winding units 120 are synchronized. Specifically: the cable delivery vehicle 200 and the winding installation vehicle 300 are stationary; the fifth step of the nth (n≥1) long stator cable winding unit 120 should preferably start and end synchronously with the third step of the (n+3)th (n≥1) long stator cable winding unit 120 and the first step of the (n+5)th (n≥1) long stator cable winding unit 120; the sixth step of the nth (n≥1) long stator cable winding unit 120... The process begins and ends synchronously with the fourth step of the (n+1)th (n≥1)th long stator cable winding unit 120 and the second step of the (n+4)th (n≥1)th long stator cable winding unit 120. At the same time, the (n+2)th (n≥1)th long stator cable winding unit 120 moves synchronously towards the pressing device 900 following the (n+1)th (n≥1)th long stator cable winding unit 120. During this process, the wire feeding transport vehicle 200 and the winding installation vehicle 300 move forward, the bending device 600 transmits the long stator cable winding backward, and the transmission device 800 transmits the long stator cable winding to the upper right. The absolute values ​​of the transmission speeds of the three are basically equal, ensuring that the long stator cable winding that has been installed in the groove 1101 of the stator core 110 is in a stationary state.

[0162] In summary, the beneficial effects of the magnetic levitation long stator cable winding laying method and device provided in this application include:

[0163] First, it can not only simultaneously and continuously manufacture and lay cable windings on both sides of the track beam 100, but also effectively avoid the problems of long cable winding transmission distance, high risk of transmission damage, high price of laying equipment and many cable winding joints when laying long stator cable windings on the line.

[0164] Second, the processes of cable bending, shaping, transmission and crimping are subdivided, and synchronous operations are carried out according to the characteristics of each step, which effectively saves laying time and solves the problem of slow cable winding laying speed.

[0165] Third, the pressing device 900 has the functions of automatic positioning of cable winding, intelligent detection and positioning of long stator core position, self-adjustment of pressing position of cable winding unit 120 and automatic pressing. The pressing device 900 is located below the long stator and can press the cable winding upward into the groove 1101 of stator core 110. It effectively solves the problems of high price, complex structure, poor positioning accuracy, slow operation speed and low efficiency of existing pressing devices 900. Moreover, it has a simple structure and strong applicability.

[0166] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0167] The above provides a detailed description of the method and apparatus for laying magnetic levitation long stator cable windings provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the solution and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A magnetic levitation long stator cable winding press-in device, characterized in that, The device comprises: a receiving module for receiving a cable winding unit and capable of positioning the end of the cable winding unit in a first direction; a positioning module arranged on the receiving module for positioning the limb of the cable winding unit in a second direction; a position information acquisition module arranged on the receiving module for acquiring position information of the stator core; a press-embedding position adjustment module arranged on the lower platform of the device and connected to the receiving module for completing the press-embedding position adjustment of the cable winding unit according to the position information and the positioning information of the cable winding unit; a press-embedding module arranged on the receiving module for press-embedding the cable winding unit into the groove of the stator core; a control module connected to the positioning module, the position information acquisition module, the press-embedding position adjustment module and the press-embedding module for controlling the actions of the positioning module, the position information acquisition module, the press-embedding position adjustment module and the press-embedding module; the receiving module comprises: a receiving plate for receiving the cable winding unit, both sides of the receiving plate are provided with limiting baffle plates for positioning the cable winding unit in a first direction; a sliding plate slidably connected to the press-embedding position adjustment module; a guide assembly comprising a guide shaft and a guide slider, the guide shaft is fixed at the corner position between the receiving plate and the sliding plate, and the guide slider is slidably installed on the guide shaft; the positioning module comprises: a positioning clamp plate for clamping the limb of the cable winding unit in a second direction; a turnover driving assembly arranged on the sliding plate and connected to the positioning clamp plate for driving the positioning clamp plate to turn over to clamp the limb of the cable winding unit; the position information acquisition module comprises a laser and a camera, two lasers and one camera form a group of image acquisition structures, and are respectively installed at the front and rear ends of the receiving module and are symmetric about the front and rear center planes of the receiving module; the press-embedding position adjustment module comprises a first motion assembly and a second motion assembly, the sliding plate is slidably connected to the second motion assembly, the second motion assembly is slidably connected to the first motion assembly, the first motion assembly is arranged on the lower platform, the second motion assembly is used to drive the sliding plate to move in a second direction, and the first motion assembly is used to drive the second motion assembly to move in a first direction; the press-embedding module comprises a press-in plate and a telescopic driving assembly, both ends of the press-in plate are fixedly connected with the telescopic rods of the telescopic driving assembly, the cylinders of the telescopic driving assembly are fixedly installed at both ends of the sliding plate, and four press-in teeth are uniformly distributed on the press-in plate.

2. A magnetic levitation long-stator cable winding laying apparatus comprising the magnetic levitation long-stator cable winding press-embedding device according to claim 1, characterized in that, It also comprises a pay-off transport vehicle and a winding installation vehicle, the pay-off transport vehicle is connected to the winding installation vehicle, the pay-off transport vehicle is provided with a cable pay-off device, the adjacent end portions of the pay-off transport vehicle and the winding installation vehicle are provided with a cable conveying belt, and the lower platforms on both sides of the winding installation vehicle are sequentially provided with a bending device, a shaping device, a conveying device and the press-embedding device.

3. A method for pressing a long-stator magnetic levitation cable winding, applied to the long-stator magnetic levitation cable winding pressing device according to claim 1, characterized in that, It comprises: receiving and positioning a cable winding unit; obtaining position information of the stator core; adjusting the pressing-in position of the cable winding unit according to the position information and the positioning information of the cable winding unit; pressing the cable winding unit into the groove of the stator core; the step of receiving and positioning the cable winding unit comprises: receiving the cable winding unit transmitted from the transmission device and positioning the end of the cable winding unit in a first direction; positioning the limb of the cable winding unit in a second direction; the step of adjusting the pressing-in position of the cable winding unit according to the position information and the positioning information of the cable winding unit comprises: analyzing and processing the positioning information and the position information to obtain the required pressing-in position adjustment information; adjusting the position of the cable winding unit according to the pressing-in position adjustment information so that the limb of the cable winding unit is directly below the groove of the stator core; the step of pressing the cable winding unit into the groove of the stator core comprises: pressing the limb of the cable winding unit into the groove of the stator core one by one through the pressing teeth on the pressing plate; detecting the embedding state of the limb of the cable winding unit; determining whether the limb of the cable winding unit is pressed into the groove of the stator core according to the embedding state; if yes, lowering the pressing plate to the initial position.

4. A method of laying a long-stator cable winding for magnetic levitation, characterized in that The magnetic levitation long stator cable winding laying device of claim 2 comprises: receiving and positioning a cable winding unit; obtaining position information of the stator core; adjusting the pressing-in position of the cable winding unit according to the position information and the positioning information of the cable winding unit; pressing the cable winding unit into the groove of the stator core; the step of receiving and positioning the cable winding unit comprises: receiving the cable winding unit transmitted from the transmission device and positioning the end of the cable winding unit in a first direction; positioning the limb of the cable winding unit in a second direction; the step of adjusting the pressing-in position of the cable winding unit according to the position information and the positioning information of the cable winding unit comprises: analyzing and processing the positioning information and the position information to obtain the required pressing-in position adjustment information; adjusting the position of the cable winding unit according to the pressing-in position adjustment information so that the limb of the cable winding unit is directly below the groove of the stator core; the step of pressing the cable winding unit into the groove of the stator core comprises: pressing the limb of the cable winding unit into the groove of the stator core one by one through the pressing teeth on the pressing plate; detecting the embedding state of the limb of the cable winding unit; determining whether the limb of the cable winding unit is pressed into the groove of the stator core according to the embedding state; if yes, lowering the pressing plate to the initial position; the step of receiving and positioning the cable winding unit further comprises: bending the cable winding unit into an S shape through the bending device; transmitting the bent cable winding unit to the shaping device; shaping the cable winding unit after bending by the shaping device; transferring the shaped cable winding unit to the press-embedding device.

5. The magnetic levitation long-stator cable winding laying method according to claim 4, characterized by, After the step of press-embedding the cable winding unit into the groove of the stator core, the method further comprises: moving the laying vehicle to a laying position corresponding to the next cable winding unit; laying the next cable winding unit at the laying position.

6. The magnetic levitation long-stator cable winding laying method according to claim 5, characterized by, The method further comprises: synchronously executing the press-embedding step of the nth cable winding unit, the shaping step of the nth+3 cable winding unit after bending by the shaping device, and the bending step of the nth+5 cable winding unit into an S shape by the bending device, wherein n≥1, and / or; synchronously executing the step of moving the laying vehicle to a laying position corresponding to the next cable winding unit of the nth cable winding unit, the step of transferring the shaped cable winding unit to the press-embedding device of the nth+1 cable winding unit, and the step of transferring the bent cable winding unit to the shaping device of the nth+4 cable winding unit, and the nth+2 cable winding unit is synchronously moved to the press-embedding device after the nth+1 cable winding unit, wherein n≥1.

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