A welding device and welding method for small parallel joints of stator coils of a permanent magnet traction motor

Abstract

The present invention discloses a small parallel head welding device for a stator coil of a permanent magnet traction motor, which includes a base, a wire feeding mechanism, a welding mechanism, a small parallel head positioning mechanism, and a control module. The wire feeding mechanism and the welding mechanism are both arranged on the base. The small parallel head positioning mechanism includes a stator coil fixing disk, a notch positioning component, and a rotation driving component. The stator coil fixing disk is provided with a plurality of notches along the circumferential direction, and each notch corresponds to a small parallel head of the stator coil. The rotation driving component is used to drive the stator coil fixing disk to rotate, and the notch positioning component is used to position the notches. The wire feeding mechanism, the welding mechanism, and the rotation driving component are all connected to the control module. The small parallel head welding device for the stator coil of the permanent magnet traction motor of the present invention has a high degree of welding automation, high welding efficiency, good welding quality, and good consistency of welding finished products. The present invention also discloses a welding method for the small parallel head welding device of the stator coil of the permanent magnet traction motor.

Description

Technical Field

[0001] The present invention relates to the technical field of stator coil production, and particularly to a small parallel head welding device for a stator coil of a permanent magnet traction motor and a welding method thereof. Background Art

[0002] Permanent magnet traction motors have the advantages of high torque, high power density, high efficiency, fast response, etc., and are widely used in fields such as rail transit and aerospace. As the power core of modern transportation equipment, the key manufacturing technologies of permanent magnet traction motors are directly related to the development of rail transit in China.

[0003] As one of the core components of a permanent magnet traction motor, the quality of the stator coil is directly related to the performance of the motor. At present, the production process of the stator coil is complex and the process steps are numerous. Especially for the key step of small parallel head welding of the stator coil, traditionally, manual welding is mostly used. The problems of manual welding are mainly reflected in two aspects: one is the high complexity of manual operation, which requires a high level of skill and long-term training, restricting the improvement of production efficiency; the other is that it is difficult to ensure the accuracy and quality of each welding, resulting in large fluctuations in the performance of the finished product and affecting the overall performance of the motor. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a small parallel head welding device for a stator coil of a permanent magnet traction motor with good welding quality, high welding automation degree, good consistency of welded finished products, and capable of improving welding efficiency.

[0005] The present invention further provides a welding method for the above-mentioned small parallel head welding device of the stator coil of the permanent magnet traction motor.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A small parallel head welding device for a stator coil of a permanent magnet traction motor includes a base, a wire feeding mechanism, a welding mechanism, a small parallel head positioning mechanism, and a control module. The wire feeding mechanism and the welding mechanism are both arranged on the base. The small parallel head positioning mechanism includes a stator coil fixing disk, a notch positioning component, and a rotation driving component. The stator coil fixing disk is circumferentially provided with a plurality of notches, each notch corresponding to a small parallel head of the stator coil. The rotation driving component is used to drive the stator coil fixing disk to rotate, and the notch positioning component is used to position the notch. The wire feeding mechanism, the welding mechanism, and the rotation driving component are all connected to the control module.

[0008] As a further improvement of the above technical solution: The welding mechanism includes a lead screw, a first rotary driving member for driving the lead screw to rotate, a lifting seat engaged with the lead screw, a welding chuck disposed on the lifting seat, and a clamping driving member for driving the welding chuck to clamp or loosen, and the first rotary driving member and the clamping driving member are both connected to the control module.

[0009] As a further improvement of the above technical solution: The welding mechanism further includes a temperature sensor disposed on the lifting seat, the temperature sensor is used for measuring the temperature of the small parallel connection head welding point, and the temperature sensor is connected to the control module.

[0010] As a further improvement of the above technical solution: First limit members are disposed on both the upper and lower sides of the lifting seat to limit the height of the lifting seat.

[0011] As a further improvement of the above technical solution: The notch positioning assembly includes a first laser range finder and a second laser range finder. The first laser range finder and the second laser range finder are both disposed on the lifting seat and are both connected to the control module. The first laser range finder is used for measuring the distance to the top surface of the stator coil fixing plate, and the second laser range finder is disposed obliquely for detecting the distance to the notch or the top surface of the stator coil fixing plate. The control module controls the forward and reverse rotations of the rotary driving assembly according to the difference change between the first laser range finder and the second laser range finder.

[0012] As a further improvement of the above technical solution: The wire feeding mechanism includes a wire reel, a right roller, a left roller, a guiding channel, a wire feeding servo motor, a driving wheel, a guiding wheel, and a wire in-place detecting member for detecting whether the welding wire reaches the welding point. The wire feeding servo motor is connected to the driving wheel. A wire feeding channel is formed between the driving wheel and the guiding wheel. The wire feeding channel is located directly below the guiding channel. The welding wire is sent out from the wire reel, passes through the right roller, the left roller, and the guiding channel in sequence from top to bottom, and then is fed into the welding chuck through the wire feeding channel. The wire feeding servo motor and the wire in-place detecting member are both connected to the control module.

[0013] As a further improvement of the above technical solution: The rotary driving assembly includes a rotary servo motor, a first gear connected to the rotary servo motor, and a gear ring disposed on the outer periphery of the stator coil fixing plate. The first gear meshes with the gear ring.

[0014] As a further improvement of the above technical solution: the small parallel joint welding device for the stator coil of the permanent magnet traction motor further includes a Y-axis moving mechanism, which includes a second gear, a rack meshing with the second gear, and a second rotation driving member for driving the second gear to rotate. The base is arranged on the rack, and the second rotation driving member is connected to the control module. When the base moves along the Y-axis, the first gear meshes with or disengages from the gear ring accordingly.

[0015] As a further improvement of the above technical solution: second limit members for restricting the moving range of the base in the Y-axis direction are arranged on both sides of the rack.

[0016] A welding method for a small parallel joint welding device of a permanent magnet traction motor stator coil includes the following steps:

[0017] S1: The second rotation driving member drives the base to move along the Y-axis until the first gear meshes with the gear ring on the outer periphery of the stator coil fixing disc;

[0018] S2: The first rotation driving member drives the lifting seat to move up and down until the measurement data of the first laser distance sensor is the preset positioning standard value;

[0019] S3: Subsequently, the rotary servo motor drives the stator coil fixing disc to rotate. When the difference between the measurement data of the second laser distance sensor and the measurement data of the first laser distance sensor changes, the rotary servo motor rotates in the reverse direction and reduces the rotation speed by half;

[0020] S4: Repeat step S3 multiple times until the difference between the measurement data of the second laser distance sensor and the measurement data of the first laser distance sensor is within the preset range. Then the rotary servo motor stops rotating, and the first rotation driving member drives the lifting seat to move downward until the welding chuck descends to the small parallel joint welding point;

[0021] S5: The wire feeding mechanism feeds the welding wire to the small parallel joint welding point;

[0022] S6: After the clamping driving member drives the welding chuck to clamp the small parallel joint of the coil and the welding wire, the welding chuck heats and melts the welding wire. When the temperature sensor detects that the temperature of the welding chuck is above 750 °C, stop heating. When it is detected that the temperature of the welding chuck drops below 250 °C, the clamping driving member drives the welding chuck to release the small parallel joint, completing the small parallel joint welding of one slot;

[0023] S7: The first rotation driving member drives the lifting seat to move upward to lift the welding chuck;

[0024] S8: Repeat steps S2 - S7 until all the small parallel joint welding work is completed;

[0025] S9: The second rotation driving member drives the base to reset, and the first rotation driving member drives the lifting seat to reset.

[0026] Compared with the prior art, the advantages of the present invention are as follows: The small parallel connection welding device for the stator coil of the permanent magnet traction motor disclosed in the present invention, the small parallel connection positioning mechanism includes a stator coil fixing disk, a slot positioning component, and a rotation driving component. The stator coil fixing disk is provided with a plurality of slots along the circumferential direction, and each slot corresponds to a small parallel connection of the stator coil. The rotation driving component can drive the stator coil fixing disk to rotate. When the slot positioning component locates the position of the slot, it will send a signal to the control module. The control module controls the rotation driving component to stop driving the stator coil fixing disk to rotate, and controls the wire feeding mechanism to send the welding wire to the small parallel connection at the located slot to ensure the timely supply of the welding wire. Subsequently, the control module controls the welding mechanism to weld the small parallel connection. After one small parallel connection is welded, the control module will control the rotation driving component to drive the stator coil fixing disk to rotate again, and use the slot positioning component to find the next slot for small parallel connection welding until all the small parallel connections of the stator coil are welded. The small parallel connection welding work does not require direct human participation. The control module controls each mechanism to automatically find the position of the small parallel connection and automatically weld the small parallel connection, which not only has a high degree of automation and high welding efficiency, but also is conducive to ensuring the welding quality and the consistency of the welded finished products.

[0027] Welding method of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor disclosed in the present invention. The second rotation driving member drives the base to translate in the Y-axis according to the current need for small parallel connection head welding work, so that the first gear and the gear ring are engaged or separated, facilitating the installation and disassembly of the stator coil on the stator coil fixing plate; when positioning to the small parallel connection head position, the first rotation driving member drives the lifting seat to descend, sending the welding chuck to the small parallel connection head welding point. When the welding of one small parallel connection head is completed, the welding chuck will rise under the drive of the first rotation driving member. This not only effectively avoids the interference of the welding chuck on the positioning work of the small parallel connection head position, but also can adapt to stator coil fixing plates of different heights, with strong adaptability; when the measurement data of the first laser range finder is the standard value of the set positioning, the lifting seat stops moving. At this time, the second laser range finder arranged obliquely points to the annular surface where the notch of the stator coil fixing plate is located, ensuring the normal progress of the positioning work of the second laser range finder; during the positioning work, the measurement data of the first laser displacement sensor is a fixed value. Whenever the difference between the measurement data of the second laser range finder and the measurement data of the first laser range finder changes, it proves that the second laser range finder measures the notch. At this time, the rotary servo motor immediately rotates in the reverse direction and halves the rotation speed. When the difference of the measurement data is within the preset range, the rotary servo motor stops rotating, and finally positions to the notch position. The purpose of doing this is that initially, the rotation speed of the rotary servo motor is fast, which is beneficial to quickly positioning to the approximate position of the notch. After that, the multiple reverse rotations and multiple halving of the rotation speed of the rotary servo motor overcome the problem that due to the large rotational inertia and narrow notch of the stator coil fixing plate, it is not easy to accurately position to the notch where the small parallel connection head to be welded is located after the rotary servo motor stops rotating, ensuring the speed and accuracy of the small parallel connection head positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the connection schematic diagram of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor in Embodiment 1.

[0029] Figure 2 is the structural schematic diagram of the Y-axis moving mechanism of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor in Embodiment 1.

[0030] Figure 3 is the structural schematic diagram of the wire feeding mechanism of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor in Embodiment 1.

[0031] Figure 4 is the structural schematic diagram of the small parallel connection head positioning mechanism of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor in Embodiment 1.

[0032] Figure 5 is the structural schematic diagram of the welding mechanism of the small parallel connection head welding device for the stator coil of the permanent magnet traction motor in Embodiment 1.

[0033] Figure 6 It is a working flowchart of the welding method of the small parallel head welding device for the stator coil of the permanent magnet traction motor in the second embodiment.

[0034] Each label in the figure represents: 1. Base; 2. Wire feeding mechanism; 21. Wire spool; 22. Right roller; 23. Left roller; 24. Guide groove; 25. Wire feeding servo motor; 26. Driving wheel; 27. Guide wheel; 28. Wire in-place detection piece; 3. Welding mechanism; 31. First rotation driving piece; 32. Lead screw; 321. First limiting piece; 33. Lifting seat; 34. Welding chuck; 35. Clamping driving piece; 36. Temperature sensor; 4. Small parallel head positioning mechanism; 41. Rotation driving assembly; 411. Rotation servo motor; 412. First gear; 413. Ring gear; 42. Stator coil fixing plate; 421. Notch; 43. Notch positioning assembly; 431. First laser distance sensor; 432. Second laser distance sensor; 5. Control module; 6. Y-axis moving mechanism; 61. Second rotation driving piece; 62. Second gear; 63. Rack; 631. Second limiting piece. Detailed implementation mode

[0035] The present invention will be further described in detail below in conjunction with the specification drawings and specific embodiments.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] In the present invention, unless otherwise clearly defined and limited, the terms "assembly", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Embodiment 1

[0039] Figures 1 to 5An embodiment of the small parallel joint welding device for the stator coil of the permanent magnet traction motor of the present invention is shown. The small parallel joint welding device for the stator coil of the permanent magnet traction motor in this embodiment includes a base 1, a wire feeding mechanism 2, a welding mechanism 3, a small parallel joint positioning mechanism 4, and a control module 5. The wire feeding mechanism 2 and the welding mechanism 3 are both arranged on the base 1. The small parallel joint positioning mechanism 4 includes a stator coil fixing disk 42, a notch positioning component 43, and a rotation driving component 41. The stator coil fixing disk 42 is provided with a plurality of notches 421 along the circumferential direction, and each notch 421 corresponds to a small parallel joint of the stator coil. Specifically, the stator coil fixing disk 42 has a total of 36 notches 421, and the 36 notches 421 are divided into 6 groups. The intervals of the notches 421 within each group are the same, and the distance between the notches 421 in adjacent groups is half of the distance between the notches 421 within the group. The rotation driving component 41 is used to drive the stator coil fixing disk 42 to rotate, and the notch positioning component 43 is used to position the notch 421. The wire feeding mechanism 2, the welding mechanism 3, and the rotation driving component 41 are all connected to the control module 5.

[0040] In the small parallel joint welding device for the stator coil of the permanent magnet traction motor in this embodiment, the small parallel joint positioning mechanism 4 includes a stator coil fixing disk 42, a notch positioning component 43, and a rotation driving component 41. The stator coil fixing disk 42 is provided with a plurality of notches 421 along the circumferential direction, and each notch 421 corresponds to a small parallel joint of the stator coil. The rotation driving component 41 can drive the stator coil fixing disk 42 to rotate. When the notch positioning component 43 locates the position of the notch 421, it will send a signal to the control module 5. The control module 5 controls the rotation driving component 41 to stop driving the stator coil fixing disk 42 to rotate, and controls the wire feeding mechanism 2 to send the welding wire to the small parallel joint at the located notch 421 to ensure the timely supply of the welding wire. Subsequently, the control module 5 controls the welding mechanism 3 to weld the small parallel joint. After one small parallel joint is welded, the control module 5 will control the rotation driving component 41 to drive the stator coil fixing disk 42 to rotate again, and use the notch positioning component 43 to find the next notch 421 for small parallel joint welding until all the small parallel joints of the stator coil are welded. The small parallel joint welding work does not require direct human participation. The control module 5 controls each mechanism to automatically find the position of the small parallel joint and automatically weld the small parallel joint, which not only has a high degree of automation and high welding efficiency, but also is conducive to ensuring the welding quality and the consistency of the welded products.

[0041] Further, in this embodiment, the welding mechanism 3 includes a lead screw 32, a first rotary drive 31 for driving the rotation of the lead screw 32, a lifting seat 33 engaged with the lead screw 32, a welding chuck 34 provided on the lifting seat 33, and a clamping drive 35 for driving the welding chuck 34 to clamp or release. Both the first rotary drive 31 and the clamping drive 35 are connected to the control module 5. Preferably, first limit members 321 are provided on both the upper and lower sides of the lifting seat 33 to limit the height of the lifting seat 33. Preferably, the first limit member 321 is a limit switch and is connected to the control module 5. When the lifting seat 33 moves to the limit switch, the control module 5 stops the first rotary drive 31 from driving the rotation of the lead screw 32 to achieve the purpose of restricting the movement of the lifting seat 33. Of course, in other embodiments, the first limit member 321 can be other limit components such as a blocking piece. The first rotary drive 31 is a servo motor and is connected to the lead screw 32 through a coupling. The lead screw 32 is a ball screw, and the clamping drive 35 is a cylinder. Of course, in other embodiments, a slide rail and slider combination can also be used, with the welding chuck 34 provided on the slider to enable lifting. Details are not described herein.

[0042] Further, in this embodiment, the welding mechanism 3 further includes a temperature sensor 36 provided on the lifting seat 33. The temperature sensor 36 is used to measure the temperature of the small parallel connection head welding point, and the temperature sensor 36 is connected to the control module 5. The control module 5 can judge whether the welding temperature meets the requirements according to the temperature of the small parallel connection head welding point detected by the temperature sensor 36, so as to control the heating and relaxation of the welding chuck 34, with a high degree of automation.

[0043] Further, in this embodiment, the notch positioning assembly 43 includes a first laser distance sensor 431 and a second laser distance sensor 432. Both the first laser distance sensor 431 and the second laser distance sensor 432 are provided on the lifting seat 33 and are both connected to the control module 5. The first laser distance sensor 431 is used to measure the distance from the top surface of the stator coil fixing plate 42, and the second laser distance sensor 432 is inclined and used to detect the distance from the notch 421 or the top surface of the stator coil fixing plate 42. The control module 5 controls the forward and reverse rotation of the rotary drive assembly 41 according to the difference change between the first laser distance sensor 431 and the second laser distance sensor 432. When the measurement data of the first laser distance sensor 431 is the set standard value, the second laser distance sensor 432 is exactly facing the inclined surface where the notch 421 is located on the stator coil fixing plate 42, ensuring that during the rotation of the stator coil fixing plate 42, the second laser distance sensor 432 can detect the notch 421. When the difference between the measurement data of the first laser distance sensor 431 and the measurement data of the second laser distance sensor 432 is within the preset range, the control module 5 immediately controls the rotary drive assembly 41 to stop driving the stator coil fixing plate 42 to rotate, thereby positioning to the position of the notch 421.

[0044] Further, in this embodiment, the wire feeding mechanism 2 includes a wire reel 21, a right roller 22, a left roller 23, a guiding channel 24, a wire feeding servo motor 25, a driving wheel 26, a guiding wheel 27, and a wire in-place detector 28 for detecting whether the welding wire reaches the welding point. The wire feeding servo motor 25 is connected to the driving wheel 26. A wire feeding channel is formed between the driving wheel 26 and the guiding wheel 27. The wire feeding channel is located directly below the guiding channel 24. The wire feeding servo motor 25 drives the driving wheel 26 to rotate, and cooperates with the guiding wheel 27 to continuously send the welding wire out of the wire reel 21. After passing through the right roller 22, the left roller 23, and the guiding channel 24 from top to bottom in sequence, the welding wire is fed into the welding chuck 34 through the wire feeding channel. Both the wire feeding servo motor 25 and the wire in-place detector 28 are connected to the control module 5. When the wire in-place detector 28 detects that there is no welding wire at the welding chuck 34, it sends a signal to the control module 5, and the control module 5 controls the wire feeding servo motor 25 to drive the driving wheel 26 to rotate, thereby driving the welding wire to the welding chuck 34, ensuring that the welding chuck 34 can obtain timely and sufficient supply of welding wire during welding.

[0045] As a preferred embodiment, the rotation driving assembly 41 includes a rotation servo motor 411, a first gear 412 connected to the rotation servo motor 411, and a gear ring 413 provided on the outer periphery of the stator coil fixing plate 42. The first gear 412 meshes with the gear ring 413. The structures of the first gear 412 and the gear ring 413 are simple and the transmission is reliable. Of course, in other embodiments, the stator coil fixing plate 42 can be placed on a rotating table, the rotation servo motor 411 is connected to the rotating table, and when the rotating table rotates, it drives the stator coil fixing plate 42 to rotate, or other rotation driving assemblies 41 can be used to rotate the stator coil fixing plate 42, which will not be elaborated here.

[0046] Further, in this embodiment, the small parallel joint welding device for the stator coil of the permanent magnet traction motor further includes a Y-axis moving mechanism 6. The Y-axis moving mechanism 6 includes a second gear 62, a rack 63 engaged with the second gear 62, and a second rotation driving member 61 for driving the second gear 62 to rotate. The base 1 is disposed on the rack 63. The second rotation driving member 61 is connected to the control module 5. When the base 1 moves along the Y-axis, the first gear 412 meshes with or disengages from the gear ring 413 accordingly. When it is necessary to install or remove the stator coil, the first gear 412 disengages from the gear ring 413, facilitating the installation and removal of the stator coil on the stator coil fixing plate 42. Preferably, second limit members 631 for restricting the moving range of the base 1 in the Y-axis direction are provided on both sides of the rack 63. Similarly, the second limit member 631 in this embodiment is also a limit switch and is connected to the control module 5. When the base 1 moves to the limit switch, the control module 5 stops the second rotation driving member 61 from driving the first gear 412 to rotate to achieve the purpose of restricting the movement of the base 1. Of course, in other embodiments, the first limit member 321 can be other limit components such as a blocking piece.

[0047] Embodiment 2

[0048] Figure 6 An embodiment of the welding method of the small parallel joint welding device for the stator coil of the permanent magnet traction motor of the present invention is shown, including the following steps:

[0049] S1: The second rotation driving member 61 drives the base 1 to move along the Y-axis until the first gear 412 meshes with the gear ring 413 on the outer periphery of the stator coil fixing plate 42;

[0050] S2: The first rotation driving member 31 drives the lifting seat 33 to move up and down until the measurement data of the first laser distance measuring sensor 431 is the preset positioning standard value;

[0051] S3: Subsequently, the rotary servo motor 411 drives the stator coil fixing plate 42 to rotate. When the difference between the measurement data of the second laser distance measuring sensor 432 and the measurement data of the first laser distance measuring sensor 431 changes, the rotary servo motor 411 rotates in the reverse direction and reduces the rotation speed by half;

[0052] S4: Repeat step S3 multiple times until the difference between the measurement data of the second laser distance measuring sensor 432 and the measurement data of the first laser distance measuring sensor 431 is within the preset range, then the rotary servo motor 411 stops rotating, and the first rotation driving member 31 drives the lifting seat 33 to move downward until the welding chuck 34 descends to the small parallel joint welding point;

[0053] S5: The wire feeding mechanism 2 feeds the welding wire to the small parallel joint welding point;

[0054] S6: After the clamping drive member 35 drives the welding chuck 34 to clamp the small parallel connection head of the coil and the welding wire, the welding chuck 34 heats and melts the welding wire. When the temperature sensor 36 detects that the temperature of the welding chuck 34 is above 750 °C, the heating is stopped. When it is detected that the temperature of the welding chuck 34 drops below 250 °C, the clamping drive member 35 drives the welding chuck 34 to release the small parallel connection head, completing the welding of the small parallel connection head for one notch 421;

[0055] S7: The first rotation drive member 31 drives the lifting seat 33 to move upward, raising the welding chuck 34;

[0056] S8: Repeat steps S2 - S7 until all the welding work of the small parallel connection heads is completed;

[0057] S9: The second rotation drive member 61 drives the base 1 to reset, and the first rotation drive member 31 drives the lifting seat 33 to reset.

[0058] For the welding method of the small parallel joint welding device of the stator coil of the permanent magnet traction motor in this embodiment, the second rotation driving member 61 drives the base 1 to translate in the Y-axis according to the current need for small parallel joint welding work, so that the first gear 412 and the gear ring 413 are engaged or separated, which facilitates the installation and disassembly of the stator coil on the stator coil fixing plate 42; when the small parallel joint position is located, the first rotation driving member 31 drives the lifting seat 33 to descend, and the welding chuck 34 is sent to the small parallel joint welding point. When the welding of one small parallel joint is completed, the welding chuck 34 will rise again under the drive of the first rotation driving member 31. This not only effectively avoids the interference of the welding chuck 34 on the positioning work of the small parallel joint position, but also can adapt to the stator coil fixing plates 42 of different heights, with strong adaptability; when the measurement data of the first laser range finder 431 is the standard value of the set positioning, the lifting seat 33 stops moving. At this time, the second laser range finder 432 arranged obliquely points to the annular surface where the notch 421 of the stator coil fixing plate 42 is located, ensuring the normal progress of the positioning work of the second laser range finder 432; during the positioning work, the measurement data of the first laser range finder 431 is a fixed value. Whenever the difference between the measurement data of the second laser range finder 432 and the measurement data of the first laser range finder 431 changes, it proves that the second laser range finder 432 measures the notch 421. At this time, the rotary servo motor 411 immediately rotates in the reverse direction and halves the rotation speed. When the difference in the measurement data is within the preset range, the rotary servo motor 411 stops rotating, and finally the notch 421 position is located. The purpose of doing this is that initially the rotation speed of the rotary servo motor 411 is fast, which is beneficial to quickly locate the approximate position of the notch 421. After that, the multiple reverse rotations and multiple halving of the rotation speed of the rotary servo motor 411 overcome the problem that due to the large rotational inertia of the stator coil fixing plate 42 and the narrow notch 421, it is not easy to accurately locate the notch 421 where the small parallel joint to be welded is located after the rotary servo motor 411 stops rotating, ensuring the speed and accuracy of the small parallel joint positioning.

[0059] Further, before step S1, the control module 5 controls the small parallel joint welding device of the permanent magnet traction motor stator coil to perform self-check. Those that pass the self-check proceed to step S1, and those that fail the self-check, the control module 5 will issue an alarm to remind relevant staff to carry out maintenance and repair, which is beneficial to ensuring the safety and stability during the welding process.

[0060] Although the present invention has been disclosed above in its preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into equivalent embodiments with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A permanent magnet traction motor stator coil small parallel welding device, characterized in that: The invention comprises a base (1), a wire feeding mechanism (2), a welding mechanism (3), a small parallel head positioning mechanism (4) and a control module (5), wherein the wire feeding mechanism (2) and the welding mechanism (3) are both arranged on the base (1), the small parallel head positioning mechanism (4) comprises a stator coil fixing disk (42), a slot positioning component (43), and a rotation drive component (41), the stator coil fixing disk (42) is provided with a plurality of slots (421) along the circumferential direction, each of the slots (421) corresponding to the stator coil The rotating drive assembly (41) is used to drive the stator coil fixing plate (42) to rotate, the slot positioning assembly (43) is used to position the slot (421), the wire feeding mechanism (2), the welding mechanism (3) and the rotating drive assembly (41) are all connected to the control module (5), the welding mechanism (3) comprises a screw rod (32), a first rotating drive member (31) for driving the screw rod (32) to rotate, a lifting seat (33) matched with the screw rod (32), and a lifting seat (33) arranged on the lifting seat The welding chuck (34) on the lifting seat (33) and a clamping drive member (35) for driving the welding chuck (34) to clamp or release, the first rotating drive member (31) and the clamping drive member (35) are both connected to the control module (5), the slot positioning assembly (43) comprises a first laser distance measuring sensor (431) and a second laser distance measuring sensor (432), the first laser distance measuring sensor (431) and the second laser distance measuring sensor (432) are both arranged on the lifting seat (33), and are both connected to the control module (5), the first laser distance measuring sensor (431) is used to measure the distance to the top surface of the stator coil fixing disk (42), the second laser distance measuring sensor (432) is tilted and is used to detect the distance to the slot (421) or the top surface of the stator coil fixing disk (42), and the control module (5) controls the forward and reverse rotation of the rotation drive component (41) according to the difference change between the first laser distance measuring sensor (431) and the second laser distance measuring sensor (432).

2. The permanent magnet traction motor stator coil small parallel welding device according to claim 1 is characterized in that: The welding mechanism (3) further comprises a temperature sensor (36) arranged on the lifting seat (33), the temperature sensor (36) being used to measure the temperature of the small parallel welding point, and the temperature sensor (36) is connected to the control module (5).

3. The permanent magnet traction motor stator coil small parallel welding device according to claim 1 is characterized in that: The upper and lower sides of the lifting seat (33) are both provided with first limiting members (321) for limiting the height of the lifting seat (33).

4. The permanent magnet traction motor stator coil small parallel welding device according to claim 1 is characterized in that: The wire feeding mechanism (2) comprises a welding wire reel (21), a right roller (22), a left roller (23), a guide channel (24), a wire feeding servo motor (25), a driving wheel (26), a guide wheel (27), and a welding wire in place detection component (28) for detecting whether the welding wire has reached the welding point. The wire feeding servo motor (25) is connected to the driving wheel (26). A wire feeding channel is formed between the driving wheel (26) and the guide wheel (27). The wire feeding channel is located directly below the guide channel (24). The welding wire is fed out of the welding wire reel (21), passes through the right roller (22), the left roller (23) and the guide channel (24) in sequence from top to bottom, and is then fed into the welding chuck (34) from the wire feeding channel. The wire feeding servo motor (25) and the welding wire in place detection component (28) are both connected to the control module (5).

5. The device for welding small parallel ends of stator coils of a permanent magnet traction motor according to any one of claims 1 to 4, characterized in that: The rotary drive assembly (41) comprises a rotary servo motor (411), a first gear (412) connected to the rotary servo motor (411), and a ring gear (413) arranged on the outer periphery of the stator coil fixing disk (42), and the first gear (412) meshes with the ring gear (413).

6. The permanent magnet traction motor stator coil small parallel end welding device according to claim 5 is characterized in that: The permanent magnet traction motor stator coil small parallel head welding device also includes a Y-axis moving mechanism (6), the Y-axis moving mechanism (6) includes a second gear (62), a rack (63) meshing with the second gear (62) and a second rotating drive member (61) for driving the second gear (62) to rotate, the base (1) is arranged on the rack (63), the second rotating drive member (61) is connected to the control module (5), and when the base (1) moves along the Y-axis, the first gear (412) is meshed with or separated from the ring gear (413).

7. The device for welding small parallel ends of permanent magnet traction motor stator coils according to claim 6 is characterized in that: Second limiting members (631) for limiting the movement range of the base (1) in the Y-axis direction are provided on both sides of the rack (63).

8. A welding method for the permanent magnet traction motor stator coil small parallel welding device according to claim 6, characterized in that: The following steps are involved: S1: The second rotating driving member (61) drives the base (1) to move along the Y axis until the first gear (412) meshes with the gear ring (413) on the outer periphery of the stator coil fixing plate (42); S2: The first rotating driving member (31) drives the lifting seat (33) to move up and down until the measurement data of the first laser distance measuring sensor (431) reaches a preset positioning standard value; S3: Then the rotating servo motor (411) drives the stator coil fixing disk (42) to rotate, and when the difference between the measurement data of the second laser ranging sensor (432) and the measurement data of the first laser ranging sensor (431) changes, the rotating servo motor (411) rotates in the opposite direction and reduces the rotation speed by half; S4: Repeat step S3 multiple times until the difference between the measurement data of the second laser distance measuring sensor (432) and the measurement data of the first laser distance measuring sensor (431) is within a preset range, the rotary servo motor (411) stops rotating, and the first rotary drive member (31) drives the lifting seat (33) to move downward until the welding chuck (34) descends to the small joint welding point; S5: The wire feeding mechanism (2) feeds the welding wire to the small parallel welding point; S6: After the clamping drive (35) drives the welding chuck (34) to clamp the small parallel head of the coil and the welding wire, the welding chuck (34) heats and melts the welding wire. When the temperature sensor (36) detects that the temperature of the welding chuck (34) is above 750° C., the heating is stopped. When it is detected that the temperature of the welding chuck (34) drops to below 250° C., the clamping drive (35) drives the welding chuck (34) to release the small parallel head, thereby completing the small parallel head welding of a notch (421); S7: the first rotary drive member (31) drives the lifting seat (33) to move upwards, thereby raising the welding chuck (34); S8: Repeat steps S2-S7 until all small parallel welding work is completed; S9: The second rotary drive member (61) drives the base (1) to reset, and the first rotary drive member (31) drives the lifting seat (33) to reset.

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