Automatic wire plugging device of flat wire motor

Abstract

The invention discloses an automatic wire plugging device of a flat wire motor, and relates to the field of wire plugging of the flat wire motor, and the automatic wire plugging device comprises a four-axis robot, the bottom of the four-axis robot is provided with a double-claw wire clamping mechanism, the side edge of the four-axis robot is provided with a conveying line, the top of the conveying line is provided with a wire cup, and the bottom of the wire cup is provided with a shaping structure. A jacking rotating mechanism is arranged at the bottom of the shaping structure, a shaping block is installed at the top of the shaping structure, a rotating disc is rotationally connected into an inner cavity of the shaping structure, and bosses are symmetrically installed on the two sides of the bottom of the rotating disc. According to the automatic wire plugging equipment of the flat wire motor, a complex mold is not needed, the tool design is greatly simplified, the mold manufacturing cost is greatly reduced, the flexibility is high, automatic remodeling can be achieved through program switching, a four-axis robot is used for transferring, the structural design of the whole equipment is simplified, the debugging time can be effectively shortened, and the debugging efficiency is improved. And the wire plugging efficiency and quality are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of flat wire motor wire insertion, and in particular to an automatic wire insertion device for a flat wire motor. Background Art

[0002] At present, new energy vehicles are developing vigorously around the world, among which the drive motor is one of the core components of new energy vehicles. The cross-section of the winding wire of the flat wire motor is rectangular, which can greatly improve the motor slot fill rate compared with ordinary round wire motors, and then improve the power density of the motor. At present, motors with flat wire windings are widely used in the drive systems of new energy vehicles. In the manufacturing process of the stator assembly of the flat wire motor, the winding needs to be made into a hairpin shape, so this flat wire motor is also called a hairpin motor, and the winding copper wire is called a hairpin wire. Automatically inserting the hairpin wire into the stator core is an important process link in the motor stator manufacturing process.

[0003] Moreover, since the same motor often has multiple wire shapes, automation is difficult and manual wire insertion is inefficient. At the same time, there are currently several difficulties in realizing automatic wire insertion: different products have different wire gauges, the same product may have multiple wire shapes, the number of fixtures is large, and changing types is difficult; the copper wire will jitter during the transfer process, resulting in the copper wire being unable to enter the slot; the winding is irregular after coiling, the position changes greatly, and it is easy to interfere with the copper wire inserted later.

[0004] Therefore, it is necessary to propose an automatic wire insertion device for a flat wire motor to solve the above problems. Summary of the Invention

[0005] The main purpose of the present invention is to provide an automatic wire insertion device for a flat wire motor, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] An automatic wire insertion device for a flat wire motor comprises a four-axis robot, a double-claw wire clamping mechanism is provided at the bottom of the four-axis robot, a conveyor line is provided on the side of the four-axis robot, a wire cup is provided on the top of the conveyor line, and a shaping structure is provided at the bottom of the wire cup;

[0008] A lifting and rotating mechanism is provided at the bottom of the shaping structure, a shaping block is installed at the top of the shaping structure, a turntable is rotatably connected in the inner cavity of the shaping structure, and bosses are symmetrically installed on both sides of the bottom of the turntable.

[0009] Preferably, a connecting frame is installed at the bottom of the four-axis robot, a first base is installed at the bottom of the connecting frame, the conveyor line is installed on the side of the first base, and the jacking and rotating mechanism is installed on the top of the first base.

[0010] Preferably, a four-axis robot connecting flange is installed on the top of the double-claw wire clamping mechanism, and the double-claw wire clamping mechanism is connected to the four-axis robot through the four-axis robot connecting flange. A fixed leg clamp is installed at the bottom of the outer wall of the double-claw wire clamping mechanism, and a rotary servo motor is installed in the inner cavity of the double-claw wire clamping mechanism. A free leg clamp is installed at the bottom of the rotary servo motor through a first rotating shaft.

[0011] Preferably, a conveyor line tray is installed at the bottom of the wire cup, and the conveyor line tray is located at the top of the conveyor line. A linear bearing is installed on the top of the conveyor line tray, and a copper wire lifting baffle is installed on the top of the linear bearing. The copper wire lifting baffle is installed on the top of the outer wall of the wire cup, and a wire cup groove is opened on the top of the wire cup.

[0012] Preferably, a lifting cylinder is installed on the side of the bottom of the jacking and rotating mechanism, a lifting platform is installed on the top of the lifting cylinder, and guide rails are symmetrically installed around the bottom of the jacking platform. The guide rails are movably connected in the inner cavity of the jacking and rotating mechanism.

[0013] Preferably, a rotating motor is installed on the side of the bottom of the jacking platform, and both ends of the top of the jacking platform are rotatably connected to sprockets, and the outer walls of the two sprockets are engaged with chains. The top of the rotating motor is installed on the bottom of one of the sprockets through a second rotating shaft, and a rotating platform is installed on the top of the jacking rotating mechanism. The shaping structure is rotatably connected to the top of the rotating platform, and the other sprocket is located between the rotating platform and the jacking rotating mechanism and its top is installed on the bottom of the shaping structure.

[0014] Preferably, a through groove is provided on the top of the shaping structure, a second base is installed on the bottom of the shaping structure, an arc groove is provided on the bottom of the turntable, the inner cavity of the arc groove and the through groove are communicated, the sprocket at the bottom of the rotating platform is hollow, a driving motor is installed in the center of the bottom of the second base, a third rotating shaft is installed on the top of the driving motor through a coupling, and the third rotating shaft is installed at the bottom of the boss.

[0015] Preferably, a positioning pin is installed at the bottom of the shaping block, and the positioning pin is movably connected in the inner cavity of the through groove and the arc groove. The dimensions of the shaping block and the wire cup groove are adapted to each other.

[0016] Compared with the prior art, the present invention provides an automatic wire insertion device for a flat wire motor, which has the following beneficial effects:

[0017] 1. The automatic wire insertion equipment of the flat wire motor is equipped with a double-claw wire clamping mechanism, which includes a fixed leg clamp and a free leg clamp driven by a rotary servo motor. In conjunction with the four-axis robot, the copper wire can be inserted into the wire cup. The double-claw wire clamping mechanism composed of the free leg clamp and the fixed leg clamp can eliminate the problem of copper wire shaking during the wire insertion process, and the free leg clamp and the fixed leg clamp are adjustable, which can achieve compatibility with different wire types. The position of the wire cup can be adjusted through the set conveyor line, which is convenient for moving it to a position on the same axis as the shaping structure. The wire cup is easy to detach from the conveyor line, which is convenient for maintenance and also convenient for the jacking and rotating mechanism to lift it for wire insertion. Through the set linear bearing, the inserted winding can be pushed out of the wire cup through the external lifting structure, which is convenient for the subsequent process to remove the winding.

[0018] 2. The automatic wire plugging equipment of the flat wire motor does not require complex molds, which greatly simplifies tooling design and reduces mold manufacturing costs. It is highly flexible and can achieve automatic mold change through program switching. The use of a four-axis robot for loading and unloading simplifies the structural design of the overall equipment, effectively shortens the debugging time, and greatly improves the wire plugging efficiency and quality.

[0019] 3. The automatic wire insertion equipment of the flat wire motor integrates a shaping structure on the lifting and rotating mechanism of the wire cup, which can simultaneously drive the same number of shaping blocks as the arc slots and through slots. The shaping blocks can shape the coil composed of copper wire from the inside to the outside or from the outside to the inside, thereby ensuring the controllable position of the coil and effectively preventing the coil from interfering with the subsequently inserted copper wire.

[0020] 4. The automatic wire insertion equipment of the flat wire motor can drive the shaping structure to adjust its height through the jacking platform by starting the set lifting cylinder, so as to facilitate the shaping structure to drive the shaping block to be inserted into the inner cavity of the wire cup groove. By starting the set rotating motor, one of the sprockets can be driven to rotate, and then it can engage with the chain to drive the other sprocket to rotate. After rotation, it can drive the shaping block to rotate, so as to facilitate the wire insertion work of the copper wire.

[0021] 5. The automatic wire insertion equipment of the flat wire motor can drive the turntable to rotate through the boss by starting the set driving motor, so that the turntable can rotate in the inner cavity of the shaping structure. After the turntable rotates, it can drive the positioning pin in the inner cavity of the arc groove to rotate. The positioning pin will move along the inner cavity of the through groove. According to the direction of rotation of the turntable, the shaping block can be moved inward or outward, so that the copper wire in the wire cup can be shaped into a cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the present invention as a whole;

[0023] Figure 2 It is a structural schematic diagram of the double-claw wire clamping mechanism of the present invention;

[0024] Figure 3 This is a schematic structural diagram of the spool of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the jacking and rotating mechanism of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the shaping structure of the present invention;

[0027] Figure 6 It is a bottom view of the shaping structure of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the turntable of the present invention.

[0029] In the figure: 1. Four-axis robot; 2. Double-claw wire clamping mechanism; 3. Spool; 4. Lifting and rotating mechanism; 5. Conveyor line; 6. Four-axis robot connecting flange; 7. Fixed-leg clamp; 8. Free-leg clamp; 9. Rotating servo motor; 10. Copper wire lifting baffle; 11. Conveyor line tray; 12. Shaping structure; 13. Rotating platform; 14. Lifting platform; 15. First base; 16. Connecting frame; 17. Lifting cylinder; 18. Guide rail; 19. Sprocket; 20. Chain; 21. Rotating motor; 22. Linear bearing; 23. Spool groove; 24. Shaping block; 25. Second base; 26. Boss; 27. Through groove; 28. Arc groove; 29. ​​Positioning pin; 30. Turntable. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0031] Example 1:

[0032] like Figure 1-Figure 4As shown, an automatic wire insertion device for a flat wire motor includes a four-axis robot 1, a double-claw wire clamping mechanism 2 is provided at the bottom of the four-axis robot 1, a conveyor line 5 is provided on the side of the four-axis robot 1, a wire cup 3 is provided on the top of the conveyor line 5, and a shaping structure 12 is provided at the bottom of the wire cup 3. A connecting frame 16 is installed at the bottom of the four-axis robot 1, a first base 15 is installed at the bottom of the connecting frame 16, the conveyor line 5 is installed on the side of the first base 15, the lifting and rotating mechanism 4 is installed on the top of the first base 15, and a four-axis robot connecting flange 6 is installed on the top of the double-claw wire clamping mechanism 2. The double-claw wire clamping mechanism 2 is connected to the conveyor line 5 by a connecting frame 16. The four-axis robot connecting flange 6 is connected to the four-axis robot 1. A fixed leg clamp 7 is installed at the bottom of the outer wall of the double-claw wire clamping mechanism 2. A rotary servo motor 9 is installed in the inner cavity of the double-claw wire clamping mechanism 2. A free leg clamp 8 is installed at the bottom of the rotary servo motor 9 through a first rotating shaft. A conveyor line tray 11 is installed at the bottom of the spool 3. The conveyor line tray 11 is located at the top of the conveyor line 5. A linear bearing 22 is installed on the top of the conveyor line tray 11. A copper wire lifting baffle 10 is installed on the top of the linear bearing 22. The copper wire lifting baffle 10 is installed on the top of the outer wall of the spool 3. A spool groove 23 is opened on the top of the spool 3.

[0033] The double-claw wire clamping mechanism 2 is provided, which includes a fixed leg clamping claw 7 and a free leg clamping claw 8 driven by a rotating servo motor 9, and cooperates with the provided four-axis robot 1 to insert the copper wire into the wire cup 3. The double-claw wire clamping mechanism 2 composed of the free leg clamping claw 8 and the fixed leg clamping claw 7 can eliminate the problem of copper wire shaking during the wire insertion process, and the free leg clamping claw 8 and the fixed leg clamping claw 7 are adjustable, which can achieve compatibility with different wire types. The position of the wire cup 3 can be adjusted by the provided conveying line 5, which is convenient for moving it to a position on the same axis as the shaping structure 12, and the wire cup 3 can be easily separated from the conveying line 5, which is convenient for maintenance and also convenient for lifting the rotating mechanism 4 to lift it for wire insertion. The provided linear bearing 22 can be used to push the inserted winding out of the wire cup 3 through the external lifting structure, which is convenient for the subsequent process to remove the winding;

[0034] This equipment does not require complex molds, which greatly simplifies tooling design and reduces mold manufacturing costs. It is also highly flexible and can achieve automatic mold change through program switching. The four-axis robot 1 is used for transfer, which simplifies the structural design of the overall equipment, effectively shortens the debugging time, and greatly improves the wiring efficiency and quality.

[0035] Example 2:

[0036] like Figure 1 、 Figure 3 、 Figure 4-Figure 7As shown, an automatic wire insertion device for a flat wire motor is provided, a jacking and rotating mechanism 4 is provided at the bottom of the shaping structure 12, a shaping block 24 is installed at the top of the shaping structure 12, a turntable 30 is rotatably connected in the inner cavity of the shaping structure 12, bosses 26 are symmetrically installed on both sides of the bottom of the turntable 30, a lifting cylinder 17 is installed on the side of the bottom of the jacking and rotating mechanism 4, a jacking platform 14 is installed on the top of the lifting cylinder 17, guide rails 18 are symmetrically installed around the bottom of the jacking platform 14, the guide rails 18 are movably connected in the inner cavity of the jacking and rotating mechanism 4, a rotating motor 21 is installed on the side of the bottom of the jacking platform 14, both ends of the top of the jacking platform 14 are rotatably connected to sprockets 19, the outer walls of the two sprockets 19 are meshed with chains 20, the top of the rotating motor 21 is installed at the bottom of one of the sprockets 19 through a second rotating shaft, the top of the jacking and rotating mechanism 4 A rotating platform 13 is installed on the top of the shaping structure 12, and the shaping structure 12 is rotatably connected to the top of the rotating platform 13. Another sprocket 19 is located between the rotating platform 13 and the jacking and rotating mechanism 4 and its top is installed on the bottom of the shaping structure 12. A through slot 27 is provided on the top of the shaping structure 12, and a second base 25 is installed on the bottom of the shaping structure 12. An arc groove 28 is provided at the bottom of the turntable 30. The inner cavity of the arc groove 28 and the through slot 27 are communicated. The sprocket 19 at the bottom of the rotating platform 13 is hollow. A driving motor 31 is installed in the middle of the bottom of the second base 25. A third rotating shaft is installed on the top of the driving motor 31 through a coupling. The third rotating shaft is installed at the bottom of the boss 26. A positioning pin 29 is installed on the bottom of the shaping block 24. The positioning pin 29 is movably connected in the inner cavity of the through slot 27 and the arc groove 28. The size of the shaping block 24 and the spool groove 23 are adapted;

[0037] A shaping structure 12 is integrated into the lifting and rotating mechanism 4 of the wire cup 3. This can simultaneously drive shaping blocks 24, which have the same number of arc grooves 28 and through grooves 27. The shaping blocks 24 can shape the coil of copper wire from the inside out or from the outside in, thereby ensuring that the position of the coil is controllable and effectively preventing the coil from interfering with the subsequently inserted copper wire.

[0038] By starting the provided lifting cylinder 17, the height of the shaping structure 12 can be adjusted through the jacking platform 14, so that the shaping structure 12 can drive the shaping block 24 to be inserted into the inner cavity of the wire cup groove 23. By starting the provided rotating motor 21, one of the sprockets 19 can be driven to rotate, and at this time it can be engaged with the chain 20, thereby driving the other sprocket 19 to rotate, and after the rotation, the shaping block 24 can be driven to rotate, thereby facilitating the insertion of the copper wire;

[0039] By starting the set driving motor 31, the turntable 30 can be driven to rotate through the boss 26, so that the turntable 30 can rotate in the inner cavity of the shaping structure 12. After the turntable 30 rotates, the positioning pin 29 in the inner cavity of the arc groove 28 can be driven to rotate. The positioning pin 29 will move along the inner cavity of the through groove 27 at this time. According to the direction of rotation of the turntable 30, the shaping block 24 can be moved inward or outward, so that the copper wire in the wire cup 3 can be shaped into a cylinder.

[0040] Example 3:

[0041] When a standard copper wire needs to be inserted, it can be inserted from the inside out. The shaping block 24 tightens the coil composed of the copper wire by moving from the inside out, thereby shaping the coil.

[0042] Example 4:

[0043] When the outward-expanded crown-end copper wire needs to be inserted, it can be inserted from the outside to the inside. The shaping block 24 moves from the outside to the inside to clamp the coil composed of the copper wire, thereby shaping the coil.

[0044] It should be noted that the present invention is an automatic wire insertion device for a flat wire motor. When in use, the clamping procedures of the free leg clamp 8 and the fixed leg clamp 7 are switched according to the size of the copper wire, the conveyor line 5 is started, and the spool 3 is driven to move. When the spool 3 moves to the top of the shaping structure 12, the lifting cylinder 17 is started. The lifting cylinder 17 drives the shaping structure 12 to rise through the jacking platform 14 and the rotating platform 13. At this time, the shaping block 24 on the top of the shaping structure 12 will be pushed into the inner cavity of the spool groove 23, and the spool 3 will be lifted up and separated from the conveyor line 5. The four-axis robot 1, the rotating servo motor 9, the fixed leg clamp 7 and the automatic The copper wire is grabbed by the leg clamp 8 and the wire is inserted after being grabbed. After each copper wire is inserted, the rotating motor 21 is started to drive one of the sprockets 19 to rotate, thereby engaging with the chain 20 and driving the other sprocket 19 to rotate. At this time, the shaping block 24 can be driven to rotate. During rotation, it rotates through the angle of the through slot 27 each time. When a circle of copper wire is fully inserted, the driving motor 31 is started to drive the turntable 30 to rotate through the boss 26. At this time, the positioning pin 29 will move along the arc groove 28, thereby driving the copper wire in the inner cavity of the spool 3 to be shaped according to the direction of rotation of the turntable 30 until a cylinder is formed.

[0045] Take the 6-layer flat wire motor as an example: the copper wire is distributed in layers in the wire cup slot 23, where 1-2 layers are a single-layer winding, 3-4 layers are a second-layer winding, and 5-6 layers are a third-layer winding.

[0046] The order of plugging in the wires from the inside out is to plug in 5-6 layers first, then 3-4 layers, and finally 1-2 layers. The opposite is true from the outside in.

[0047] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic wire insertion device for a flat wire motor, comprising a four-axis robot (1), characterized in that: A double-claw wire clamping mechanism (2) is arranged at the bottom of the four-axis robot (1), a conveyor line (5) is arranged on the side of the four-axis robot (1), a wire cup (3) is arranged on the top of the conveyor line (5), and a shaping structure (12) is arranged at the bottom of the wire cup (3); A lifting and rotating mechanism (4) is arranged at the bottom of the shaping structure (12), a shaping block (24) is installed at the top of the shaping structure (12), a turntable (30) is rotatably connected in the inner cavity of the shaping structure (12), and bosses (26) are symmetrically installed on both sides of the bottom of the turntable (30).

2. The automatic wire insertion device for a flat wire motor according to claim 1, characterized in that: A connecting frame (16) is installed at the bottom of the four-axis robot (1), a first base (15) is installed at the bottom of the connecting frame (16), the conveyor line (5) is installed on the side of the first base (15), and the lifting and rotating mechanism (4) is installed on the top of the first base (15).

3. The automatic wire insertion device for a flat wire motor according to claim 1, characterized in that: A four-axis robot connecting flange (6) is installed on the top of the double-claw wire clamping mechanism (2), and the double-claw wire clamping mechanism (2) is connected to the four-axis robot (1) via the four-axis robot connecting flange (6). A fixed leg clamp (7) is installed at the bottom of the outer wall of the double-claw wire clamping mechanism (2), and a rotary servo motor (9) is installed in the inner cavity of the double-claw wire clamping mechanism (2). A free leg clamp (8) is installed at the bottom of the rotary servo motor (9) via a first rotating shaft.

4. The automatic wire insertion device for a flat wire motor according to claim 1, characterized in that: A conveyor line tray (11) is installed at the bottom of the wire cup (3), the conveyor line tray (11) is located at the top of the conveyor line (5), a linear bearing (22) is installed at the top of the conveyor line tray (11), a copper wire lifting baffle (10) is installed at the top of the linear bearing (22), the copper wire lifting baffle (10) is installed at the top of the outer wall of the wire cup (3), and a wire cup groove (23) is opened at the top of the wire cup (3).

5. The automatic wire insertion device for a flat wire motor according to claim 1, characterized in that: A lifting cylinder (17) is installed on the side of the bottom of the lifting and rotating mechanism (4), a lifting platform (14) is installed on the top of the lifting cylinder (17), and guide rails (18) are symmetrically installed around the bottom of the lifting platform (14), and the guide rails (18) are movably connected in the inner cavity of the lifting and rotating mechanism (4).

6. The automatic wire insertion device for a flat wire motor according to claim 5, characterized in that: A rotating motor (21) is installed on the side of the bottom of the jacking platform (14), and sprockets (19) are rotatably connected to both ends of the top of the jacking platform (14). Chains (20) are meshed on the outer walls of the two sprockets (19). The top of the rotating motor (21) is installed on the bottom of one of the sprockets (19) through a second rotating shaft. A rotating platform (13) is installed on the top of the jacking rotating mechanism (4), and the shaping structure (12) is rotatably connected to the top of the rotating platform (13). The other sprocket (19) is located between the rotating platform (13) and the jacking rotating mechanism (4) and its top is installed on the bottom of the shaping structure (12).

7. The automatic wire insertion device for a flat wire motor according to claim 6, characterized in that: A through groove (27) is provided at the top of the shaping structure (12), a second base (25) is installed at the bottom of the shaping structure (12), an arc groove (28) is provided at the bottom of the turntable (30), the inner cavities of the arc groove (28) and the through groove (27) are in communication, the sprocket (19) at the bottom of the rotating platform (13) is hollow, a driving motor (31) is installed in the middle of the bottom of the second base (25), a third rotating shaft is installed at the top of the driving motor (31) via a coupling, and the third rotating shaft is installed at the bottom of the boss (26).

8. The automatic wire insertion device for a flat wire motor according to claim 1, characterized in that: A positioning pin (29) is installed at the bottom of the shaping block (24), and the positioning pin (29) is movably connected in the inner cavity of the through groove (27) and the arc groove (28). The dimensions of the shaping block (24) and the wire cup groove (23) are matched.

Images