Stator winding processing system and processing method

Abstract

The present application discloses a stator winding processing system and a processing method, which relate to the technical field of motor stator winding processing, including a first conveyor, a paper punching machine and a winding and wire embedding device. The winding and wire embedding device includes a rotatable supporting platform, a plurality of wire hanging cups are arranged on the supporting platform, a plurality of winding stations and a wire embedding station are arranged around the supporting platform, the wire hanging cups are wound on the wire hanging cups when they flow to the winding stations, and the stator core is embedded with wire when the wound wire hanging cups flow to the wire embedding station. The application also includes a coil shaping machine, a second conveyor, a clamping robot and a control device. The first conveyor, the paper punching machine, the winding and wire embedding device, the coil shaping machine and the second conveyor are arranged around the clamping robot. The stator core is clamped by the clamping robot and transported between various devices, which shortens the turnover time of the stator core between various devices and improves the production efficiency of the stator winding processing.

Description

Technical Field

[0001] The present application relates to the technical field of motor stator winding processing, and in particular to a stator winding processing system and processing method. Background Art

[0002] Stator coil winding is one of the important components of the motor. Its processing not only affects the performance of the product, but also affects the processing efficiency of the product.

[0003] The winding process of the stator coil winding requires the process steps of paper punching, winding, wire embedding and coil shaping. These process steps are processed by separate equipment respectively. The workpieces need to be manually turned over when processed on different equipment, which is labor-intensive, has a long turnover time and low production and processing efficiency.

[0004] Therefore, how to provide an efficient stator winding processing system and processing method is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0005] In view of this, in order to help improve the technical problem of working efficiency of stator winding processing, the present application provides a stator winding processing system and processing method.

[0006] In a first aspect, a stator winding processing system adopts the following technical solution:

[0007] A stator winding processing system includes a first conveyor for conveying a stator core, a paper punching machine for punching insulating paper into the stator core slots, and a winding and wire-inserting device for winding and inserting wire into the stator core. The winding and wire-inserting device includes a rotatable carrier platform, a plurality of wire hanging cups are arranged on the carrier platform, and a plurality of winding stations and a wire-inserting station are arranged around the carrier platform. When the wire hanging cups flow to the winding stations, they are wound on the wire hanging cups. When the wound wire hanging cups flow to the wire-inserting station, they are inserted into the stator core, thereby shaping the stator core with the embedded coil. The invention also comprises a coil shaping machine, a second conveyor for conveying the shaped stator core, and a clamping robot for transferring the stator core between various devices. The first conveyor, the paper beating machine, the winding and embedding device, the coil shaping machine and the second conveyor are arranged around the clamping robot, and the embedding station is arranged on the side of the winding and embedding device close to the clamping robot. The invention also comprises a control device for controlling the first conveyor, the paper beating machine, the winding and embedding device, the coil shaping machine, the second conveyor and the clamping robot to perform processing actions.

[0008] By adopting the above technical solution, the clamping robot clamps the stator core on the first conveyor and transports it to the paper punching machine for paper punching. The stator core after paper punching is clamped by the clamping robot and transported to the wire embedding station of the winding and wire embedding device. The wire hanging cup after winding flows to the wire embedding station and the stator core is embedded with coils. The clamping robot clamps the stator core after wire embedding and sends it to the coil shaping machine for shaping. The shaped stator core is clamped by the clamping robot and transported to the second conveyor. The shaped stator core is transported to the next station by the second conveyor. The stator core is clamped by the clamping robot and transported between various devices, which shortens the turnover time of the stator core between various devices and improves the production efficiency of the stator winding process.

[0009] Optionally, the clamping robot includes an industrial robot and a clamp having a stator core fixedly mounted on a terminal joint shaft of the industrial robot.

[0010] By adopting the above technical solution, the stator core is clamped by a fixture and rotated and extended by the joint axis of the industrial robot, so that the stator core can be transported between various devices, shortening the turnover time of the stator core and helping to improve the overall production efficiency of the stator winding process.

[0011] Optionally, the clamp is configured as two groups of clamping components, and the two groups of clamping components are respectively arranged on the same plane and symmetrically arranged with respect to the axis of the end joint axis of the industrial robot.

[0012] By adopting the above technical solution, the clamp is configured as two groups of clamping components. When loading and unloading at each workstation, one group of clamping components is used to clamp the stator core blanks that have been completed in this process, and the other group of clamping components is used to clamp the stator core loading to be processed in this process, thereby reducing the back-and-forth motion trajectory of the clamping robot and shortening the time for loading and unloading the stator core. The two groups of clamping components are arranged on the same plane and are symmetrically arranged relative to the axis of the end joint shaft, so that the clamping components have the same reference in height and level, reducing the positioning time of the clamping components in the height and horizontal directions, and helping to shorten the time for the clamping components to clamp or place the stator core.

[0013] Optionally, the clamping assembly includes a finger cylinder and a clamping piece fixed on two clamping jaws of the finger cylinder, and the two clamping pieces have clamping openings that are arranged opposite to each other and have shapes that match the outer circumference of the stator core.

[0014] By adopting the above technical solution, the clamping assembly drives the clamping piece through the finger cylinder to clamp the stator core, and the clamping piece is provided with a clamping opening whose shape is adapted to the outer circumference of the stator core, which can provide appropriate clamping force and uniform clamping force. While ensuring reliable clamping, it can also help prevent the stator core from being deformed and damaged due to clamping.

[0015] Optionally, the air circuits of the two finger cylinders in the two groups of the clamping assemblies are independent of each other.

[0016] By adopting the above technical solution, the air paths of the two finger cylinders are independent of each other, which helps to control the motion of a single finger cylinder, realize the alternating unloading and loading of the stator core, reduce the running trajectory of the clamping robot to clamp the stator core back and forth, and improve operating efficiency.

[0017] Optionally, the gripping robot is specifically a six-degree-of-freedom industrial robot.

[0018] By adopting the above technical solution, the clamping robot is specifically a six-degree-of-freedom industrial robot, which can make the end joint axis of the industrial robot be in a state with different requirements, so that the two sets of clamping components can clamp or place the stator core from each workstation, which helps to improve the work efficiency of unloading and loading.

[0019] Optionally, the winding and embedding device further includes a plurality of winding mechanisms, one winding mechanism is provided for each winding station, and an embedding mechanism is provided for each embedding station. The winding mechanism is arranged above the winding station, and the embedding mechanism is arranged at both ends of the embedding station.

[0020] By adopting the above technical solution, the stator core is positioned at the wire embedding station, and the wire hanging cup is transferred to the winding station for winding processing. When the wound wire hanging cup is transferred to the wire embedding station, the wire embedding mechanism embeds the coil on the wire hanging cup into the stator core. The structural layout of the winding and embedding device is compact, and the wire hanging cup has high circulation efficiency in the winding station and the wire embedding station.

[0021] Optionally, four rotatable wire hanging cups are evenly distributed on the supporting platform, and the multiple winding mechanisms are a first winding mechanism, a second winding mechanism and a third winding mechanism, and the second winding mechanism is arranged opposite to the wire embedding mechanism.

[0022] By adopting the above technical solution, the first winding mechanism winds the first phase winding on the same wire hanging cup, the second winding mechanism winds the second phase winding on the same wire hanging cup, and the third winding mechanism winds the third phase winding on the same wire hanging cup. When the same wire hanging cup flows to the wire embedding station, the wire embedding mechanism embeds the three-phase winding on the wire hanging cup into the stator core. In addition to winding the three-phase winding embedded in the first stator core, when winding other three-phase windings embedded in the stator core, each time the wire hanging cup flows to a station, the first winding mechanism, the second winding mechanism, the third winding mechanism and the wire embedding mechanism all work simultaneously, thereby achieving high work efficiency.

[0023] In a second aspect, a stator winding processing method adopts the following technical solution:

[0024] The stator winding processing method comprises the following steps:

[0025] Control the first conveyor to convey the stator core and stop at the clamping position; control the clamping robot to clamp the stator core from the clamping position on the first conveyor, control the first conveyor to convey the stator core again and stop at the clamping position; the clamping robot rotates to place the stator core on the paper punching station of the paper punching machine, control the paper punching machine to punch insulating paper into the stator core slots, the clamping robot rotates to clamp the stator core again from the clamping position on the first conveyor, control the first conveyor to convey the stator core again and stop at the clamping position, the clamping robot rotates to the paper punching machine, clamps the stator core that has been papered and leaves the paper punching station, and then places the stator core that has not been papered on the paper punching station of the paper punching machine, waiting for paper punching;

[0026] The clamping robot is controlled to rotate to the wire-inserting station. When it is detected that there is no stator core at the wire-inserting station, the clamping robot places the stator core after paper punching at the wire-inserting station. When there is a stator core with coils embedded in the wire-inserting station, the clamping robot clamps the stator core with coils embedded and leaves the wire-inserting station, and places the stator core after paper punching at the wire-inserting station.

[0027] Controlling the winding and embedding device to work on the wire hanging cup to wind the wire and embed the wire into the stator core, the coil embedded in the stator core includes a first phase winding, a second phase winding and a third phase winding, the first winding mechanism of the corresponding first winding station winds the first phase winding, the second winding mechanism of the second winding station winds the second phase winding, and the third winding mechanism of the third winding station winds the third phase winding, the wire hanging cup after winding the first phase winding, the second phase winding and the third phase winding enters the embedding station, and the embedding mechanism embeds the first phase winding, the second phase winding and the third phase winding into the stator core at the same time;

[0028] Controlling the clamping robot to rotate to the position of the coil shaping machine, when there is no stator core at the shaping station, the clamping robot places the stator core with the coil embedded in it at the shaping station; when there is a shaped stator core at the shaping station, the clamping robot clamps the shaped stator core and leaves the shaping station, and then places the stator core to be shaped at the shaping station of the coil shaping machine;

[0029] The gripping robot is controlled to rotate to the second conveyor, the gripping robot places the shaped stator core on the second conveyor, and the second conveyor conveys the shaped stator core to the next workstation.

[0030] By adopting the above technical solution, the stator core on the first conveyor is clamped by controlling the clamping robot and transported to the paper-making machine for paper-making, the stator core after paper-making is clamped and transported to the wire-inserting station, the winding and wire-inserting device winds the wire hanging cup, and the coil wound by the wire hanging cup is embedded in the stator core, the clamping robot clamps the stator coil with the embedded coil and leaves the wire-inserting station, and places a stator core to be embedded, the clamping robot turns to the coil shaping machine, clamps the shaped stator core away from the shaping station, and places the stator core to be shaped on the shaping station of the coil shaping machine, the clamping robot turns to the second conveyor, places the shaped stator core on the second conveyor, and the second conveyor transports the shaped stator core to the next station. The stator core performs different processing steps separately at each station, and the stator core is clamped and transported by the clamping robot, which greatly improves the efficiency of processing and production.

[0031] Optionally, the winding and embedding device for winding the wire hanging cup and embedding the coil into the stator core further comprises the following steps:

[0032] When initially winding the three-phase winding of the first stator core, the first winding mechanism is controlled to work and the first phase winding is wound on the wire hanging cup located at the first winding station;

[0033] Control the four wire hanging cups to simultaneously flow through one work station, and at the same time, the four wire hanging cups rotate through one winding position;

[0034] Controlling the first winding mechanism to operate so as to wind the first phase winding on the wire hanging cup located at the first winding station, and controlling the second winding mechanism to operate so as to wind the second phase winding on the wire hanging cup located at the second winding station;

[0035] Control the four wire hanging cups to simultaneously flow through one work station, and at the same time, the four wire hanging cups rotate through one winding position;

[0036] Controlling the first winding mechanism to wind the first phase winding on the wire hanging cup located at the first winding station, controlling the second winding mechanism to wind the second phase winding on the wire hanging cup located at the second winding station, and controlling the third winding mechanism to wind the third phase winding on the wire hanging cup located at the third winding station;

[0037] Control the four wire hanging cups to simultaneously flow through one work station, and at the same time, the four wire hanging cups rotate through one winding position;

[0038] Control the first winding mechanism to work and wind the first phase winding on the wire hanging cup located at the first winding station; control the second winding mechanism to work and wind the second phase winding on the wire hanging cup located at the second winding station; control the third winding mechanism to work and wind the third phase winding on the wire hanging cup located at the third winding station; control the wire embedding mechanism to embed the first phase winding, second phase winding and third phase winding wound on the wire hanging cup at the wire embedding station into the stator core at the same time.

[0039] By adopting the above technical solution, by controlling the four wire hanging cups to flow through one work station each time, and at the same time the wire hanging cups rotate one winding position, in addition to winding the three windings of the first stator core, each time the wire hanging cups flow through one work station, the first winding mechanism, the second winding mechanism, the third winding mechanism and the wire inserting mechanism can work simultaneously, which greatly improves the work efficiency of winding and wire inserting.

[0040] In summary, this application includes at least one of the following beneficial technical effects:

[0041] 1. The stator core is clamped by a clamping robot and transported between various devices, which shortens the turnover time of the stator core between various devices and improves the production efficiency of the stator winding process.

[0042] 2. The fixture is configured as two sets of clamping components, which shortens the time for loading and unloading the stator core. The two sets of clamping components are arranged on the same plane and symmetrically relative to the axis of the end joint shaft, so that the clamping components have the same reference in height and level, reducing the positioning time of the clamping components in the height and horizontal directions, which helps to shorten the time for the clamping components to clamp or place the stator core.

[0043] 3. The stator core is positioned at the wire embedding station, and the wire hanging cup is transferred to the winding station for winding processing. When the wound wire hanging cup is transferred to the wire embedding station, the wire embedding mechanism embeds the coil on the wire hanging cup into the stator core. The structure of the winding and embedding device is compact, and the wire hanging cup has high circulation efficiency between the winding station and the wire embedding station.

[0044] 4. The clamping robot is specifically a six-degree-of-freedom industrial robot, which can place the end joint axis of the industrial robot in different required states, making it convenient for two sets of clamping components to clamp or place the stator core from different workstations, helping to improve the efficiency of unloading and loading.

[0045] 5. The air paths of the two finger cylinders are independent of each other, which helps to control the motion of a single finger cylinder, realize the alternating unloading and loading of the stator core, reduce the running trajectory of the clamping robot to clamp the stator core back and forth, and improve the operating efficiency.

[0046] 6. The clamping assembly drives the clamping piece through the finger cylinder to clamp the stator core, and the clamping piece is provided with a clamping mouth whose shape is adapted to the outer circumference of the stator core, which can provide appropriate and uniform clamping force. While ensuring reliable clamping, it can also help prevent the stator core from deformation and damage due to clamping.

[0047] 7. In addition to winding the three-phase winding of the first stator core, each time the wire hanging cup passes through a work station, the first winding mechanism, the second winding mechanism, the third winding mechanism and the wire inserting mechanism can work simultaneously, which greatly improves the working efficiency of winding and inserting. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a cross-sectional view of a stator winding processing system disclosed in this application.

[0049] Figure 2 This is a top view of the winding and inserting mechanism of a stator winding processing system disclosed in this application with the top removed.

[0050] Figure 3 This is a schematic structural diagram of the clamping robot disclosed in this application.

[0051] Figure 4 This is a top view of the gripping robot disclosed in this application.

[0052] Description of reference numerals:

[0053] 1. First conveyor; 11. Clamping position; 12. First detection switch; 2. Paper punching machine; 21. Paper punching station; 3. Winding and embedding device; 31. Carrying platform; 311. Wire hanging cup; 32. First winding mechanism; 321. First winding station; 33. Second winding mechanism; 331. Second winding station; 34. Third winding mechanism; 341. Third winding station; 35. Embedding mechanism; 351. Embedding station; 4. Coil shaping machine; 4 1. Shaping station; 5. Second conveyor; 51. Placement position; 52. Second detection switch; 6. Clamping robot; 61. Industrial robot; 62. Clamp; 621. First clamping assembly; 6211. First finger cylinder; 6212. First clamping piece; 62121. First clamping jaw; 622. Second clamping assembly; 6221. Second finger cylinder; 6222. Second clamping piece; 62221. Second clamping jaw; 7. Control device. DETAILED DESCRIPTION

[0054] The following combination Figures 1 to 4 This application is described in further detail.

[0055] An embodiment of the present application discloses a stator winding processing system.

[0056] A stator winding processing system. Figure 1 and Figure 2 , including a first conveyor 1, a paper punching machine 2, a wire winding and embedding device 3, a coil shaping machine 4, a second conveyor 5, a clamping robot 6 and a control device 7 for controlling the execution of processing actions.

[0057] The first conveyor 1 conveys the stator core entering the system to the discharge end of the first conveyor 1, which faces the clamping robot 6. The discharge end is provided with a first detection switch 12. When the first detection switch 12 detects the stator core, the first detection switch 12 sends a detection signal to the control device 7. The control device 7 controls the first conveyor 1 to stop running, and the stator core stops at the clamping position 11, waiting to be clamped by the clamping robot 6.

[0058] The paper punching machine 2 drives the stator core at the paper punching station 21 to rotate intermittently at a certain time period, and at the same time punches the insulating paper into the wire slots of the stator core;

[0059] The winding and inserting device 3 includes a rotatable supporting platform 31, on which a plurality of wire hanging cups 311 are arranged. A plurality of winding stations and a wire inserting station 351 are arranged around the supporting platform 31. When the wire hanging cups 311 flow to the winding stations, coils are wound on the wire hanging cups 311. When the wound wire hanging cups 311 flow to the wire inserting station 351, the stator core is inserted with wire. The stator core after insertion is removed from the wire inserting station 351, and a stator core without insertion of wire is replaced.

[0060] After the stator core is wire-embedded, in order to facilitate subsequent processing operations, the stator core after wire-embedded needs to be shaped on a coil shaping machine 4, and a shaping station 41 is correspondingly provided on the coil shaping machine 4;

[0061] The second conveyor 5 conveys the shaped stator core to the next workstation. The second conveyor 5 has a placement position 51 at its input end. The placement position 51 is correspondingly provided with a second detection switch 52. When the second detection switch 52 detects the stator core, the second detection switch 52 sends a detection signal to the control device 7. The control device 7 controls the second conveyor 5 to start running and convey the stator core in the placement position 51 to the next workstation. The placement position 51 is vacant, waiting for the next stator core to be placed.

[0062] The first conveyor 1, the paper punching machine 2, the winding and inserting device 3, the coil shaping machine 4 and the second conveyor 5 are arranged around the clamping robot 6. The inserting station 351 of the winding and inserting device 3 is arranged on the side of the winding and inserting device 3 close to the clamping robot 6. The clamping robot 6 clamps the stator core of the first conveyor 1 from the clamping position 11 and transfers it to the paper punching station 21 of the paper punching machine 2, and removes the stator core that has been punched at the paper punching station 21 and transfers it to the inserting station 351 of the winding and inserting device 3. The stator core with wire embedded is clamped and transferred to the shaping station 41. The stator core that has been shaped at the shaping station 41 is clamped and transferred to the placement position 51 of the second conveyor 5. The control device 7 controls the first conveyor 1, the paper punching machine 2, the winding and embedding device 3, the coil shaping machine 4, the second conveyor 5 and the clamping robot 6 to perform processing actions. The stator core is clamped by the clamping robot 6 and transferred between various devices, which shortens the turnover time of the stator core between various devices and improves the production efficiency of the stator winding processing.

[0063] Reference Figure 3 and Figure 4 The clamping robot 6 includes an industrial robot 61 and a clamp 62 for clamping the stator core, which is fixedly installed on the end joint shaft of the industrial robot 61. The clamp 62 is installed at the free end of the end joint shaft of the industrial robot 61, which is convenient for clamping or placing the stator core on the workstation of each equipment. The stator core can be transported between various equipment by rotating and extending the joint shaft of the industrial robot 61, shortening the turnover time of the stator core and helping to improve the overall production efficiency of the stator winding processing.

[0064] Reference Figure 3 and Figure 4 The clamp 62 includes a first clamping component 621 and a second clamping component 622, which are respectively arranged on the same plane and symmetrically arranged relative to the axis of the end joint axis of the industrial robot 61. When loading and unloading at each workstation, the stator core unloading material that has been completed in this process is clamped by the first clamping component 621 or the second clamping component 622, and the stator core loading material to be processed in this process is clamped by the second clamping component 622 or the first clamping component 621, which reduces the back-and-forth motion trajectory of the clamping robot 6 and shortens the time for loading and unloading the stator core. The two groups of clamping components are arranged on the same plane and symmetrically arranged relative to the axis of the end joint axis, so that the clamping components have the same reference in height and level, reducing the positioning time of the clamping components in height and horizontal directions, which helps to shorten the time for the clamping components to clamp or place the stator core.

[0065] Reference Figure 3 and Figure 4The first clamping assembly 621 includes a first finger cylinder 6211 and a first clamping piece 6212. The first clamping piece 6212 is fixed on the two clamping claws of the first finger cylinder 6211. The two first clamping pieces 6212 have first clamping openings 62121 that are oppositely arranged and whose shapes are adapted to the outer circumference of the stator core. The structure of the second clamping assembly 622 is the same as that of the first clamping assembly 621, including a second finger cylinder 6221 and a second clamping piece 6222. The second clamping piece 6222 is provided with a second clamping opening 62221. The first clamping opening 62121 and the second clamping opening 62221 are provided on the second clamping piece 6222. 221 can make the stator core be subjected to uniform force when clamping. The first finger cylinder 6211 and the second finger cylinder 6221 are connected to the power air source, and the clamping force of the first finger cylinder 6211 and the second finger cylinder 6221 can be adjusted by adjusting the air pressure; the air paths of the first finger cylinder 6211 and the second finger cylinder 6221 are independent of each other, which helps to control the movements of the first finger cylinder 6211 and the second finger cylinder 6221 separately, realize the alternating unloading and loading of the stator core, reduce the running trajectory of the clamping robot 6 to clamp the stator core back and forth, and improve the operating efficiency.

[0066] Reference Figure 3 and Figure 4 The gripping robot 6 is specifically a six-degree-of-freedom industrial robot 61. The six-degree-of-freedom industrial robot 61 includes six joint axes, each of which can move independently, allowing it to move in six directions. These six directions are: up and down (along the Z axis), forward and backward (along the Y axis), left and right (along the X axis), rotation around the X axis, rotation around the Y axis, and rotation around the Z axis. The joint axes can flexibly move in six degrees of freedom, allowing for complex movements and operations in three-dimensional space, thereby achieving more precise and efficient operations. This facilitates the first gripping assembly 621 and the second gripping assembly 622 to grip or place the stator core at various workstations, helping to improve the efficiency of unloading and loading materials.

[0067] Reference Figure 1 and Figure 2, the winding and embedding device 3 of the embodiment of the present application has three winding mechanisms, namely the first winding mechanism 32, the second winding mechanism 33 and the third winding mechanism 34. The winding and embedding device 3 of the embodiment of the present application can be a winding mechanism of other numbers, which is determined according to the number of windings of the motor matched with the stator core. A winding mechanism is set corresponding to each winding station, the first winding mechanism 32 corresponds to the first winding station 321, the second winding mechanism 33 corresponds to the second winding station 331, and the third winding mechanism 34 corresponds to the third winding station 341. It is preset that the wire hanging cup 311 flows from the first winding station 321 to the second winding station 331, and from the second winding station 331 to the third winding station The wire station 341 flows from the third winding station 341 to the wire embedding station 351. A wire embedding mechanism 35 is provided at the wire embedding station 351. The second winding mechanism 33 is arranged opposite to the wire embedding mechanism 35. The winding mechanism is arranged above the winding station. The wire embedding mechanism 35 is arranged at both ends of the wire embedding station 351. The stator core is positioned at the wire embedding station 351. The wire hanging cup 311 is wound when it flows to the winding station. When the wound wire hanging cup 311 flows to the wire embedding station 351, the wire embedding mechanism 35 embeds the coil on the wire hanging cup 311 into the stator core. The structural layout of the winding and embedding device 3 is compact, and the wire hanging cup 311 has high circulation efficiency in the winding station and the wire embedding station 351.

[0068] Reference Figure 1 and Figure 2 In the embodiment of the present application, four wire hanging cups 311 are evenly distributed on the carrier 31. Other embodiments of the present application may have other numbers of wire hanging cups 311. The number of wire hanging cups 311 is determined according to the number of motor windings matched with the stator core. The number is one more than the number of motor windings. The wire hanging cup 311 can rotate around its own axis, so that the same wire hanging cup 311 can be used to wind the winding coils of the corresponding phase at different winding stations. The first winding mechanism 32 winds the first phase winding on the same wire hanging cup 311, and the second winding mechanism 33 winds the first phase winding on the same wire hanging cup 311. The second-phase winding is wound on the upper part, and the third winding mechanism 34 winds the third-phase winding on the same wire hanging cup 311. When the same wire hanging cup 311 flows to the wire embedding station 351, the wire embedding mechanism 35 embeds the three-phase winding on the wire hanging cup 311 into the stator core. Except for the initial production of the three-phase winding embedded in the first stator core, during the winding of other three-phase windings embedded in the stator core, every time the wire hanging cup 311 flows to a station, the first winding mechanism 32, the second winding mechanism 33, the third winding mechanism 34 and the wire embedding mechanism 35 all work simultaneously, and the work efficiency is high.

[0069] The control device 7 is respectively communicated with the first conveyor 1, the paper punching machine 2, the winding and embedding device 3, the coil shaping machine 4, the second conveyor 5 and the clamping robot 6. The control device 7 can be a programmable logic controller. Through the control of each device by the control device 7, the stator core is circulated between the devices, realizing the automated production of the stator core such as loading and conveying, transportation, paper punching, winding and embedding, coil shaping, and unloading and conveying.

[0070] The embodiment of the present application also discloses a stator winding processing method.

[0071] A stator winding processing method comprises the following steps:

[0072] Control the first conveyor 1 to convey the stator core and stop at the clamping position 11, control the first clamping component 621 of the clamping robot 6 to clamp the stator core from the clamping position 11 on the first conveyor 1 and detach from the first conveyor 1, control the first conveyor 1 to convey the stator core and stop at the clamping position 11 to wait for the next clamping; the clamping robot 6 rotates and places the stator core on the paper punching station 21 of the paper punching machine 2, controls the paper punching machine 2 to drive the stator core to rotate intermittently according to a certain period, and the stator core punches the insulating paper into the customized iron core during the interval of stopping the rotation. The stator core is connected to the wire groove of the core, the clamping robot 6 rotates to the direction of the first conveyor 1, the first clamping component 621 clamps the stator core again from the clamping position 11 on the first conveyor 1 and leaves the first conveyor 1, the first conveyor 1 conveys the stator core again and stops at the clamping position 11, the clamping robot 6 rotates to the paper punching machine 2 position, the second clamping component 622 clamps the stator core after paper punching and leaves the paper punching station 21, and then the first clamping component 621 places the stator core that has not been punched into the paper punching station 21 of the paper punching machine 2, waiting for paper punching;

[0073] The clamping robot 6 is controlled to rotate to the wire-inserting station 351 of the winding and wire-inserting device 3. When it is detected that there is no stator core in the wire-inserting station 351, the second clamping assembly 622 of the clamping robot 6 places the stator core after paper punching into the wire-inserting station 351. When it is detected that there is a stator core with coils embedded in the wire-inserting station 351, the first clamping assembly 621 of the clamping robot 6 clamps the stator core with coils embedded and leaves the wire-inserting station 351. The second clamping assembly 622 places the stator core after paper punching into the wire-inserting station 351.

[0074] The winding and embedding device 3 is controlled to work to wind the wire hanging cup 311 and embed the wire into the stator core. The coil embedded in the stator core includes a first phase winding, a second phase winding, and a third phase winding. The first winding mechanism 32 of the corresponding first winding station 321 winds the first phase winding, the second winding mechanism 33 of the second winding station 331 winds the second phase winding, and the third winding mechanism 34 of the third winding station 341 winds the third phase winding. After winding the first phase winding, the second phase winding, and the third phase winding, the wire hanging cup 311 enters the embedding station 351, and the embedding mechanism 35 embeds the first phase winding, the second phase winding, and the third phase winding into the stator core at the same time.

[0075] The clamping robot 6 is controlled to rotate to the position of the coil shaping machine 4. When there is no stator core at the shaping station 41, the first clamping assembly 621 of the clamping robot 6 places the stator core with the coil embedded therein to the shaping station 41. When there is a shaped stator core at the shaping station 41, the second clamping assembly 622 of the clamping robot 6 clamps the shaped stator core and leaves the shaping station 41. Then, the first clamping assembly 621 places the stator core to be shaped at the shaping station 41 of the coil shaping machine 4.

[0076] The clamping robot 6 is controlled to rotate to the second conveyor 5. The second clamping component 622 of the clamping robot 6 places the shaped stator core on the placement position 51 of the second conveyor 5. After the second detection switch 52 detects the stator core at the placement position 51, it starts the second conveyor 5 to transport the shaped stator core to the next workstation.

[0077] The stator core performs different processing steps on various devices in the system. The stator core is clamped and transported by the clamping robot 6, which greatly improves the efficiency of processing and production.

[0078] The winding and embedding device 3 winds the wire hanging cup 311 and embeds the coil into the stator core, and further comprises the following steps:

[0079] When initially winding the three-phase winding of the first stator core, the first winding mechanism 32 is controlled to work and the first phase winding is wound on the wire hanging cup 311 located at the first winding station 321;

[0080] Control four wire hanging cups 311 to simultaneously flow through one workstation, and at the same time, the four wire hanging cups 311 rotate through one winding position;

[0081] Control the first winding mechanism 32 to wind the first phase winding on the wire hanging cup 311 located at the first winding station 321, and control the second winding mechanism 33 to wind the second phase winding on the wire hanging cup 311 located at the second winding station 331;

[0082] Control four wire hanging cups 311 to simultaneously flow through one workstation, and at the same time, the four wire hanging cups 311 rotate through one winding position;

[0083] Control the first winding mechanism 32 to wind the first phase winding on the wire hanging cup 311 located at the first winding station 321; control the second winding mechanism 33 to wind the second phase winding on the wire hanging cup 311 located at the second winding station 331; control the third winding mechanism 34 to wind the third phase winding on the wire hanging cup 311 located at the third winding station 341;

[0084] Control four wire hanging cups 311 to simultaneously flow through one workstation, and at the same time, the four wire hanging cups 311 rotate through one winding position;

[0085] Control the first winding mechanism 32 to work, and wind the first phase winding on the wire hanging cup 311 located at the first winding station 321; control the second winding mechanism 33 to work, and wind the second phase winding on the wire hanging cup 311 located at the second winding station 331; control the third winding mechanism 34 to work, and wind the third phase winding on the wire hanging cup 311 located at the third winding station 341; control the wire embedding mechanism 35 to embed the first phase winding, second phase winding and third phase winding wound on the wire hanging cup 311 at the wire embedding station 351 into the stator core at the same time.

[0086] By controlling the four wire hanging cups 311 to flow through one workstation at a time, and the wire hanging cup 311 rotates one winding position, when winding the three-phase winding of the first stator core, the wire hanging cup 311 corresponding to the first stator core is in the first winding workstation 321, and the first winding mechanism 32 works to wind the first phase winding. When the wire hanging cup 311 corresponding to the first stator core flows to the second winding workstation 331, the second winding mechanism 33 works to wind the second phase winding, and the wire hanging cup 311 corresponding to the first stator core flows to the third winding workstation At 341, the third winding mechanism 34 works to wind the third phase winding. When the wire hanging cup 311 corresponding to the first stator core flows to the wire embedding station 351, the wire embedding mechanism 35 works to embed the first phase winding, the second phase winding and the third phase winding into the wire slots of the stator core at the same time. Starting from the production of the second stator core, each time the wire hanging cup 311 flows to a station, the first winding mechanism 32, the second winding mechanism 33, the third winding mechanism 34 and the wire embedding mechanism 35 can work simultaneously, which greatly improves the work efficiency of winding and embedding.

[0087] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application in sequence. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A stator winding processing system, characterized in that: The invention comprises a first conveyor (1) for conveying a stator core, a paper punching machine (2) for punching insulating paper into a stator core slot, a winding and wire-inserting device (3) for winding and inserting wire into the stator core, the winding and wire-inserting device (3) comprising a rotatable carrier (31), a plurality of wire hanging cups (311) being arranged on the carrier (31), a plurality of winding stations and a wire-inserting station (351) being arranged around the carrier (31), the wire hanging cups (311) being wound on the wire hanging cups (311) when they flow to the winding stations, and the stator core being inserted with wire when the wire hanging cups (311) after winding flow to the wire-inserting station (351), and a coil shaping machine (4) for shaping the stator core with the embedded coil. , a second conveyor (5) for conveying the stator core after coil shaping, and also includes a clamping robot (6) for transferring the stator core between various devices, the first conveyor (1), the paper punching machine (2), the winding and embedding device (3), the coil shaping machine (4) and the second conveyor (5) are arranged around the clamping robot (6), the embedding station (351) is arranged on the side of the winding and embedding device (3) close to the clamping robot (6), and also includes a control device (7) for controlling the first conveyor (1), the paper punching machine (2), the winding and embedding device (3), the coil shaping machine (4), the second conveyor (5) and the clamping robot (6) to perform processing actions; The winding and embedding device (3) further comprises a plurality of winding mechanisms, one winding mechanism being provided for each winding station, and an embedding mechanism (35) being provided for the embedding station (351). The winding mechanism is arranged above the winding station, and the embedding mechanism (35) is arranged at both ends of the embedding station (351). Four rotatable wire hanging cups (311) are evenly distributed on the supporting platform (31), the plurality of winding mechanisms are a first winding mechanism (32), a second winding mechanism (33) and a third winding mechanism (34), and the second winding mechanism (33) is arranged opposite to the wire embedding mechanism (35); The wire hanging cup (311) can rotate around its own axis, so that the same wire hanging cup (311) can be used to wind the winding coils of corresponding phases at different winding stations. The first winding mechanism (32) winds the first phase winding on the same wire hanging cup (311), the second winding mechanism (33) winds the second phase winding on the same wire hanging cup (311), and the third winding mechanism (34) winds the third phase winding on the same wire hanging cup (311). When the same wire hanging cup (311) is transferred to the wire embedding station (351), the wire embedding mechanism (35) embeds the three-phase winding on the wire hanging cup (311) into the stator core. The clamping robot (6) comprises an industrial robot (61) and a clamp (62) fixedly mounted on a terminal joint shaft of the industrial robot (61) and having a stator core; The clamp (62) is configured as two groups of clamping components, and the two groups of clamping components are respectively arranged on the same plane and are symmetrically arranged relative to the axis of the end joint axis of the industrial robot (61).

2. A stator winding processing system according to claim 1, characterized in that: The clamping assembly comprises a finger cylinder and a clamping piece fixed on two clamping claws of the finger cylinder. The two clamping pieces have clamping openings which are arranged opposite to each other and whose shapes are matched with the outer circumference of the stator core.

3. A stator winding processing system according to claim 2, characterized in that: The air paths of the two finger cylinders in the two clamping assemblies are independent of each other.

4. A stator winding processing system according to claim 3, characterized in that: The gripping robot (6) is specifically a six-degree-of-freedom industrial robot (61).

5. A stator winding processing method, based on the stator winding processing system according to claim 4, characterized in that: The processing method comprises the following steps: Control the first conveyor (1) to convey the stator core and stop at the clamping position (11); control the clamping robot (6) to clamp the stator core from the clamping position (11) on the first conveyor (1), control the first conveyor (1) to convey the stator core again and stop at the clamping position (11); the clamping robot (6) rotates to place the stator core on the paper punching station (21) of the paper punching machine (2), and controls the paper punching machine (2) to punch insulation into the stator core slots. The clamping robot (6) rotates and clamps the stator core again from the clamping position (11) on the first conveyor (1), controls the first conveyor (1) to convey the stator core again and stops at the clamping position (11), and the clamping robot (6) rotates to the paper punching machine (2), clamps the stator core after paper punching and leaves the paper punching station (21), and then places the stator core that has not been punched into the paper punching station (21) of the paper punching machine (2) to wait for paper punching; The clamping robot (6) is controlled to rotate to the wire-inserting station (351). When it is detected that there is no stator core in the wire-inserting station (351), the clamping robot places the stator core after paper-punching to the wire-inserting station (351). When the wire-inserting station (351) already has a stator core with a coil embedded therein, the clamping robot (6) clamps the stator core with the coil embedded therein and leaves the wire-inserting station (351), and places the stator core after paper-punching to the wire-inserting station (351). The winding and embedding device (3) is controlled to work to wind the wire hanging cup (311) and embed the stator core. The coil embedded in the stator core includes a first phase winding, a second phase winding, and a third phase winding. The first winding mechanism (32) of the corresponding first winding station (321) winds the first phase winding, the second winding mechanism (33) of the second winding station (331) winds the second phase winding, and the third winding mechanism (34) of the third winding station (341) winds the third phase winding. After winding the first phase winding, the second phase winding, and the third phase winding, the wire hanging cup (311) enters the embedding station (351), and the embedding mechanism (35) embeds the first phase winding, the second phase winding, and the third phase winding into the stator core at the same time. The clamping robot (6) is controlled to rotate to the position of the coil shaping machine (4); when there is no stator core at the shaping station (41), the clamping robot (6) places the stator core embedded with the coil at the shaping station (41); when there is a shaped stator core at the shaping station (41), the clamping robot (6) clamps the shaped stator core and leaves the shaping station (41), and then places the stator core to be shaped at the shaping station (41) of the coil shaping machine (4); The clamping robot (6) is controlled to rotate to the second conveyor (5), the clamping robot (6) places the shaped stator core on the second conveyor (5), and the second conveyor (5) conveys the shaped stator core to the next workstation.

6. A stator winding processing method according to claim 5, characterized in that: The winding and embedding device (3) winds the wire hanging cup (311) and embeds the coil into the stator core, and further comprises the following steps: When initially winding the three windings of the first stator core, the first winding mechanism (32) is controlled to operate, and the first phase winding is wound on the wire hanging cup (311) located at the first winding station (321); Controlling the four wire hanging cups (311) to simultaneously rotate to one workstation, and at the same time, the four wire hanging cups (311) rotate to one winding position; Controlling the first winding mechanism (32) to operate so as to wind the first phase winding on the wire hanging cup (311) located at the first winding station (321); controlling the second winding mechanism (33) to operate so as to wind the second phase winding on the wire hanging cup (311) located at the second winding station (331); Controlling the four wire hanging cups (311) to simultaneously rotate to one workstation, and at the same time, the four wire hanging cups (311) rotate to one winding position; Controlling the first winding mechanism (32) to operate so as to wind the first phase winding on the wire hanging cup (311) located at the first winding station (321); controlling the second winding mechanism (33) to operate so as to wind the second phase winding on the wire hanging cup (311) located at the second winding station (331); and controlling the third winding mechanism (34) to operate so as to wind the third phase winding on the wire hanging cup (311) located at the third winding station (341); Controlling the four wire hanging cups (311) to simultaneously rotate to one workstation, and at the same time, the four wire hanging cups (311) rotate to one winding position; The first winding mechanism (32) is controlled to operate so as to wind the first phase winding on the wire hanging cup (311) located at the first winding station (321); the second winding mechanism (33) is controlled to operate so as to wind the second phase winding on the wire hanging cup (311) located at the second winding station (331); the third winding mechanism (34) is controlled to operate so as to wind the third phase winding on the wire hanging cup (311) located at the third winding station (341); and the wire embedding mechanism (35) is controlled to simultaneously embed the first phase winding, the second phase winding and the third phase winding wound on the wire hanging cup (311) at the wire embedding station (351) into the stator core.

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