New energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism and wire inserting method

Abstract

The application discloses a new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism and a wire inserting method, relates to the technical field of flat wire stator manufacturing, and particularly relates to a pre-insertion and wire collecting device for a flat copper wire stator with four or more layers of cross-layer wires and a wire inserting method.The tray is used for bearing the device and is circulated on a production line and fixed in a lifting position; the inner limiting shaft is vertically arranged at the center of the tray; the wire collecting and inserting function device is arranged on the top end of the inner limiting shaft through a pin shaft; the limiting disc is arranged on the lower ring table of the inner limiting shaft through bolts; the limiting groove is arranged on the upper portion of the limiting disc through a pin shaft; the three jacking sleeves are uniformly arranged on the lower portion of the limiting disc and are matched with the jacking device on the production line to realize the lifting of the limiting disc and the limiting groove.The technical scheme of the application solves the problem that the existing mechanical hand in the prior art cannot automatically complete the wire inserting and collecting of the flat copper wire stator with eight or more layers of cross-layer wires with complex structures, and can only be manually completed, and the efficiency is low and the quality is difficult to guarantee.

Description

TECHNICAL FIELD

[0001] The application discloses a robot automatic pre-insertion and collection mechanism and an insertion method for a new energy motor flat wire stator, and relates to the technical field of flat wire stator manufacturing. BACKGROUND

[0002] The new energy motor flat copper wire stator is divided into two types, i.e., a type with four layers of wires or more and a type with four layers of wires or less. The flat copper wire stator with four layers of wires or less does not need to cross layers, and is mostly assembled by using a mechanical hand. The flat copper wire stator with four layers of wires or more adopts a cross-layer wire insertion and collection structure.

[0003] In view of the problems in the prior art, it is necessary to design a new robot automatic pre-insertion and collection mechanism and an insertion method for a new energy motor flat wire stator. SUMMARY

[0004] The prior art mechanical hand cannot automatically complete the insertion and collection of the flat copper wire stator with eight layers or more of complex cross-layer wire structures, and can only be completed manually, which is low in efficiency and difficult to guarantee quality. Therefore, the application provides a robot automatic pre-insertion and collection mechanism and an insertion method for a new energy motor flat wire stator. The application mainly utilizes the structure of the forming wire, the chord wire in the layer and the gravity of the forming wire to realize the collection of the flat copper wire stator with eight layers or more of complex cross-layer wire structures.

[0005] The technical means adopted by the application are as follows.

[0006] The robot automatic pre-insertion and collection mechanism for the new energy motor flat wire stator comprises a tray, a limiting disc, an inner limiting shaft, a jacking sleeve, a limiting groove and a collection and insertion function device.

[0007] Further, the tray is circularly moved on a production line, and a fixed station is lifted to bear the whole device.

[0008] Further, the inner limiting shaft is vertically installed at the center of the tray.

[0009] Further, the wire collecting and inserting device is fixed on the top end of the inner limiting shaft;

[0010] Further, the limiting disc is fixed on the lower ring of the inner limiting shaft by bolts;

[0011] Further, the limiting groove is installed on the upper part of the limiting disc by a pin shaft;

[0012] Further, three jacking sleeves are installed on the lower part of the limiting disc in a uniform manner, and the jacking sleeves cooperate with the jacking device on the production line to realize the lifting of the limiting disc and the limiting groove.

[0013] Further, the wire collecting and inserting device includes a limiting pin disc and a wire limiting pin;

[0014] Further, the limiting pin disc has a circular structure, and a plurality of pin holes are uniformly arranged on the outer wall thereof;

[0015] Further, the wire limiting pin is a tapered pin inserted into the pin hole.

[0016] Further, 12 limiting grooves for assembling a single I-PIN wire are arranged on the limiting pin disc.

[0017] Further, the inner side wall of the limiting groove is provided with a limiting socket cooperating with the limiting groove of the I-PIN wire on the limiting pin disc.

[0018] Further, the limiting pin disc at the next wire limiting pin position in the counterclockwise direction of the limiting groove is provided with a regular identification point, a cross-layer identification point, a wire insertion identification point, and an empty identification point.

[0019] Further, the wire insertion method of the new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism includes the following steps:

[0020] 1. Insert the first 2 layers of regular U-PIN type wire: insert the first U-PIN type wire on the wire limiting pin at the regular identification point, one shoulder of the U-PIN type wire is placed on the first wire limiting pin, and the other shoulder is placed on the wire limiting pin within the U-shaped width, the bottom end of the U-PIN type wire falls into the groove of the limiting groove, and the first 2 layers of U-PIN type wire are inserted in turn counterclockwise on the wire limiting pin below the wire insertion identification point.

[0021] 2. Insert the second 3 layers of cross-layer U-PIN type wire: insert the first U-PIN type wire on the wire limiting pin at the cross-layer identification point, and insert the second 3 layers of cross-layer U-PIN type wire in turn counterclockwise on the wire limiting pin below the empty identification point.

[0022] 3. Insert the third 4 layers of regular U-PIN type wire: according to the insertion method of the first 2 layers of U-PIN type wire, insert the third 4 layers of U-PIN type wire counterclockwise.

[0023] 4. Insert the 4-5 layer cross-layer U-PIN type line: according to the insertion mode of the 2-3 layer cross-layer U-PIN type line, the 4-5 layer cross-layer U-PIN type line is inserted clockwise;

[0024] 5. Insert the 5-6 layer urban rail U-PIN type line: according to the insertion mode of the 3-4 layer U-PIN type line, the 5-6 layer U-PIN type line is inserted counterclockwise;

[0025] 6. Insert the 6-7 layer cross-layer U-PIN type line: according to the insertion mode of the 4-5 layer cross-layer U-PIN type line, the 6-7 layer cross-layer U-PIN type line is inserted clockwise;

[0026] 7. Insert the 7-8 layer conventional U-PIN type line: according to the insertion mode of the 5-6 layer U-PIN type line, the 7-8 layer U-PIN type line is inserted counterclockwise;

[0027] 8. Insert the 8-8 layer U-PIN type line: insert the remaining 8-8 layer U-PIN type line in the vacancy of the 7-8 layer conventional U-PIN type line layer.

[0028] 9. Insert the I-PIN line: sequentially insert the I-PIN line into the I-PIN line limiting slot and limiting socket counterclockwise from the leftmost cross-layer identification point;

[0029] 10. Grasped by the wire picking and taking tool.

[0030] Compared with the prior art, the present application has the following advantages:

[0031] 1. The new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism provided by the present application realizes the positioning of the I-PIN line after insertion by providing the I-PIN idle limiting slot and limiting socket on the limiting disc and the limiting groove, and avoids the phenomenon of single I-PIN line rotation and displacement;

[0032] 2. The new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism provided by the present application can lift the inserted coil as a whole by setting a jacking mechanism, which facilitates the complete removal of the coil by the wire picking tool and ensures that the overall structure of the coil remains unchanged;

[0033] 3. The new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism and the wire insertion method provided by the present application realize the cup collecting function after wire insertion through the ingenious structure of the device and the limiting pin, and solve the interference problem of simultaneous insertion and collection of multiple layers of conventional wires and cross-layer wires;

[0034] 4. The new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism and the wire inserting method provided by the application realize the whole stator insertion and wire collecting function of the stator with more than four layers of cross-layer wires through the simple mechanism of the device, and solve the complexity of the equipment and the production efficiency problem.

[0035] 5. The new energy motor flat wire stator robot automatic pre-insertion and wire collecting mechanism and the wire inserting method provided by the application have the advantages of compact tooling, simple processing, convenient use, safety and reliability, improved work efficiency, and the mechanism has a clever theoretical basis, which greatly reduces the cost of tooling.

[0036] In summary, the technical scheme of the application solves the problem that the existing robot cannot automatically complete the insertion and collection of the flat copper wire stator with a complex cross-layer wire structure of more than eight layers in the prior art, and can only be completed manually, which is low in efficiency and difficult to guarantee quality. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 It is a structural schematic diagram of the application;

[0039] Figure 2 It is a perspective view of the limit pin disc of the application;

[0040] Figure 3 It is a top view of the limit pin disc of the application;

[0041] Figure 4 It is a perspective view of the limit groove of the application;

[0042] Figure 5 It is a wire insertion flowchart of the application;

[0043] Figure 6 It is a 1-2 layer U-PIN wire insertion and mounting diagram of the application;

[0044] Figure 7 It is a 2-3 layer U-PIN wire insertion and mounting diagram of the application;

[0045] Figure 8 It is a 3-4 layer U-PIN wire insertion and mounting diagram of the application;

[0046] Figure 9 It is a 4-5 layer U-PIN wire insertion and mounting diagram of the application;

[0047] Figure 10 Figure 5-6 layer U-PIN wire insertion diagram for the wire insertion process of the present application;

[0048] Figure 11 Figure 6-7 layer U-PIN wire insertion diagram for the wire insertion process of the present application;

[0049] Figure 12 Figure 7-8 layer U-PIN wire insertion diagram for the wire insertion process of the present application;

[0050] Figure 13 Figure 8-8 layer U-PIN wire insertion diagram for the wire insertion process of the present application;

[0051] Figure 14 Figure I-PIN wire insertion diagram for the wire insertion process of the present application.

[0052] In the figure: 1, tray 2, limit disc 3, inner limit shaft 4, jacking sleeve 5, limit groove 51, limit socket 6, limit pin disc 61, limit slot 62, conventional identification point 63, cross-layer identification point 64, wire insertion identification point 65, empty identification point 7, wire limit pin. DETAILED DESCRIPTION

[0053] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0055] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0056] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all such variations are intended to be included within the scope of the present application as defined in the following claims, along with full equivalents thereof.

[0057] In the description of the present application, it is to be understood that the orientation terms such as "front", "back", "up", "down", "left", "right", "transverse", "vertical", "horizontal", "top", "bottom", etc. indicate the orientation or positional relationship shown in the drawings, which are merely for the convenience of describing and simplifying the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application. The orientation terms "inner", "outer" refer to the inner and outer relative to the contour of the components themselves.

[0058] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper", etc. can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0059] In addition, it should be noted that the use of the terms "first", "second", etc. to define parts of components is merely for the convenience of distinguishing the corresponding parts of components, and the above terms have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.

[0060] As Figure 1As shown, this invention provides an automatic pre-insertion and take-up mechanism for a flat wire stator robot of a new energy motor, comprising: a tray 1, a limiting plate 2, an inner limiting shaft 3, a lifting sleeve 4, a limiting groove 5, and a take-up and insertion functional device; the tray 1 circulates on the production line and is fixed in position for lifting, serving to support the entire device; the inner limiting shaft 3 is vertically positioned at the center of the tray 1; the take-up and insertion functional device is mounted on the top of the inner limiting shaft 3 via a pin; the limiting plate 2 is bolted to the lower ring platform of the inner limiting shaft 3; the limiting groove 5 is mounted on the upper part of the limiting plate 2 via a pin; there are three lifting sleeves 4, evenly distributed on the lower part of the limiting plate 2, which cooperate with the lifting device on the production line to realize the lifting and lowering of the limiting plate 2 and the limiting groove 5.

[0061] like Figure 1 As shown, the cable retraction and insertion device includes: a limiting pin disk 6 and a cable limiting pin 7; the limiting pin disk 6 has a circular structure and several pin holes are evenly distributed on its outer wall; the cable limiting pin 7 is a tapered pin that is inserted into the pin holes.

[0062] like Figure 2 , 4 As shown, the limiting pin plate 6 is provided with 12 limiting slots 61 for assembling a single I-PIN wire; the inner side wall of the limiting slot 5 is provided with a limiting socket 51 that is used to cooperate with the limiting slot 61 of the I-PIN wire on the limiting pin plate 6.

[0063] like Figure 3 As shown, the limit pin disk 6 at the position of the next line limit pin 7 in the counterclockwise direction of the limit slot 61 is provided with a regular mark point 62, a cross-layer mark point 63, a wire insertion mark point 64, and a free mark point 65.

[0064] like Figure 5 As shown, the wire insertion method of the automatic pre-insertion and take-up mechanism for the flat wire stator robot of new energy motors includes the following steps:

[0065] 1. For example Figure 6 As shown, insert the first and second layers of conventional U-PIN wires: Insert the first U-PIN wire into the wire limiting pin 7 at the conventional marking point 62. One shoulder of the U-PIN wire rests on the first wire limiting pin 7, and the other rests on the wire limiting pin 7 with the U-shaped width accessible. The bottom end of the U-PIN wire falls into the groove of the limiting groove 5. Then, insert all the U-PIN wires of the first and second layers of the stator into the wire limiting pin 7 below the insertion marking point 64 in a counterclockwise manner.

[0066] 2. For example Figure 7 As shown, insert the 2nd-3rd layer cross-layer U-PIN wire: insert the first U-PIN wire into the wire limiting pin 7 at the cross-layer mark 63, and then insert the 2nd-3rd layer cross-layer U-PIN wires into the wire limiting pin 7 below the empty mark 65 in a counterclockwise direction.

[0067] 3、As shown in the figure, install the 3-4 layer conventional U-PIN type line: according to the installation mode of the 1-2 layer U-PIN type line, install the 3-4 layer U-PIN type line counterclockwise; Figure 8

[0068] 4、As shown in the figure, install the 4-5 layer cross-layer U-PIN type line: according to the installation mode of the 2-3 layer cross-layer U-PIN type line, install the 4-5 layer cross-layer U-PIN type line clockwise; Figure 9

[0069] 5、As shown in the figure, install the 5-6 layer urban rail U-PIN type line: according to the installation mode of the 3-4 layer U-PIN type line, install the 5-6 layer U-PIN type line counterclockwise; Figure 10

[0070] 6、As shown in the figure, install the 6-7 layer cross-layer U-PIN type line: according to the installation mode of the 4-5 layer cross-layer U-PIN type line, install the 6-7 layer cross-layer U-PIN type line clockwise; Figure 11

[0071] 7、As shown in the figure, install the 7-8 layer conventional U-PIN type line: according to the installation mode of the 5-6 layer U-PIN type line, install the 7-8 layer U-PIN type line counterclockwise; Figure 12

[0072] 8、As shown in the figure, install the 8-8 layer U-PIN type line: install the remaining 8-8 layer U-PIN type line in the vacancy of the 7-8 layer conventional U-PIN type line layer. Figure 13

[0073] 9、As shown in the figure, install the I-PIN line: sequentially insert the I-PIN line into the I-PIN line limiting slot 61 and the limiting plug 51 counterclockwise from the leftmost cross-layer identification point 63; Figure 14

[0074] 10, Grasped by the wire picking and taking tool.

[0075] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.​​​​​​​

Claims

1. An automatic pre-insertion and take-up mechanism for a flat wire stator robot in a new energy motor, characterized in that: The new energy motor flat wire stator robot automatic pre-insertion and take-up mechanism includes: a tray (1), a limiting plate (2), an inner limiting shaft (3), a lifting sleeve (4), a limiting groove (5), and a take-up and insertion function device; The pallet (1) moves in a cycle on the production line and is lifted and lowered at a fixed station to support the entire device; The inner limiting shaft (3) is vertically positioned at the center of the tray (1); The cable retraction device is mounted on the top of the inner limiting shaft (3) via a pin. The limiting plate (2) is bolted to the lower ring of the inner limiting shaft (3); The limiting groove (5) is mounted on the upper part of the limiting plate (2) by means of a pin; The lifting sleeves (4) are three in number and are evenly distributed on the lower part of the limiting plate (2). The lifting sleeves (4) cooperate with the lifting device on the production line to realize the lifting of the limiting plate (2) and the limiting groove (5). The cable retraction device includes a limiting pin disc (6) and multiple cable limiting pins (7); the limiting pin disc (6) is a circular structure, and pin holes for the cable limiting pins (7) are evenly distributed on its outer wall; multiple limiting slots (51) are provided on the inner side wall of the limiting groove (5). The limiting pin plate (6) is provided with a plurality of limiting slots (61) for individually accommodating I-PIN wires. The position of the limiting slots (61) on the limiting pin plate (6) corresponds vertically to the position of the limiting insertion slots (51) on the limiting slots (5) to jointly clamp and fix the I-PIN wires inserted therein.

2. The automatic pre-insertion and take-up mechanism for flat wire stator robots of new energy motors according to claim 1, characterized in that: The line limiting pin (7) is a tapered pin.

3. The automatic pre-insertion and take-up mechanism for flat wire stator robots of new energy motors according to claim 1, characterized in that: The limiting pin disk (6) at the position of the next line limiting pin (7) in the counterclockwise direction of the limiting slot (61) is provided with a regular marking point (62), a cross-layer marking point (63), a wire insertion marking point (64), and a free marking point (65).

4. A wire insertion method for an automatic pre-insertion and take-up mechanism for a flat wire stator robot of a new energy motor as described in any one of claims 1-3, characterized in that, Includes the following steps: S1. Insert the first U-PIN wires of the first and second layers: Insert the first U-PIN wire into the wire limiting pin (7) at the conventional marking point (62). One shoulder of the U-PIN wire rests on the first wire limiting pin (7), and the other rests on the wire limiting pin (7) with the U-shaped width. The bottom end of the U-PIN wire falls into the groove of the limiting groove (5). Then, insert all the U-PIN wires of the first and second layers of the stator into the wire limiting pin (7) at the lower part of the insertion marking point (64) in a counterclockwise direction. S2, Insert the second-to-third layer cross-layer U-PIN wire: Insert the first U-PIN wire into the wire limiting pin (7) at the cross-layer mark (63), and then insert the second-to-third layer U-PIN wires into the wire limiting pin (7) at the lower part of the empty mark (65) in a counterclockwise direction. S3, Insert the 3rd and 4th layers of conventional U-PIN wires: Following the insertion method of the 1st and 2nd layers of U-PIN wires, insert the 3rd and 4th layers of U-PIN wires counterclockwise until they are fully inserted; S4. Insert the 4th-5th layer cross-layer U-PIN wire: Insert the 4th-5th layer cross-layer U-PIN wire clockwise, following the insertion method of the 2nd-3rd layer cross-layer U-PIN wire; S5. Insert the 5th and 6th layers of conventional U-PIN wires: Insert the 5th and 6th layers of U-PIN wires counterclockwise, following the insertion method of the 3rd and 4th layers of U-PIN wires. S6. Insert the 6th-7th layer cross-layer U-PIN wire: Insert the 6th-7th layer cross-layer U-PIN wire clockwise, following the insertion method of the 4th-5th layer cross-layer U-PIN wire; S7. Insert the 7th-8th layer U-PIN wires: Following the insertion method of the 5th-6th layer U-PIN wires, insert the 7th-8th layer U-PIN wires counterclockwise; S8, Insert the 8th to 8th layer U-PIN wires: Fill the gaps in the 7th and 8th layers of regular U-PIN wires with the remaining 8 to 8 layers of U-PIN wires; S9. Insert the I-PIN wire: Starting from the leftmost cross-layer marking point (63), insert the I-PIN wire counterclockwise into the I-PIN wire limiting slot (61) and the limiting socket (51); S10. The prepared wire harness is picked up by the lifting and picking tool.

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