Automatic plug-in equipment

Abstract

The present invention discloses an automatic wire plugging device, including a frame and at least one wire plugging production unit connected to the frame, the wire plugging production unit is used to work in conjunction with a jig; wherein the wire plugging production unit includes a wire plugging mechanism, a wire slapping mechanism, a lifting mechanism, a mounting assembly, a lifting seat, a lifting drive mechanism, a telescopic drive mechanism and a plurality of plug-ins, the jig includes a tray, a wire plugging body connected to the tray and a guide plate slidably connected to the wire plugging body along the up and down directions, the wire plugging body is provided with an insertion channel, the side wall of the insertion channel is provided with a plurality of open wire grooves arranged in sequence along the circumferential direction, and the guide plate is provided with a plurality of wire plugging holes corresponding to the open wire grooves. The present invention can automatically insert the hairpin wire into the jig and can align and flatten the end of the hairpin wire inserted into the jig, thereby improving the qualified rate of the subsequent processing process and improving the quality of the flat wire motor.

Description

Technical Field

[0001] The invention relates to an automatic wire plugging device. Background Art

[0002] At present, in the production process of flat wire motors, the hairpin wire is usually inserted into the jig first, and then the hairpin wire is taken out of the jig and transferred to the stator core, and then the subsequent twisting, flaring and welding are carried out. In the traditional process, the insertion of the hairpin wire mainly relies on manual insertion. The manual insertion method is not only inefficient but also has high labor costs. Therefore, many companies have designed automatic insertion equipment to complete the insertion of the hairpin wire. For example, the Chinese patent with announcement number CN118659602B discloses an automatic insertion device for new energy drive motors. However, the existing insertion equipment cannot ensure that the ends of each hairpin wire are aligned and flush after the hairpin wire is inserted into the jig, resulting in uneven and uneven ends of the hairpin wire inserted into the jig, which will not only affect the qualification rate of the subsequent process, but also ultimately affect the quality of the flat wire motor. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide an automatic wire insertion device, which can automatically insert the hairpin wire into the fixture and can align and flatten the ends of the hairpin wire inserted into the fixture, thereby improving the qualified rate of the subsequent processing process and improving the quality of the flat wire motor.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: an automatic wire plugging device, comprising a frame and at least one wire plugging production unit connected to the frame, wherein the wire plugging production unit is used to work in conjunction with a jig;

[0005] The plug-in production unit includes a plug-in mechanism, a wire-snapping mechanism, a lifting mechanism, a mounting assembly, a lifting seat, a lifting drive mechanism, a telescopic drive mechanism and a plurality of plug-ins;

[0006] The fixture comprises a tray, a wire plugging body connected to the tray, and a guide plate slidably connected to the wire plugging body in the up-down direction, wherein the wire plugging body is provided with an insertion channel, and the side wall of the insertion channel is provided with a plurality of open wire grooves arranged in sequence along the circumferential direction, and the guide plate is provided with a plurality of wire plugging holes corresponding to the open wire grooves, and the wire plugging holes are located above the corresponding open wire grooves and aligned with the corresponding open wire grooves;

[0007] The mounting assembly is connected to the frame, the lifting seat is slidably connected to the mounting assembly along the up-down direction, the plugs correspond to the open wire grooves one by one, the plugs are sequentially arranged along the circumferential direction and are slidably arranged in the radial direction in the upper end of the lifting seat;

[0008] The lifting drive mechanism is connected to the mounting assembly and to the lifting seat, and is used to drive the lifting seat to rise, thereby driving the upper end of the lifting seat and the insert to move upward to extend into the insertion channel, and the lifting drive mechanism is also used to drive the lifting seat to descend so that the upper end of the lifting seat and the insert move downward to exit the insertion channel;

[0009] The telescopic drive mechanism is connected to the lifting seat and connected to the insert, and is used to drive the insert to move radially outward to extend into the corresponding open wire groove and to drive the insert to move radially inward to exit the corresponding open wire groove;

[0010] The wire insertion mechanism is used to grab the hairpin wire and insert the lower end of the wire leg of the hairpin wire into the corresponding open wire groove after passing it through the corresponding wire insertion hole, and the insert piece extending into the open wire groove is used to support the lower end of the wire leg inserted into the open wire groove; the lifting mechanism is used to move to connect with the guide plate and drive the guide plate to rise upward so that the guide plate lifts the hairpin wire upward, and the lifting mechanism is also used to drive the guide plate to lower and then lower the hairpin wire; the wire-squeezing mechanism is used to move to press the upper end of the hairpin wire held up by the guide plate to flatten and align the hairpin wire.

[0011] Furthermore, the plug-in production unit further comprises a material receiving and conveying mechanism, which is used to receive and hold the tray in the jig conveyed from the outside and to convey and move the jig into place;

[0012] The plug-in body is rotatably connected to the tray, and a first clamping portion is provided at the lower end of the plug-in body;

[0013] The installation assembly includes a lifting seat, a lifting drive mechanism, a rotating seat and a rotating mechanism;

[0014] The lifting seat is slidably connected to the frame in the up-down direction, the rotating mechanism is connected to the lifting seat, the rotating seat is connected to the rotating mechanism, and the rotating seat is connected to a second clamping portion for clamping and connecting with the first clamping portion so that the plug wire body and the rotating seat keep rotating synchronously;

[0015] The lifting drive mechanism is connected to the frame and to the lifting seat, and when the lifting drive mechanism drives the lifting seat to rise and then drives the rotating mechanism, the rotating seat and the second clamping portion to rise, the lifting seat lifts up the pallet located on the material receiving and conveying mechanism and the second clamping portion moves upward to be engaged and connected with the first clamping portion; when the lifting drive mechanism drives the lifting seat to descend and then drives the rotating mechanism, the rotating seat and the second clamping portion to descend, the lifting seat descends to place the pallet back on the material receiving and conveying mechanism and the second clamping portion moves downward to be disconnected from the first clamping portion;

[0016] The lifting seat is slidably connected to the rotating seat in the mounting assembly along the up-down direction;

[0017] The rotating mechanism is used to drive the rotating seat to rotate and then drive the plug-in body and the lifting seat to rotate together;

[0018] The lifting drive mechanism is connected to the lifting seat and is rotationally connected to the lifting seat and is used to drive the lifting seat to move up and down;

[0019] A pressure cover is provided in the wire-beating mechanism, and the wire-beating mechanism is used to drive the pressure cover to move so as to press the upper end of the hairpin wire held up by the guide plate through the pressure cover to flatten and align the hairpin wire.

[0020] Further, the plugging mechanism includes a mechanical arm, a parallel electric clamp and a plugging fixture, and the plugging fixture includes a first mounting arm, a second mounting arm, a first pneumatic clamp, a second pneumatic clamp and at least one detection sensor;

[0021] The mechanical arm is connected to the frame, and the parallel electric gripper is connected to the mechanical arm so that the mechanical arm drives the parallel electric gripper to move and rotate;

[0022] The parallel electric clamp is provided with two sliders, the first mounting arm is connected to one of the sliders, and the second mounting arm is connected to the other slider, and the parallel electric clamp is used to drive the two sliders to move toward or away from each other to adjust the distance between the first mounting arm and the second mounting arm;

[0023] The first pneumatic clamp is connected to two first clamping blocks, and the first pneumatic clamp is connected to the first mounting arm and is used to drive the two first clamping blocks to move toward each other to clamp a leg of the hairpin wire;

[0024] The second pneumatic clamp is connected to two second clamping blocks, and the second pneumatic clamp is connected to the second mounting arm and is used to drive the two second clamping blocks to move toward each other to clamp the other leg of the hairpin wire;

[0025] The detection sensor is connected to at least one of the first mounting arm and the second mounting arm, and the detection sensor is used to detect the hairpin wire and send a signal to the controller when the hairpin wire clamped by the first clamp block and the second clamp block moves upward relative to the first clamp block and the second clamp block.

[0026] Further, the string mechanism includes a moving seat, a moving driving mechanism, a rotating cylinder, a rotating arm and the pressure cover;

[0027] The movable seat is slidably connected to the frame in the up-down direction;

[0028] The rotating cylinder is connected to the moving seat, one end of the rotating arm is connected to the rotating cylinder, and the pressure cover is connected to the other end of the rotating arm. The rotating cylinder is used to drive the rotating arm to rotate and then drive the pressure cover to rotate to the top of the guide plate;

[0029] The mobile driving mechanism is connected to the frame and to the mobile seat. The mobile driving mechanism is used to drive the mobile seat to slide up and down, thereby driving the rotating cylinder, the rotating arm and the pressure cover to move up and down. The pressure cover is used to press the upper end of the hairpin wire held up by the guide plate to flatten and align the hairpin wire.

[0030] Furthermore, the lifting mechanism comprises a lifting frame, a clamping block, a clamping cylinder and a lifting driving component;

[0031] The lifting frame is slidably connected to the frame in the up-down direction;

[0032] The clamping block is slidably connected to the lifting frame, and a slot adapted to the guide plate is provided in the clamping block;

[0033] The clamping cylinder is connected to the lifting frame, and the clamping cylinder is connected to the clamping block and is used to drive the clamping block to move toward the guide plate so that the clamping block clamps a part of the guide plate through the slot;

[0034] The lifting driving component is connected to the frame and connected to the lifting frame, and the lifting driving component is used to drive the lifting frame to rise or fall and then drive the guide plate to rise or fall through the clamping block.

[0035] Furthermore, the plug-in body includes a base, a plug-in barrel and at least two sliding sleeves;

[0036] The base is rotatably connected to the tray;

[0037] The wire insertion barrel and the sliding sleeve are both connected to the base, and the insertion channel is arranged in the wire insertion barrel;

[0038] The guide plate is located above the wire insertion barrel, and a sliding guide rod corresponding to the sliding sleeve is provided on the guide plate, and the sliding guide rod is slidably arranged in the corresponding sliding sleeve along the up-down direction;

[0039] The guide plate is provided with a first central hole aligned with the insertion channel, and the wire insertion holes correspond to the open wire grooves one by one and are arranged around the outer side of the first central hole;

[0040] The base is provided with a second center hole aligned with and connected to the lower end of the insertion channel, the tray is provided with a third center hole aligned with and connected to the second center hole, and the upper end of the lifting seat passes through the third center hole and the second center hole and then extends into the insertion channel;

[0041] The first clamping portion is a clamping slot provided on the base, and the second clamping portion is a clamping finger connected to the rotating seat, and the clamping finger is used to pass through the third center hole upwards and then be clamped into the clamping slot.

[0042] Furthermore, the material receiving and conveying mechanism comprises a conveying frame, a driving shaft, a driven shaft, a conveying motor and two conveying components, and the conveying components comprise a driving wheel, a driven wheel, a conveying belt and at least one supporting wheel;

[0043] The conveyor frame is connected to the frame;

[0044] The driving shaft and the driven shaft are respectively rotatably connected to the conveying frame;

[0045] The driving wheel is connected to the driving shaft;

[0046] The driven wheel is connected to the driven shaft;

[0047] The conveyor belt is connected to the driving wheel and the driven wheel, and the conveyor belt is used to hold the tray in the fixture;

[0048] The support wheel is rotatably connected to the conveyor frame and is located on the inner side of the conveyor belt to provide support for the conveyor belt;

[0049] The conveying motor is connected to the driving shaft and is used to drive the driving shaft to rotate, thereby driving the driving wheel to rotate, and then driving the conveyor belt to move to convey the pallet;

[0050] The lifting seat, the rotating mechanism and the rotating seat are all used to lift or lower between the two conveying assemblies;

[0051] The conveyor frame is connected with a left clamping block for abutting against the upper surface of the left end portion of the pallet and a right clamping block for abutting against the upper surface of the right end portion of the pallet, and the jacking drive mechanism is used to drive the jacking seat to rise so that the jacking seat lifts up the pallet located on the conveyor belt so that the upper surface of the pallet is respectively pressed against the left clamping block and the right clamping block.

[0052] Further, the lifting seat includes an upper seat body, a lower seat body and at least two sliding rods;

[0053] The sliding rod is slidably connected to the rotating seat in the up-down direction;

[0054] The upper seat body is connected to the upper end of the slide rod and is located above the rotating seat;

[0055] The lower seat body is connected to the lower end of the slide rod and is located below the rotating seat;

[0056] The inserts are arranged in sequence along the circumference of the upper seat body and are slidably disposed in the upper seat body along the radial direction of the upper seat body;

[0057] The lifting drive mechanism is connected to the lifting seat and is rotatably connected to the lower seat body. The lifting drive mechanism is used to drive the lower seat body to rise and then drive the upper seat body and the insert piece to move upward to extend into the insertion channel. The lifting drive mechanism is also used to drive the lower seat body to descend to drive the upper seat body and the insert piece to move downward to exit the insertion channel.

[0058] Wherein, the lifting drive mechanism includes a mounting frame, a lifting screw rod, a lifting nut, a lifting motor and a connecting seat;

[0059] The mounting frame is connected to the jacking seat;

[0060] The lifting screw is rotatably connected to the mounting frame;

[0061] The connecting seat is rotatably connected to the lower seat body, and the rotating shaft between the connecting seat and the lower seat body is coaxially arranged with the rotating shaft of the rotating mechanism driving the rotating seat to rotate;

[0062] The lifting nut is cooperatively connected to the lifting screw rod and is connected to the connecting seat;

[0063] The lifting motor is connected to the mounting frame, and the lifting motor is connected to the lifting screw and is used to drive the lifting screw to rotate and then drive the lifting nut, the connecting seat and the lower seat body to move up and down;

[0064] Wherein, the telescopic driving mechanism comprises a driving disc, a driving shaft and a driving motor;

[0065] The driving disc is rotatably arranged in the upper seat body, and a plurality of driving grooves are arranged in the driving disc and sequentially distributed along the circumferential direction. The insert is connected with a driving pin, and the driving pin is matched in the corresponding driving groove;

[0066] The upper end of the driving shaft is connected to the driving disc, and the lower end of the driving shaft is connected to the driving motor;

[0067] The driving motor is connected to the lower seat body and is used to drive the driving shaft to rotate and then drive the driving disc to rotate, and then drive the insert to move radially outward or inward through the cooperation of the driving slot and the driving pin.

[0068] Further, the upper seat body includes a top plate, a bottom plate, at least one support sleeve and at least one locking bolt;

[0069] The bottom plate is connected to the upper end of the slide bar and is located above the rotating seat;

[0070] The top plate is located above the bottom plate, the support sleeve is arranged between the bottom plate and the top plate, the upper end of the support sleeve abuts against the top plate, and the lower end of the support sleeve abuts against the bottom plate, and the locking bolt passes through the top plate and the support sleeve and is threadedly connected to the bottom plate to lock and connect the top plate, the support sleeve and the bottom plate;

[0071] The driving disk is rotatably disposed between the top plate and the bottom plate, and an arc groove corresponding to the supporting sleeve is further provided on the driving disk, and the supporting sleeve is fitted in the arc groove;

[0072] The lower seat body is provided with sliding grooves corresponding to the inserting pieces one by one, and the inserting pieces are radially slidably fitted in the corresponding sliding grooves.

[0073] Further, the lifting seat includes a lifting base plate and at least two supporting brackets;

[0074] The lifting base plate is slidably connected to the frame in the up-down direction;

[0075] The support bracket is connected to the lifting base plate, a rubber block and a positioning pin are connected to the support bracket, and a positioning hole corresponding to the positioning pin is provided on the tray;

[0076] The lifting drive mechanism includes at least one lifting cylinder, which is connected to the frame and the lifting base plate. When the lifting cylinder drives the lifting base plate to rise and then drives the supporting frame to rise, the rubber block rises to abut against the bottom of the tray and lifts the tray on the material receiving and conveying mechanism upward, and the positioning pin is inserted into the positioning hole in the tray.

[0077] The rotating mechanism is a hollow rotating platform, the hollow rotating platform is connected to the lifting base plate, the rotating seat is connected to the hollow rotating platform, and the lifting cylinder is used to drive the lifting base plate to rise and then drive the hollow rotating platform, the rotating seat and the second clamping part to rise so that the second clamping part is raised to be clamped and connected with the first clamping part;

[0078] The lifting base plate is provided with a through channel, and the lifting seat passes through the inner side of the hollow rotating platform and the through channel and is slidably connected to the rotating seat.

[0079] Furthermore, the automatic wire plugging device also includes an unlocking mechanism;

[0080] The plug body is connected to a limiting block, and the limiting block is provided with a limiting groove;

[0081] The tray is connected to a limiting mechanism, which includes a base assembly, a limiting clamping plate and a spring;

[0082] The base assembly is connected to the tray;

[0083] The limit clamping plate is slidably connected to the base assembly along the up-down direction;

[0084] The spring is installed in the base assembly, and the spring abuts against the limit card plate and is used to drive the limit card plate to slide into the limit groove, thereby locking the circumferential position of the limit block and the plug body relative to the tray;

[0085] The unlocking mechanism includes an unlocking cylinder and an unlocking component, wherein the unlocking component is connected to the unlocking cylinder, and the unlocking cylinder is used to drive the unlocking component to move against the limit card plate and then drive the limit card plate to overcome the elastic force of the spring and slide out of the limit groove, thereby releasing the circumferential position lock of the limit block and the plug body.

[0086] After adopting the above technical solution, the hairpin wire includes a corolla portion and two wire legs, and the two wire legs are respectively connected to the corolla portion to form a corner portion. The wire insertion mechanism in this embodiment can grab the hairpin wire and insert the wire legs of the hairpin wire into the wire insertion hole and the open wire groove in the fixture. After multiple hairpin wires are inserted, the lifting mechanism can move to connect with the guide plate and drive the guide plate to rise upward so that the guide plate can lift the corner of the hairpin wire upward, and the wire-beating mechanism can drive the pressure cover to move to press the corolla portion at the upper end of the hairpin wire held up by the guide plate through the pressure cover to flatten and align the hairpin wire. Therefore, the automatic wire insertion equipment of the embodiment of the present application can automatically insert the hairpin wire into the fixture and can align the end of the hairpin wire inserted into the fixture, thereby improving the qualified rate of the subsequent processing and improving the quality of the flat wire motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 It is a structural schematic diagram of the automatic wire plugging device of the present invention;

[0088] Figure 2 It is a schematic diagram of the structure of the fixture of the present invention;

[0089] Figure 3 It is a structural schematic diagram of a plug-in production unit of the present invention;

[0090] Figure 4 It is a structural schematic diagram of the upper end of the lifting seat of the present invention when it extends into the insertion channel;

[0091] Figure 5 It is a structural schematic diagram of the wire insertion mechanism of the present invention when inserting the outer winding coil;

[0092] Figure 6 It is a schematic structural diagram of the insert of the present invention when it supports the hairpin wire in the outer winding coil;

[0093] Figure 7 It is a structural schematic diagram of the present invention when the string-snapping mechanism flattens the hairpin string;

[0094] Figure 8 It is a structural schematic diagram of the wire insertion mechanism of the present invention when inserting the winding coil of the middle layer;

[0095] Fig. 9 It is a structural schematic diagram of the insert of the present invention when it supports the hairpin wire in the winding coil of the middle layer;

[0096] Fig.10 It is a structural schematic diagram of the upper end of the lifting seat of the present invention when it withdraws and extends into the channel;

[0097] Fig.11 It is a structural schematic diagram of the wire insertion mechanism of the present invention;

[0098] Fig.12 It is a structural schematic diagram of the string mechanism of the present invention;

[0099] Fig.13 It is a structural schematic diagram of the lifting mechanism of the present invention;

[0100] Fig.14 It is a structural schematic diagram of the material receiving and conveying mechanism of the present invention;

[0101] Fig.15 It is a structural schematic diagram of the jacking seat, the jacking drive mechanism, the rotating seat, the rotating mechanism, the lifting seat, the lifting drive mechanism and the telescopic drive mechanism of the present invention when they are assembled together;

[0102] Fig.16 It is an assembly exploded view of the jacking seat, the jacking drive mechanism, the rotating seat, the rotating mechanism, the lifting seat, the lifting drive mechanism and the telescopic drive mechanism of the present invention;

[0103] Fig.17 It is a structural schematic diagram of the lifting seat, the lifting drive mechanism and the telescopic drive mechanism of the present invention;

[0104] Fig.18 It is an exploded view of the assembly of the upper seat body and the telescopic drive mechanism of the present invention;

[0105] Fig.19 It is a structural schematic diagram of the unlocking mechanism of the present invention;

[0106] Fig. 20 It is a structural schematic diagram of the wire insertion clamp capable of grabbing the hairpin wire from the opposite side of the present invention;

[0107] Fig.21 It is a structural schematic diagram of the wire insertion clamp capable of grabbing the hairpin wire on the same side of the present invention;

[0108] In the figure: 1, frame; 2, material receiving and conveying mechanism; 3, wire insertion mechanism; 4, wire beating mechanism; 5, lifting mechanism; 6, lifting seat; 7, rotating seat; 8, rotating mechanism; 9, lifting seat; 10, lifting drive mechanism; 11, telescopic drive mechanism; 12, inserting piece; 13, tray; 14, wire insertion body; 15, guide plate; 16, insertion channel; 17, open wire groove; 18, first clamping part; 19, wire insertion hole; 20, second clamping part; 21, hairpin wire; 22, wire leg; 23, pressure cover; 24, corolla part; 25, corner part; 26. Loading equipment; 27. Winding coil; 28. Robotic arm; 29. ​​Parallel electric gripper; 30. First mounting arm; 31. Second mounting arm; 32. First pneumatic gripper; 33. Second pneumatic gripper; 34. Detection sensor; 35. Slider; 36. First clamping block; 37. Second clamping block; 38. Hanging rod; 39. Moving seat; 40. Moving drive mechanism; 41. Rotating cylinder; 42. Rotating arm; 43. Lifting frame; 44. Clamping block; 45. Clamping cylinder; 46. Lifting drive component; 47. Slot; 48. Base; 4 9. Plug-in barrel; 50. Sliding sleeve; 51. Sliding guide rod; 52. First center hole; 53. Second center hole; 54. Third center hole; 55. Conveying rack; 56. Driving shaft; 57. Driven shaft; 58. Conveying motor; 59. Conveying assembly; 60. Driving wheel; 61. Driven wheel; 62. Conveying belt; 63. Support wheel; 64. Left clamping block; 65. Right clamping block; 66. Upper seat; 67. Lower seat; 68. Sliding rod; 69. Mounting rack; 70. Lifting screw rod; 71. Lifting nut; 72. Lifting motor; 73. Connecting seat; 74, driving disk; 75, driving shaft; 76, driving motor; 77, driving groove; 78, driving pin; 79, top plate; 80, bottom plate; 81, supporting sleeve; 82, locking bolt; 83, arc groove; 84, sliding groove; 85, lifting base plate; 86, supporting bracket; 87, rubber block; 88, positioning pin; 89, positioning hole; 90, lifting cylinder; 91, through channel; 92, limit block; 93, base assembly; 94, limit card plate; 95, spring; 96, unlocking cylinder; 97, unlocking component; 98, in-position sensor. DETAILED DESCRIPTION

[0109] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0110] like Figures 1 to 21 As shown, an automatic wire plugging device includes a frame 1 and at least one wire plugging production unit connected to the frame 1, and the wire plugging production unit is used to work in conjunction with a jig;

[0111] The plug-in production unit includes a plug-in mechanism 3, a wire-snapping mechanism 4, a lifting mechanism 5, a mounting assembly, a lifting seat 9, a lifting drive mechanism 10, a telescopic drive mechanism 11 and a plurality of plug-ins 12;

[0112] The fixture comprises a tray 13, a wire plugging body 14 connected to the tray 13, and a guide plate 15 slidably connected to the wire plugging body 14 in the up-down direction, wherein the wire plugging body 14 is provided with an insertion channel 16, and the side wall of the insertion channel 16 is provided with a plurality of open wire grooves 17 arranged in sequence along the circumferential direction, and the guide plate 15 is provided with a plurality of wire plugging holes 19 corresponding to the open wire grooves 17, and the wire plugging holes 19 are located above the corresponding open wire grooves 17 and aligned with the corresponding open wire grooves 17;

[0113] The mounting assembly is connected to the frame 1, the lifting seat 9 is slidably connected to the mounting assembly along the up-down direction, the inserts 12 correspond to the open wire grooves 17 one by one, and the inserts 12 are sequentially arranged along the circumferential direction and are slidably arranged in the radial direction in the upper end of the lifting seat 9;

[0114] The lifting drive mechanism 10 is connected to the mounting assembly and connected to the lifting seat 9. The lifting drive mechanism 10 is used to drive the lifting seat 9 to rise, thereby driving the upper end of the lifting seat 9 and the inserting piece 12 to move upward to extend into the insertion channel 16. The lifting drive mechanism 10 is also used to drive the lifting seat 9 to descend so that the upper end of the lifting seat 9 and the inserting piece 12 move downward to exit the insertion channel 16.

[0115] The telescopic drive mechanism 11 is connected to the lifting seat 9 and connected to the inserting piece 12, and the telescopic drive mechanism 11 is used to drive the inserting piece 12 to move radially outward to extend into the corresponding open wire groove 17 and to drive the inserting piece 12 to move radially inward to exit the corresponding open wire groove 17;

[0116] The wire insertion mechanism 3 is used to grab the hairpin wire 21 and insert the lower end of the wire leg 22 of the hairpin wire 21 into the corresponding open wire groove 17 after passing it through the corresponding wire insertion hole 19, and the insert piece 12 extending into the open wire groove 17 is used to support the lower end of the wire leg 22 inserted into the open wire groove 17; the lifting mechanism 5 is used to move to connect with the guide plate 15 and drive the guide plate 15 to rise upward so that the guide plate 15 lifts the hairpin wire 21 upward, and the lifting mechanism 5 is also used to drive the guide plate 15 to descend and thereby lower the hairpin wire 21; the wire-beating mechanism 4 is used to move to press the upper end of the hairpin wire 21 held up by the guide plate 15 to flatten and align the hairpin wire 21.

[0117] like Figures 1 to 21As shown, the plug-in production unit further includes a material receiving and conveying mechanism 2, which is used to receive and hold the tray 13 in the jig conveyed from the outside and convey the jig to a position; the plug-in body 14 is rotatably connected to the tray 13, and the lower end of the plug-in body 14 is provided with a first clamping portion 18;

[0118] The installation assembly includes a lifting seat 6, a lifting drive mechanism, a rotating seat 7 and a rotating mechanism 8;

[0119] The lifting seat 6 is slidably connected to the frame 1 in the up-down direction, the rotating mechanism 8 is connected to the lifting seat 6, the rotating seat 7 is connected to the rotating mechanism 8, and the rotating seat 7 is connected to a second clamping portion 20 for clamping and connecting with the first clamping portion 18 so that the plug-in body 14 and the rotating seat 7 keep rotating synchronously;

[0120] The jacking drive mechanism is connected to the frame 1 and is connected to the jacking seat 6. When the jacking drive mechanism drives the jacking seat 6 to rise and then drives the rotating mechanism 8, the rotating seat 7 and the second clamping portion 20 to rise, the jacking seat 6 lifts up the pallet 13 located on the material receiving and conveying mechanism 2 and the second clamping portion 20 moves upward to be engaged and connected with the first clamping portion 18; when the jacking drive mechanism drives the jacking seat 6 to descend and then drives the rotating mechanism 8, the rotating seat 7 and the second clamping portion 20 to descend, the jacking seat 6 descends to re-place the pallet 13 on the material receiving and conveying mechanism 2 and the second clamping portion 20 moves downward to be disconnected from the first clamping portion 18;

[0121] The lifting seat 9 is slidably connected to the rotating seat 7 in the mounting assembly in the up-down direction;

[0122] The rotating mechanism 8 is used to drive the rotating seat 7 to rotate and then drive the wire insertion body 14 and the lifting seat 9 to rotate together. Since the lifting drive mechanism 10 is rotationally connected to the lifting seat 9, the lifting drive mechanism 10 does not rotate when the lifting seat 9 rotates; the lifting drive mechanism 10 is connected to the lifting seat 6 and is rotationally connected to the lifting seat 9 and is used to drive the lifting seat 9 to move up and down; a pressure cover 23 is provided in the wire-beating mechanism 4, and the wire-beating mechanism 4 is used to drive the pressure cover 23 to move so as to press the upper end of the hairpin wire 21 held up by the guide plate 15 through the pressure cover 23 to flatten and align the hairpin wire 21.

[0123] Specifically, the structure of the hairpin wire 21 is the prior art well known to those skilled in the art. The hairpin wire 21 includes a corolla portion 24 and two wire legs 22 . The two wire legs 22 are respectively connected to the corolla portion 24 to form a corner portion 25 . In this embodiment, the wire insertion mechanism 3 can grab the hairpin wire 21 and insert the wire leg 22 of the hairpin wire 21 into the wire insertion hole 19 and the open wire groove 17 in the jig. After multiple hairpin wires 21 are inserted, the lifting mechanism 5 can move to connect with the guide plate 15 and drive the guide plate 15 to rise upward so that the guide plate 15 can lift the corner part 25 of the hairpin wire 21 upward, and the wire-beating mechanism 4 can drive the pressure cover 23 to move to press the corolla part 24 at the upper end of the hairpin wire 21 supported by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the hairpin wire 21. Therefore, the automatic wire insertion equipment of the embodiment of the present application can automatically insert the hairpin wire 21 into the jig and can align the end of the hairpin wire 21 inserted into the jig, thereby improving the qualified rate of the subsequent processing and improving the quality of the flat wire motor.

[0124] In this embodiment, two of the plug-in production units are connected to the frame 1, and the jig can be transported to the material receiving and conveying mechanism 2 through the loading device 26, and then the material receiving and conveying mechanism 2 receives the delivered jig and transports the jig into place; wherein, the loading device 26 includes a chain conveyor, a lifting device and a loading and conveying device, the chain conveyor is used to transport the jig to the loading station, the lifting device is used to drive the loading and conveying device to rise upward so that the loading and conveying device lifts the jig located in the loading station, and then the loading and conveying device transports the lifted jig to the material receiving and conveying mechanism 2.

[0125] Specifically, the winding structures of the hairpin wires 21 in the stator windings of different flat wire motors are different. For example, a stator winding has three layers of winding coils 27 arranged from the inside to the outside, each layer of winding coils 27 is woven by a plurality of hairpin wires 21, and each hairpin wire 21 is only distributed in one layer of winding coils 27, that is, there is no hairpin wire 21 that spans two layers of winding coils 27. For this stator winding, a layer-by-layer wire insertion method can be adopted. In a stator winding with layer-by-layer wire insertion, such as Figure 3As shown, first, the material receiving and conveying mechanism 2 receives the jig conveyed from the outside and conveys and moves the jig into place, and then the jacking drive mechanism drives the jacking seat 6 to rise upward, thereby driving the rotating mechanism 8, the rotating seat 7 and the second clamping portion 20 to rise upward, so that the jacking seat 6 lifts up the tray 13 located on the material receiving and conveying mechanism 2 and moves the second clamping portion 20 upward to be engaged and connected with the first clamping portion 18; the lifting drive mechanism 10 drives the lifting seat 9 to rise, thereby driving the upper end of the lifting seat 9 and the insert 12 to move upward to extend into the insertion channel 16, and the telescopic drive mechanism 11 drives the insert 12 to move radially outward to extend into the corresponding open wire groove 17. At this time, Figure 4 Then, the wire insertion mechanism 3 grabs the hairpin wire 21 and inserts the lower end of the wire leg 22 of the hairpin wire 21 into the corresponding open wire slot 17 after passing through the corresponding wire insertion hole 19, and supports the lower end of the wire leg 22 inserted into the open wire slot 17 through the inserting piece 12 extending into the open wire slot 17; the wire insertion mechanism 3 repeats the above-mentioned wire insertion operation to sequentially grab and insert multiple hairpin wires 21 into the corresponding open wire slot 17, thereby forming an outer layer of winding coils 27 with multiple hairpin wires 21. At this time, the hairpin wires 21 in the outer layer of winding coils 27 are all supported by the inserting piece 12. Figure 5 , 6 During the process of inserting the hairpin wire 21, the rotating mechanism 8 drives the rotating seat 7 to rotate, and then drives the plugging wire body 14 to rotate to a suitable angle through the cooperation of the first clamping part 18 and the second clamping part 20 to facilitate the insertion of the hairpin wire 21. Figure 7As shown, the lifting mechanism 5 then moves to connect with the guide plate 15 and drives the guide plate 15 to rise upward so that the guide plate 15 lifts the hairpin wire 21 in the outer winding coil 27 upward, and after the hairpin wire 21 is lifted up, the lower end of the hairpin wire 21 is still located in the open wire groove 17, and the wire-beating mechanism 4 drives the pressure cover 23 to move to press the upper end of the hairpin wire 21 lifted by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the upper end of the hairpin wire 21, and the telescopic drive mechanism 11 drives the insert 12 to move radially inward to exit the corresponding open wire groove 17; then the lifting mechanism 5 drives the guide plate 15 The plate 15 is lowered, thereby lowering the hairpin wire 21, and the wire-catching mechanism 4 drives the pressure cover 23 to move downward so that the pressure cover 23 always presses against the upper end of the hairpin wire 21 held up on the guide plate 15 during the downward movement. When the guide plate 15 drops to the bottom, the hairpin wire 21 on the guide plate 15 also drops to the bottom, and then the wire-catching mechanism 4 drives the pressure cover 23 to move away, and the telescopic drive mechanism 11 drives the insert 12 to move radially outward until it extends into the corresponding open wire groove 17. After the insert 12 extends into the corresponding open wire groove 17, the wire legs 22 of the hairpin wire 21 in the outer winding coil 27 will be pressed tightly in the open wire groove 17, as shown in FIG. Fig. 9 As shown. After the string mechanism 4 drives the pressure cover 23 to move away, it can drive the pressure cover 23 back to the initial position. The purpose of moving the pressure cover 23 away is to prevent the pressure cover 23 from affecting subsequent operations. Figure 8 , 9As shown, the plug-in mechanism 3 grabs the hairpin wire 21 again and inserts the lower end of the wire leg 22 of the hairpin wire 21 through the corresponding wire insertion hole 19 into the corresponding open wire groove 17 and supports the lower end of the wire leg 22 inserted into the open wire groove 17 through the inserting piece 12 extending into the open wire groove 17; the plug-in mechanism 3 repeats the plug-in operation to sequentially grab and insert multiple hairpin wires 21 into the corresponding open wire groove 17 so that multiple hairpin wires 21 form a winding coil 27 of the middle layer, at which time the hairpin wires 21 in the winding coil 27 of the middle layer are supported by the inserting piece 12, and the winding coil 27 of the middle layer is located on the inner side of the winding coil 27 of the outer layer. Similarly, when inserting the hairpin wire 21 in the winding coil 27 of the middle layer, the rotating mechanism 8 will also drive the rotating seat 7 to rotate and drive the plug-in body 14 to rotate to a suitable angle to facilitate the insertion of the hairpin wire 21. Then the lifting mechanism 5 moves again to connect with the guide plate 15 and drives the guide plate 15 to rise upward so that the guide plate 15 lifts up the hairpin wire 21 in the winding coils 27 of the middle layer and the outer layer. After the hairpin wire 21 is lifted up, the lower end of the hairpin wire 21 is still located in the open wire groove 17, and the wire-beating mechanism 4 drives the pressure cover 23 to move to press the upper end of the hairpin wire 21 lifted by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the upper end of the hairpin wire 21, and the telescopic drive mechanism 11 drives the insert 12 to move radially inward to exit the corresponding open wire groove 17; then the lifting mechanism 5 drives the guide plate 15 The disk 15 is lowered, thereby lowering the hairpin wire 21, and the wire-catching mechanism 4 drives the pressure cover 23 to move downward and makes the pressure cover 23 always press against the upper end of the hairpin wire 21 held up on the guide disk 15 during the downward movement. When the guide disk 15 drops to the bottom, the hairpin wire 21 on the guide disk 15 also drops to the bottom, and then the wire-catching mechanism 4 drives the pressure cover 23 to move away, and the telescopic drive mechanism 11 drives the insert 12 to move radially outward until it extends into the corresponding open wire groove 17. After the insert 12 extends into the corresponding open wire groove 17, the wire legs 22 of the hairpin wire 21 in the middle layer and the outer layer of the winding coil 27 will be pressed tightly in the open wire groove 17. Then, the wire insertion mechanism 3 grabs the hairpin wire 21 again and inserts the lower end of the wire leg 22 of the hairpin wire 21 into the corresponding open wire groove 17 after passing through the corresponding wire insertion hole 19 and supports the lower end of the wire leg 22 inserted into the open wire groove 17 by the plug 12 extending into the open wire groove 17; the wire insertion mechanism 3 repeats the wire insertion operation to grab and insert multiple hairpin wires 21 into the corresponding open wire groove 17 in turn so that the multiple hairpin wires 21 form an inner layer of winding coils 27, at this time, the hairpin wires 21 in the inner layer of winding coils 27 are supported by the plug 12, and the inner layer of winding coils 27 are located on the inner side of the middle layer of winding coils 27.Similarly, when inserting the hairpin wire 21 in the inner winding coil 27 , the rotating mechanism 8 will also drive the rotating seat 7 to rotate and then drive the wire insertion body 14 to rotate to a suitable angle to facilitate the insertion of the hairpin wire 21 . Then the lifting mechanism 5 moves again to connect with the guide plate 15 and drives the guide plate 15 to rise upward so that the guide plate 15 lifts the hairpin wire 21 in the inner layer, middle layer and outer layer winding coils 27 upward. After the hairpin wire 21 is lifted, the lower end of the hairpin wire 21 is still located in the open wire groove 17, and the wire-beating mechanism 4 drives the pressure cover 23 to move to press the upper end of the hairpin wire 21 lifted by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the upper ends of most of the hairpin wires 21, and the telescopic drive mechanism 11 drives the insert 12 to move radially inward to exit the corresponding open wire groove 17; then the lifting mechanism 5 drives the guide plate 15 to descend, thereby lowering the hairpin wire 21, and the wire-beating mechanism 4 drives the pressure cover 23 to move downward so that the pressure cover 23 always presses against the guide plate 15 during the downward movement. The upper end of the hairpin line 21 is lifted up, and when the guide plate 15 drops to the bottom, the hairpin line 21 on the guide plate 15 also drops to the bottom, and then the wire-beating mechanism 4 drives the pressure cover 23 to move away, and the lifting mechanism 5 moves to disengage from the guide plate 15, and the lifting drive mechanism 10 drives the lifting seat 9 to descend so that the upper end of the lifting seat 9 and the insert 12 move downward to exit the insertion channel 16, and the jacking drive mechanism drives the jacking seat 6 to descend and then drives the rotating mechanism 8, the rotating seat 7 and the second clamping part 20 to descend, and after the jacking seat 6 is descended, the tray 13 is placed again on the material receiving and conveying mechanism 2 and the second clamping part 20 moves downward to be disconnected from the first clamping part 18, and then the material receiving and conveying mechanism 2 conveys the tray 13 to move and then conveys the entire jig with the hairpin line 21 inserted thereinto.

[0126] For another example, another stator winding has three layers of winding coils 27 arranged sequentially from the inside to the outside, and each layer of winding coils 27 is woven by a plurality of hairpin wires 21, some of which cross the outer layer winding coils 27 and the middle layer winding coils 27, that is, one leg 22 of the hairpin wire 21 is located in the outer layer winding coils 27 and the other leg 22 is located in the middle layer winding coils 27, and some of which cross the middle layer winding coils 27 and the inner layer winding coils 27. In this stator winding, since there are hairpin wires 21 crossing two layers of winding coils 27, the layer-by-layer wire insertion method cannot be adopted, and only the overall wire insertion method can be adopted. In the stator winding with integral wire insertion, first, the material receiving and conveying mechanism 2 receives the jig conveyed from the outside and conveys and moves the jig into place, and then the lifting drive mechanism drives the lifting seat 6 to rise upward and then drives the rotating mechanism 8, the rotating seat 7 and the second clamping part 20 to rise upward, so that the lifting seat 6 lifts up the tray 13 located on the material receiving and conveying mechanism 2 and moves the second clamping part 20 upward to be engaged and connected with the first clamping part 18; the lifting drive mechanism 10 drives the lifting seat 9 to rise and then drives the upper end of the lifting seat 9 and the insert 12 to move upward to extend into the insertion channel 16, and the telescopic drive mechanism 11 drives the insert 12 to move radially outward to extend into the corresponding open wire groove 17. Then, the wire insertion mechanism 3 grabs the first hairpin wire 21 and inserts the lower end of the wire leg 22 of the hairpin wire 21 through the corresponding wire insertion hole 19 and then into the corresponding open wire slot 17, and supports the lower end of the wire leg 22 inserted into the open wire slot 17 by the inserting piece 12 extending into the open wire slot 17. Then, the wire insertion mechanism 3 repeats the above-mentioned wire insertion operation, starting from the first inserted hairpin wire 21, and inserts multiple hairpin wires 21 into the corresponding open wire slot 17 from the inside to the outside in an order similar to a planar spiral arrangement. After all the hairpin wires 21 are inserted, inner, middle and outer winding coils 27 will be formed, as shown in FIG. Fig.21As shown, after the hairpin wire 21 is inserted, the whole still presents three layers of winding coils 27, wherein some hairpin wires 21 will cross the outer layer winding coils 27 and the middle layer winding coils 27, and some hairpin wires 21 will cross the middle layer winding coils 27 and the inner layer winding coils 27. During the insertion of the hairpin wires 21, all the hairpin wires 21 are supported by the inserting piece 12, and during the insertion of the hairpin wires 21, the rotating mechanism 8 drives the rotating seat 7 to rotate, and then drives the plugging body 14 to rotate to a suitable angle through the cooperation of the first clamping portion 18 and the second clamping portion 20 to facilitate the insertion of the hairpin wires 21. After the hairpin wire 21 is inserted, the lifting mechanism 5 moves to connect with the guide plate 15 and drives the guide plate 15 to rise upward so that the guide plate 15 lifts the hairpin wire 21 upward. After the hairpin wire 21 is lifted, the lower end of the hairpin wire 21 is still located in the open wire groove 17, and the wire-catching mechanism 4 drives the pressure cover 23 to move to press the upper end of the hairpin wire 21 lifted by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the upper end of the hairpin wire 21, and the telescopic driving mechanism 11 drives the insert 12 to move radially inward to exit the corresponding open wire groove 17; then the lifting mechanism 5 drives the guide plate 15 to descend, thereby lowering the hairpin wire 21, and the wire-catching mechanism 4 drives the pressure cover 23 to move downward so that the pressure cover 23 always presses against the hairpin wire lifted on the guide plate 15 during the downward movement. 21, when the guide plate 15 drops to the bottom, the hairpin line 21 on the guide plate 15 also drops to the bottom, and then the wire-beating mechanism 4 drives the pressure cover 23 to move away, and the lifting mechanism 5 moves to disengage from the guide plate 15, and the lifting drive mechanism 10 drives the lifting seat 9 to descend so that the upper end of the lifting seat 9 and the insert 12 move downward to exit the insertion channel 16, and the jacking drive mechanism drives the jacking seat 6 to descend and then drives the rotating mechanism 8, the rotating seat 7 and the second clamping part 20 to descend, and after the jacking seat 6 is descended, the tray 13 is re-placed on the material receiving and conveying mechanism 2 and the second clamping part 20 moves downward to be disconnected from the first clamping part 18, and then the material receiving and conveying mechanism 2 conveys the tray 13 to move and then conveys the entire jig with the hairpin line 21 inserted thereinto.

[0127] In summary, the automatic wire insertion equipment of the embodiment of the present application can be used to produce stator windings with wires inserted layer by layer, and can also be used to produce stator windings with wires inserted as a whole. It has strong compatibility, can save space, and reduce production costs.

[0128] like Figures 3~11As shown, the plugging mechanism 3 may include a mechanical arm 28, a parallel electric clamp 29 and a plugging fixture, and the plugging fixture includes a first mounting arm 30, a second mounting arm 31, a first pneumatic clamp 32, a second pneumatic clamp 33 and at least one detection sensor 34;

[0129] The mechanical arm 28 is connected to the frame 1, and the parallel electric gripper 29 is connected to the mechanical arm 28 so that the mechanical arm 28 drives the parallel electric gripper 29 to move and rotate;

[0130] The parallel electric clamp 29 is provided with two sliders 35, the first mounting arm 30 is connected to one of the sliders 35, and the second mounting arm 31 is connected to the other slider 35. The parallel electric clamp 29 is used to drive the two sliders 35 to move toward or away from each other to adjust the distance between the first mounting arm 30 and the second mounting arm 31, so as to adapt to the grasping of hairpin wires 21 of different widths;

[0131] The first pneumatic clamping jaw 32 is connected to two first clamping blocks 36 . The first pneumatic clamping jaw 32 is connected to the first mounting arm 30 and is used to drive the two first clamping blocks 36 to move toward each other to clamp a line leg 22 of the hairpin line 21 .

[0132] The second pneumatic clamping jaw 33 is connected to two second clamping blocks 37 . The second pneumatic clamping jaw 33 is connected to the second mounting arm 31 and is used to drive the two second clamping blocks 37 to move toward each other to clamp the other leg 22 of the hairpin wire 21 .

[0133] The detection sensor 34 is connected to at least one of the first mounting arm 30 and the second mounting arm 31. The detection sensor 34 is used to detect the hairpin cord 21 and send a signal to the controller when the hairpin cord 21 clamped by the first clamp block 36 and the second clamp block 37 moves upward relative to the first clamp block 36 and the second clamp block 37. Specifically, the mechanical arm 28 is used to drive the parallel electric clamp 29 to move and rotate, thereby driving the hairpin cord 21 clamped by the first clamp block 36 and the second clamp block 37 to move and rotate. During the wire insertion process, the robotic arm 28 first needs to drive the grasped hairpin wire 21 to move so that the wire leg 22 of the hairpin wire 21 is aligned with the corresponding wire insertion hole 19, and then the robotic arm 28 drives the grasped hairpin wire 21 to move downward so that the lower end of the wire leg 22 of the hairpin wire 21 passes through the corresponding wire insertion hole 19 and is inserted into the corresponding open wire groove 17. During this process, if the wire leg 22 is not aligned with the wire insertion hole 19, the lower end of the wire leg 22 will abut against the upper end surface of the guide plate 15, and the hairpin wire 21 will be unable to move downward. At this time, the first pneumatic clamp 32, the second pneumatic clamp 33, the first clamp block 36 and the second clamp block 37 will all move downward, causing the hairpin wire 21 to move upward relative to the first clamp block 36 and the second clamp block 37. At this time, the detection sensor 34 detects the hairpin wire 21 and the detection sensor 34 sends a signal to the controller. After receiving the signal, the controller can control the alarm to sound an alarm and control the equipment to shut down. In this embodiment, the frame 1 includes a first column, the mechanical arm 28 is connected to the first column, and a hanging rod 38 is also connected to the first column. The hairpin wires 21 to be inserted are arranged in sequence and hung on the hanging rod 38.

[0134] like Fig. 20As shown, in each layer of winding coil 27 of the stator winding in which the wires are inserted layer by layer, the corolla portion 24 of the hairpin wire 21 is located below the corolla portion 24 of the adjacent hairpin wire 21, and one of the wire legs 22 of each hairpin wire 21 is located at the outer end of the winding coil 27 and the other wire leg 22 is located at the inner end of the winding coil 27, so the wire insertion mechanism 3 cannot directly insert the hairpin wire 21 into place downward during the wire insertion operation. At this time, it is necessary to install a pair of wire insertion clamps on the parallel electric clamps 29 that can grab the hairpin wire 21 on the opposite side. In the wire insertion clamp that grabs the hairpin wire 21 on the opposite side, when the first pneumatic clamp 32 drives the two first clamps 36 to clamp one wire leg 22 of the hairpin wire 21 and the second pneumatic clamp 33 drives the two second clamps 37 to clamp the other wire leg 22 of the hairpin wire 21, the first mounting arm 30 and the first pneumatic clamp 32 are located on one side of the hairpin wire 21 and the second mounting arm 31 and the second pneumatic clamp 33 are located on the other side of the hairpin wire 21. During the wire insertion process, the robot arm 28 drives the parallel electric clamp 29 to move and rotate, and then drives the first installation arm 30, the second installation arm 31, the first pneumatic clamp 32 and the second pneumatic clamp 33 to move and rotate. First, the robot arm 28 drives the first installation arm 30 and the first pneumatic clamp 32 to extend from top to bottom into the inner side of the winding coil 27, and at the same time drives the second installation arm 31 and the second pneumatic clamp 33 to extend from top to bottom into the outer side of the winding coil 27. At this time, one wire leg 22 of the hairpin wire 21 being inserted can be located on the inner side of the winding coil 27 and the other wire leg 22 can be located on the outer side of the winding coil 27. Then the robot arm 28 drives the hairpin wire 21 being inserted to rotate into place so that the two wire legs 22 of the hairpin wire 21 are respectively aligned with the corresponding wire insertion holes 19. At this time, the hairpin wire 21 being inserted will interfere with the hairpin wire 21 that has been inserted. Since the inserted hairpin wire 21 is supported by the insert 12 in the open wire groove 17, only the lower end of the wire leg 22 of the inserted hairpin wire 21 is inserted in the open wire groove 17 and the wire insertion hole 19. Therefore, the inserted hairpin wire 21 has a large elastic deformation. Therefore, when the hairpin wire 21 being inserted interferes with the inserted hairpin wire 21, it can drive the inserted hairpin wire 21 to deform. Then the robotic arm 28 drives the parallel electric clamp 29, the first mounting arm 30, the second mounting arm 31, the first pneumatic clamp 32 and the second pneumatic clamp 33 to move downward, thereby driving the hairpin wire 21 being inserted downward so that the lower end of the wire leg 22 passes through the corresponding wire insertion hole 19 and is inserted into the corresponding open wire groove 17, thereby enabling the wire insertion mechanism 3 to complete the wire insertion operation of the hairpin wire 21.

[0135] like Fig.21As shown in FIG. 1 , the insertion order of the hairpin wire 21 in the stator winding of the integrally inserted wire is: starting from the first inserted hairpin wire 21, multiple hairpin wires 21 are inserted in sequence in the order of spiral arrangement from the inside to the outside. Therefore, the two wire legs 22 of the hairpin wire 21 being inserted are both located outside the already inserted hairpin wire 21, as shown in FIG. Fig.21 As shown, the corolla 24 of the hairpin wire 21 of the stator winding of the integrally inserted wire is also located below the corolla 24 of the adjacent hairpin wire 21, so the wire insertion mechanism 3 cannot directly insert the hairpin wire 21 into place when performing the wire insertion operation. Therefore, it is necessary to install a pair of wire insertion clamps that can grab the hairpin wire 21 on the same side on the parallel electric clamps 29. In the wire insertion clamps that grab the hairpin wire 21 on the same side, when the first pneumatic clamp 32 drives the two first clamps 36 to clamp one wire leg 22 of the hairpin wire 21 and the second pneumatic clamp 33 drives the two second clamps 37 to clamp the other wire leg 22 of the hairpin wire 21, the first mounting arm 30, the first pneumatic clamp 32, the second mounting arm 31 and the second pneumatic clamp 33 are all located on the same side of the hairpin wire 21. During the wire insertion process, the mechanical arm 28 drives the parallel electric clamp 29 to move and rotate, and then drives the grasped hairpin wire 21 to move and rotate. First, the mechanical arm 28 drives the hairpin wire 21 being inserted to push it from the outside to fit onto the already inserted hairpin wire 21, and aligns the two wire legs 22 of the hairpin wire 21 being inserted with the corresponding wire insertion holes 19 respectively. When the wire legs 22 are aligned with the wire insertion holes 19, the hairpin wire 21 being inserted will be aligned with the already inserted hairpin wire 21. There is interference with the good hairpin wire 21. Since the already inserted hairpin wire 21 is supported by the inserting piece 12 in the open wire slot 17, only the lower end of the wire leg 22 of the already inserted hairpin wire 21 is inserted into the open wire slot 17 and the wire insertion hole 19. Therefore, the already inserted hairpin wire 21 has a large elastic deformation. Therefore, when the inserted hairpin wire 21 interferes with the already inserted hairpin wire 21, it can drive the already inserted hairpin wire 21 to deform. Then the mechanical arm 28 drives the inserted hairpin wire 21 downward to make the lower end of the wire leg 22 pass through the corresponding wire insertion hole 19 and then insert into the corresponding open wire slot 17, so that the wire insertion mechanism 3 can complete the wire insertion operation of the hairpin wire 21.

[0136] To sum up, in the automatic wire insertion equipment of the embodiment of the present application, only the corresponding wire insertion clamps need to be replaced to take into account the production and processing of both stator windings with layer-by-layer insertion and stator windings with overall insertion, which has stronger adaptability and a wider range of applications.

[0137] like Fig.12 As shown, the string mechanism 4 includes a moving seat 39, a moving driving mechanism 40, a rotating cylinder 41, a rotating arm 42 and the pressure cover 23;

[0138] The movable seat 39 is slidably connected to the frame 1 in the up-down direction;

[0139] The rotating cylinder 41 is connected to the moving seat 39, one end of the rotating arm 42 is connected to the rotating cylinder 41, and the pressure cover 23 is connected to the other end of the rotating arm 42. The rotating cylinder 41 is used to drive the rotating arm 42 to rotate and then drive the pressure cover 23 to rotate to the top of the guide plate 15;

[0140] The mobile driving mechanism 40 is connected to the frame 1 and connected to the mobile seat 39. The mobile driving mechanism 40 is used to drive the mobile seat 39 to slide up and down, thereby driving the rotating cylinder 41, the rotating arm 42 and the pressure cover 23 to move up and down. The pressure cover 23 is used to press the upper end of the hairpin wire 21 held up by the guide plate 15 to flatten and align the hairpin wire 21; in this embodiment, the frame 1 includes a second column, the mobile seat 39 is slidably connected to the second column, and the mobile driving mechanism 40 is connected to the second column. The mobile driving mechanism 40 can be a screw nut mechanism.

[0141] like Fig.13 As shown, the lifting mechanism 5 may include a lifting frame 43, a clamping block 44, a clamping cylinder 45 and a lifting driving component 46;

[0142] The lifting frame 43 is slidably connected to the frame 1 in the up-down direction;

[0143] The clamping block 44 is slidably connected to the lifting frame 43, and a slot 47 adapted to the guide plate 15 is provided in the clamping block 44;

[0144] The clamping cylinder 45 is connected to the lifting frame 43, and is connected to the clamping block 44 and is used to drive the clamping block 44 to move toward the guide plate 15 so that the clamping block 44 clamps a part of the guide plate 15 through the slot 47. The clamping cylinder 45 is also used to drive the clamping block 44 to move away from the guide plate 15 so that the clamping block 44 and the guide plate 15 are disengaged;

[0145] The lifting driving component 46 is connected to the frame 1 and connected to the lifting frame 43. The lifting driving component 46 is used to drive the lifting frame 43 to rise or fall and then drive the guide plate 15 to rise or fall through the clamping block 44. When the guide plate 15 is raised, it can lift the hairpin wire 21, and when the guide plate 15 is lowered, it can lower the hairpin wire 21. The lifting driving component 46 can be an electric cylinder.

[0146] like Figure 2 ,10 As shown in , 13 and 17 , the plug wire body 14 may include a base 48 , a plug wire barrel 49 and at least two sliding sleeves 50 ;

[0147] The base 48 is rotatably connected to the tray 13; specifically, the base 48 is rotatably connected to the tray 13 via a slewing bearing;

[0148] The wire insertion barrel 49 and the sliding sleeve 50 are both connected to the base 48, and the insertion channel 16 is arranged in the wire insertion barrel 49;

[0149] The guide plate 15 is located above the wire insertion barrel 49, and a sliding guide rod 51 corresponding to the sliding sleeve 50 is provided on the guide plate 15. The sliding guide rod 51 is slidably arranged in the corresponding sliding sleeve 50 along the up-down direction, so that the guide plate 15 is slidably connected to the wire insertion body 14;

[0150] The guide plate 15 is provided with a first central hole 52 aligned with the insertion channel 16, and the wire insertion holes 19 correspond to the open wire grooves 17 one by one and are arranged around the outer side of the first central hole 52;

[0151] The base 48 is provided with a second center hole 53 aligned with and connected to the lower end of the insertion channel 16, and the tray 13 is provided with a third center hole 54 aligned with and connected to the second center hole 53, and the upper end of the lifting seat 9 passes through the third center hole 54 and the second center hole 53 and then extends into the insertion channel 16;

[0152] The first clamping portion 18 is a clamping slot provided on the base 48, and the second clamping portion 20 is a clamping finger connected to the rotating seat 7, and the clamping finger is used to pass through the third center hole 54 upward and then clamp into the clamping slot; in this embodiment, there are 4 clamping fingers and 4 clamping slots evenly distributed along the circumferential direction respectively.

[0153] like Fig.14 As shown, the material receiving and conveying mechanism 2 may include a conveying frame 55, a driving shaft 56, a driven shaft 57, a conveying motor 58 and two conveying components 59, and the conveying component 59 includes a driving wheel 60, a driven wheel 61, a conveying belt 62 and at least one supporting wheel 63;

[0154] The conveyor frame 55 is connected to the frame 1;

[0155] The driving shaft 56 and the driven shaft 57 are respectively rotatably connected to the conveying frame 55;

[0156] The driving wheel 60 is connected to the driving shaft 56;

[0157] The driven wheel 61 is connected to the driven shaft 57;

[0158] The conveyor belt 62 is connected to the driving wheel 60 and the driven wheel 61, and the conveyor belt 62 is used to hold the tray 13 in the fixture;

[0159] The support wheel 63 is rotatably connected to the conveyor frame 55 and is located on the inner side of the conveyor belt 62 to provide support for the conveyor belt 62;

[0160] The conveying motor 58 is connected to the driving shaft 56 and is used to drive the driving shaft 56 to rotate, thereby driving the driving wheel 60 to rotate, and then driving the conveyor belt 62 to move the tray 13; specifically, the conveying motor 58 is connected to the conveying frame 55;

[0161] The lifting seat 6, the rotating mechanism 8 and the rotating seat 7 are all used to lift or lower between the two conveying assemblies 59;

[0162] The conveying frame 55 is connected with a left clamping block 64 for abutting against the upper surface of the left end portion of the pallet 13 and a right clamping block 65 for abutting against the upper surface of the right end portion of the pallet 13. The jacking drive mechanism is used to drive the jacking seat 6 to rise so that the jacking seat 6 lifts up the pallet 13 located on the conveyor belt 62 so that the upper surface of the pallet 13 is respectively pressed against the left clamping block 64 and the right clamping block 65, so that the pallet 13 is pressed and fixed after being lifted to prevent the pallet 13 from shifting. Specifically, when the jacking drive mechanism drives the jacking seat 6 to descend, the pallet 13 can be lowered and fall back on the conveyor belt 62. The conveyor belt 62 can be a synchronous belt.

[0163] like Figures 15-17 As shown, the lifting seat 9 may include an upper seat body 66, a lower seat body 67 and at least two slide bars 68;

[0164] The slide bar 68 is slidably connected to the rotating seat 7 in the up-down direction;

[0165] The upper seat body 66 is connected to the upper end of the slide rod 68 and is located above the rotating seat 7;

[0166] The lower seat body 67 is connected to the lower end of the slide rod 68 and is located below the rotating seat 7;

[0167] The inserts 12 are arranged in sequence along the circumferential direction of the upper seat body 66 and are slidably disposed in the upper seat body 66 along the radial direction of the upper seat body 66;

[0168] The lifting drive mechanism 10 is connected to the lifting seat 6 and is rotationally connected to the lower seat body 67. The lifting drive mechanism 10 is used to drive the lower seat body 67 to rise and then drive the upper seat body 66 and the plug 12 to move upward until they extend into the insertion channel 16. The lifting drive mechanism 10 is also used to drive the lower seat body 67 to descend to drive the upper seat body 66 and the plug 12 to move downward until they exit the insertion channel 16.

[0169] The lifting drive mechanism 10 includes a mounting frame 69, a lifting screw rod 70, a lifting nut 71, a lifting motor 72 and a connecting seat 73;

[0170] The mounting frame 69 is connected to the lifting seat 6;

[0171] The lifting screw rod 70 is rotatably connected to the mounting frame 69;

[0172] The connecting seat 73 is rotatably connected to the lower seat body 67, and the rotating shaft between the connecting seat 73 and the lower seat body 67 is coaxially arranged with the rotating shaft of the rotating mechanism 8 driving the rotating seat 7 to rotate;

[0173] The lifting nut 71 is connected to the lifting screw rod 70 and connected to the connecting seat 73;

[0174] The lifting motor 72 is connected to the mounting frame 69. The lifting motor 72 is connected to the lifting screw rod 70 and is used to drive the lifting screw rod 70 to rotate, thereby driving the lifting nut 71, the connecting seat 73 and the lower seat body 67 to move up and down, thereby driving the upper seat body 66 and the insert 12 to move up and down; specifically, when the rotating mechanism 8 drives the rotating seat 7 to rotate, it will drive the entire lifting seat 9 to rotate. Since the connecting seat 73 and the lower seat body 67 in the lifting seat 9 are rotationally connected, the connecting seat 73 will not rotate with the lower seat body 67.

[0175] The telescopic driving mechanism 11 includes a driving disc 74, a driving shaft 75 and a driving motor 76;

[0176] The driving disk 74 is rotatably disposed in the upper seat body 66, and a plurality of driving slots 77 are arranged in the driving disk 74 and are sequentially distributed along the circumferential direction. The insert 12 is connected with a driving pin 78, and the driving pin 78 is matched in the corresponding driving slot 77;

[0177] The upper end of the driving shaft 75 is connected to the driving disc 74, and the lower end of the driving shaft 75 is connected to the driving motor 76;

[0178] The driving motor 76 is connected to the lower seat body 67 and is used to drive the driving shaft 75 to rotate and then drive the driving disk 74 to rotate, and then drive the insert 12 to move radially outward or inward through the cooperation of the driving slot 77 and the driving pin 78; specifically, when the insert 12 moves radially outward, it can extend into the corresponding open wire groove 17 to support the lower end of the wire leg 22 of the hairpin wire 21 inserted into the open wire groove 17. Among them, when the insert 12 moves radially inward, it can exit the corresponding open wire groove 17, so that the wire leg 22 of the hairpin wire 21 can move downward in the open wire groove 17; in this embodiment, the rotating seat 7 is provided with an axial hole, the driving shaft 75 passes through the axial hole, and the sliding rod 68 is provided with 4 pieces around the driving shaft 75.

[0179] like Fig.18 As shown, the upper seat body 66 may include a top plate 79, a bottom plate 80, at least one support sleeve 81 and at least one locking bolt 82;

[0180] The bottom plate 80 is connected to the upper end of the slide bar 68 and is located above the rotating seat 7;

[0181] The top plate 79 is located above the bottom plate 80, the support sleeve 81 is disposed between the bottom plate 80 and the top plate 79, the upper end of the support sleeve 81 abuts against the top plate 79, the lower end of the support sleeve 81 abuts against the bottom plate 80, the locking bolt 82 passes through the top plate 79 and the support sleeve 81 and is threadedly connected to the bottom plate 80, thereby locking and connecting the top plate 79, the support sleeve 81 and the bottom plate 80;

[0182] The driving disk 74 is rotatably disposed between the top plate 79 and the bottom plate 80. The driving disk 74 is also provided with an arc groove 83 corresponding to the support sleeve 81. The support sleeve 81 is fitted in the arc groove 83. The rotation angle travel of the driving disk 74 can be limited by the cooperation between the support sleeve 81 and the arc groove 83.

[0183] The lower seat body 67 is provided with a slide groove 84 corresponding to the plug-in piece 12 one by one, and the plug-in piece 12 is radially slid into the corresponding slide groove 84; specifically, the upper end of the drive shaft 75 passes through the base plate 80 and is connected to the drive disk 74. In this embodiment, each of the plug-in pieces 12 is connected to a drive pin 78, and each of the drive grooves 77 is equipped with three drive pins 78.

[0184] like Fig.15 , 16 As shown, the lifting seat 6 may include a lifting base plate 85 and at least two supporting brackets 86;

[0185] The lifting base plate 85 is slidably connected to the frame 1 along the up-down direction; specifically, the lifting base plate 85 is slidably connected to the frame 1 through a guide column and a guide sleeve;

[0186] The support frame 86 is connected to the lifting base plate 85, and a rubber block 87 and a positioning pin 88 are connected to the support frame 86. The tray 13 is provided with a positioning hole 89 corresponding to the positioning pin 88;

[0187] The lifting drive mechanism includes at least one lifting cylinder 90, which is connected to the frame 1 and the lifting base plate 85. When the lifting cylinder 90 drives the lifting base plate 85 to rise and then drives the supporting bracket 86 to rise, the rubber block 87 rises to abut against the bottom of the tray 13 and lifts the tray 13 on the material receiving and conveying mechanism 2 upward, and the positioning pin 88 is inserted into the positioning hole 89 in the tray 13; when the lifting cylinder 90 drives the lifting base plate 85 to descend and then drives the supporting bracket 86 to descend, the tray 13 falls back on the material receiving and conveying mechanism 2, the rubber block 87 descends to be separated from the tray 13, and the positioning pin 88 descends to exit the positioning hole 89;

[0188] The rotating mechanism 8 is a hollow rotating platform, which is connected to the lifting base plate 85, and the rotating seat 7 is connected to the hollow rotating platform. The lifting cylinder 90 is used to drive the lifting base plate 85 to rise, thereby driving the hollow rotating platform, the rotating seat 7 and the second clamping part 20 to rise so that the second clamping part 20 is raised to be connected with the first clamping part 18; when the lifting base plate 85 is lowered, the hollow rotating platform, the rotating seat 7 and the second clamping part 20 are all lowered, and the second clamping part 20 is lowered to be disconnected from the first clamping part 18;

[0189] The lifting base plate 85 is provided with a through channel 91 , and the lifting seat 9 passes through the inner side of the hollow rotating platform and the through channel 91 and is slidably connected to the rotating seat 7 .

[0190] like Fig.19 As shown, the automatic wire plugging device may further include an unlocking mechanism;

[0191] The plug body 14 is connected to a limit block 92, and a limit groove is provided in the limit block 92;

[0192] The tray 13 is connected to a limiting mechanism, which includes a base assembly 93, a limiting clamping plate 94 and a spring 95;

[0193] The base assembly 93 is connected to the tray 13;

[0194] The limit clamping plate 94 is slidably connected in the base assembly 93 along the up-down direction;

[0195] The spring 95 is installed in the base assembly 93, and the spring 95 abuts against the limit card plate 94 and is used to drive the limit card plate 94 to slide into the limit groove, thereby locking the circumferential position of the limit block 92 and the plug body 14 relative to the tray 13;

[0196] The unlocking mechanism includes an unlocking cylinder 96 and an unlocking component 97, wherein the unlocking component 97 is connected to the unlocking cylinder 96, and the unlocking cylinder 96 is used to drive the unlocking component 97 to move against the limit card plate 94, thereby driving the limit card plate 94 to overcome the elastic force of the spring 95 and slide to exit the limit groove, thereby releasing the circumferential position lock of the limit block 92 and the plug-in body 14. Specifically, the unlocking cylinder 96 can be connected to the frame 1 or to the conveying frame 55, and the unlocking component 97 includes a mounting plate connected to the unlocking cylinder 96 and an unlocking rod connected to the mounting plate. The limit block 92 is connected to the base 48 in the plug body 14, the base assembly 93 includes a base block connected to the tray 13 and a baffle connected to the base block, the limit card plate 94 is slidably connected to the base block in the up and down directions, and the spring 95 is installed in the base block. When the spring 95 drives the limit card plate 94 to slide upward until it is stuck in the limit groove, the limit card plate 94 is pressed upward on the baffle by the spring 95. At this time, since the limit card plate 94 is stuck in the limit groove, the position between the limit card plate 94 and the limit block 92 is locked, thereby being able to lock the circumferential position of the plug body 14 relative to the tray 13. An unlocking hole is provided on the baffle plate, and the unlocking cylinder 96 drives the mounting plate and the unlocking rod to move so that the unlocking rod passes through the unlocking hole and presses against the limiting card plate 94, thereby driving the limiting card plate 94 to overcome the elastic force of the spring 95 and slide downward to exit the limiting groove, thereby releasing the circumferential position lock of the plug body 14. To be more specific, the conveying frame 55 is also connected to an in-position sensor 98. When the material receiving conveying mechanism 2 receives the jig conveyed from the outside and conveys and moves the jig into position, the in-position sensor 98 detects the base block in the base assembly 93 and sends a signal to the controller. The controller then controls the lifting drive mechanism to drive the lifting seat 6 to rise upward, controls the lifting drive mechanism 10 to drive the lifting seat 9 to rise upward, controls the telescopic drive mechanism 11 to drive the plug 12 to move radially outward until it extends into the corresponding open wire groove 17, and then controls the unlocking cylinder 96 to drive the unlocking component 97 to move against the limit card plate 94 and then drive the limit card plate 94 to overcome the elastic force of the spring 95 and slide to exit the limit groove, thereby releasing the circumferential position lock of the wire plugging body 14, and then controls the wire plugging mechanism 3 to perform the wire plugging operation. Specifically, when the unlocking cylinder 96 drives the unlocking component 97 to rise until it is out of contact with the limiting card plate 94, the spring 95 will drive the limiting card plate 94 to slide into the limiting groove through elastic force, thereby locking the circumferential position of the limiting block 92 and the plug body 14 relative to the tray 13.

[0197] In summary, the hairpin string 21 includes a corolla portion 24 and two string legs 22 , and the two string legs 22 are respectively connected to the corolla portion 24 to form a corner portion 25 . In this embodiment, the wire insertion mechanism 3 can grab the hairpin wire 21 and insert the wire leg 22 of the hairpin wire 21 into the wire insertion hole 19 and the open wire groove 17 in the jig. After multiple hairpin wires 21 are inserted, the lifting mechanism 5 can move to connect with the guide plate 15 and drive the guide plate 15 to rise upward so that the guide plate 15 can lift the corner part 25 of the hairpin wire 21 upward, and the wire-beating mechanism 4 can drive the pressure cover 23 to move to press the corolla part 24 at the upper end of the hairpin wire 21 supported by the guide plate 15 through the pressure cover 23, thereby flattening and aligning the hairpin wire 21. Therefore, the automatic wire insertion equipment of the embodiment of the present application can automatically insert the hairpin wire 21 into the jig and can align the end of the hairpin wire 21 inserted into the jig, thereby improving the qualified rate of the subsequent processing and improving the quality of the flat wire motor.

[0198] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic wire plugging device, characterized in that: It comprises a frame (1) and at least one wiring production unit connected to the frame (1), wherein the wiring production unit is used to cooperate with a jig; The wire insertion production unit comprises a wire insertion mechanism (3), a wire grabbing mechanism (4), a lifting mechanism (5), a mounting assembly, a lifting seat (9), a lifting drive mechanism (10), a telescopic drive mechanism (11), and a plurality of inserts (12); The fixture comprises a tray (13), a wire insertion body (14) connected to the tray (13), and a guide plate (15) slidably connected to the wire insertion body (14) in an up-down direction, the wire insertion body (14) is provided with an insertion channel (16), a side wall of the insertion channel (16) is provided with a plurality of open wire grooves (17) arranged in sequence along a circumferential direction, the guide plate (15) is provided with a plurality of wire insertion holes (19) corresponding to the open wire grooves (17), the wire insertion holes (19) are located above the corresponding open wire grooves (17) and are aligned with the corresponding open wire grooves (17); The mounting assembly is connected to the frame (1), the lifting seat (9) is slidably connected to the mounting assembly in the up-down direction, the inserts (12) correspond to the open wire grooves (17) one by one, and the inserts (12) are arranged in sequence in the circumferential direction and are slidably arranged in the radial direction in the upper end portion of the lifting seat (9); The lifting drive mechanism (10) is connected to the mounting assembly and is connected to the lifting seat (9). The lifting drive mechanism (10) is used to drive the lifting seat (9) to rise, thereby driving the upper end of the lifting seat (9) and the insert (12) to move upward to extend into the insertion channel (16). The lifting drive mechanism (10) is also used to drive the lifting seat (9) to descend so that the upper end of the lifting seat (9) and the insert (12) move downward to exit the insertion channel (16); The telescopic drive mechanism (11) is connected to the lifting seat (9) and is connected to the inserting piece (12), and the telescopic drive mechanism (11) is used to drive the inserting piece (12) to move radially outward to extend into the corresponding open wire groove (17) and to drive the inserting piece (12) to move radially inward to exit the corresponding open wire groove (17); The wire insertion mechanism (3) is used to grab the hairpin wire (21) and insert the lower end of the wire leg (22) of the hairpin wire (21) into the corresponding open wire groove (17) after passing the lower end of the wire leg (22) through the corresponding wire insertion hole (19); the inserting piece (12) extending into the open wire groove (17) is used to support the lower end of the wire leg (22) inserted into the open wire groove (17); the lifting mechanism (5) is used to move to connect with the guide plate (15) and drive the guide plate (15) to rise upward so that the guide plate (15) lifts the hairpin wire (21) upward; the lifting mechanism (5) is also used to drive the guide plate (15) to descend so as to lower the hairpin wire (21); the wire-squeezing mechanism (4) is used to move to press the upper end of the hairpin wire (21) lifted by the guide plate (15) so as to flatten and align the hairpin wire (21).

2. The automatic wire insertion device according to claim 1, characterized in that: The plug-in wire production unit further comprises a material receiving and conveying mechanism (2), the material receiving and conveying mechanism (2) being used to receive and hold the tray (13) in the jig conveyed from the outside and to convey and move the jig into position; The plug-in body (14) is rotatably connected to the tray (13), and a first clamping portion (18) is provided at the lower end of the plug-in body (14); The installation assembly comprises a lifting seat (6), a lifting drive mechanism, a rotating seat (7) and a rotating mechanism (8); The lifting seat (6) is slidably connected to the frame (1) in the up-down direction, the rotating mechanism (8) is connected to the lifting seat (6), the rotating seat (7) is connected to the rotating mechanism (8), and the rotating seat (7) is connected to a second clamping portion (20) for clamping with the first clamping portion (18) so that the plug-in body (14) and the rotating seat (7) rotate synchronously; The lifting drive mechanism is connected to the frame (1) and is connected to the lifting seat (6); when the lifting drive mechanism drives the lifting seat (6) to rise and thereby drives the rotating mechanism (8), the rotating seat (7) and the second clamping portion (20) to rise, the lifting seat (6) lifts up the tray (13) located on the material receiving and conveying mechanism (2) and the second clamping portion (20) moves upward to be engaged and connected with the first clamping portion (18); when the lifting drive mechanism drives the lifting seat (6) to descend and thereby drives the rotating mechanism (8), the rotating seat (7) and the second clamping portion (20) to descend, the lifting seat (6) descends to place the tray (13) back on the material receiving and conveying mechanism (2) and the second clamping portion (20) moves downward to be disconnected from the first clamping portion (18); The lifting seat (9) is slidably connected to the rotating seat (7) in the mounting assembly in an up-and-down direction; The rotating mechanism (8) is used to drive the rotating seat (7) to rotate, thereby driving the plug-in body (14) and the lifting seat (9) to rotate together; The lifting drive mechanism (10) is connected to the lifting seat (6) and is rotationally connected to the lifting seat (9) and is used to drive the lifting seat (9) to move up and down; A pressing cover (23) is provided in the string-snapping mechanism (4), and the string-snapping mechanism (4) is used to drive the pressing cover (23) to move so as to press the upper end of the hairpin string (21) held up by the guide plate (15) through the pressing cover (23) to flatten and align the hairpin string (21).

3. The automatic wire insertion device according to claim 2, characterized in that: The wire insertion mechanism (3) comprises a mechanical arm (28), a parallel electric clamp (29) and a wire insertion clamp, wherein the wire insertion clamp comprises a first mounting arm (30), a second mounting arm (31), a first pneumatic clamp (32), a second pneumatic clamp (33) and at least one detection sensor (34); The mechanical arm (28) is connected to the frame (1), and the parallel electric clamp (29) is connected to the mechanical arm (28) so that the mechanical arm (28) drives the parallel electric clamp (29) to move and rotate; The parallel electric clamp (29) is provided with two sliders (35), the first mounting arm (30) is connected to one of the sliders (35), and the second mounting arm (31) is connected to the other slider (35), and the parallel electric clamp (29) is used to drive the two sliders (35) to move toward or away from each other, thereby adjusting the distance between the first mounting arm (30) and the second mounting arm (31); Two first clamping blocks (36) are connected to the first pneumatic clamping jaw (32), and the first pneumatic clamping jaw (32) is connected to the first mounting arm (30) and is used to drive the two first clamping blocks (36) to move towards each other so as to clamp a line leg (22) of the hairpin line (21); The second pneumatic clamping jaw (33) is connected to two second clamping blocks (37), and the second pneumatic clamping jaw (33) is connected to the second mounting arm (31) and is used to drive the two second clamping blocks (37) to move towards each other so as to clamp the other wire leg (22) of the hairpin wire (21); The detection sensor (34) is connected to at least one of the first mounting arm (30) and the second mounting arm (31), and the detection sensor (34) is used to detect the hairpin cord (21) and send a signal to a controller when the hairpin cord (21) clamped by the first clamp block (36) and the second clamp block (37) moves upward relative to the first clamp block (36) and the second clamp block (37).

4. The automatic wire insertion device according to claim 2, characterized in that: The string mechanism (4) comprises a movable seat (39), a movable driving mechanism (40), a rotating cylinder (41), a rotating arm (42) and the pressure cover (23); The movable seat (39) is slidably connected to the frame (1) in an up-down direction; The rotating cylinder (41) is connected to the movable seat (39), one end of the rotating arm (42) is connected to the rotating cylinder (41), and the pressure cover (23) is connected to the other end of the rotating arm (42). The rotating cylinder (41) is used to drive the rotating arm (42) to rotate and thereby drive the pressure cover (23) to rotate to above the guide plate (15); The mobile drive mechanism (40) is connected to the frame (1) and to the mobile seat (39). The mobile drive mechanism (40) is used to drive the mobile seat (39) to slide up and down, thereby driving the rotating cylinder (41), the rotating arm (42) and the pressure cover (23) to move up and down. The pressure cover (23) is used to press the upper end of the hairpin wire (21) held up by the guide plate (15) to flatten and align the hairpin wire (21).

5. The automatic wire insertion device according to claim 2, characterized in that: The lifting mechanism (5) comprises a lifting frame (43), a clamping block (44), a clamping cylinder (45) and a lifting drive component (46); The lifting frame (43) is slidably connected to the frame (1) in an up-down direction; The clamping block (44) is slidably connected to the lifting frame (43), and a slot (47) adapted to the guide plate (15) is provided in the clamping block (44); The clamping cylinder (45) is connected to the lifting frame (43), and the clamping cylinder (45) is connected to the clamping block (44) and is used to drive the clamping block (44) to move toward the guide plate (15) so that the clamping block (44) clamps a part of the guide plate (15) through the slot (47); The lifting drive component (46) is connected to the frame (1) and to the lifting frame (43), and the lifting drive component (46) is used to drive the lifting frame (43) to rise or fall, thereby driving the guide plate (15) to rise or fall through the clamping block (44).

6. The automatic wire insertion device according to claim 2, characterized in that: The wire insertion body (14) comprises a base (48), a wire insertion barrel (49) and at least two sliding sleeves (50); The base (48) is rotatably connected to the tray (13); The wire insertion barrel (49) and the sliding sleeve (50) are both connected to the base (48), and the insertion channel (16) is arranged in the wire insertion barrel (49); The guide plate (15) is located above the wire insertion barrel (49), and a sliding guide rod (51) corresponding to the sliding sleeve (50) is provided on the guide plate (15), and the sliding guide rod (51) is slidably arranged in the corresponding sliding sleeve (50) along the up-down direction; The guide plate (15) is provided with a first central hole (52) aligned with the insertion channel (16); the wire insertion holes (19) correspond to the open wire grooves (17) one by one and are arranged around the outside of the first central hole (52); The base (48) is provided with a second center hole (53) aligned with and connected to the lower end of the insertion channel (16); the tray (13) is provided with a third center hole (54) aligned with and connected to the second center hole (53); the upper end of the lifting seat (9) passes through the third center hole (54) and the second center hole (53) and then extends into the insertion channel (16); The first clamping portion (18) is a clamping slot provided on the base (48), and the second clamping portion (20) is a clamping finger connected to the rotating seat (7), the clamping finger being used to pass through the third center hole (54) upwards and then be clamped into the clamping slot.

7. The automatic wire insertion device according to claim 2, characterized in that: The material receiving and conveying mechanism (2) comprises a conveying frame (55), a driving shaft (56), a driven shaft (57), a conveying motor (58) and two conveying assemblies (59); the conveying assemblies (59) comprise a driving wheel (60), a driven wheel (61), a conveying belt (62) and at least one supporting wheel (63); The conveying frame (55) is connected to the frame (1); The driving shaft (56) and the driven shaft (57) are respectively rotatably connected to the conveying frame (55); The driving wheel (60) is connected to the driving shaft (56); The driven wheel (61) is connected to the driven shaft (57); The conveyor belt (62) is connected to the driving wheel (60) and the driven wheel (61), and the conveyor belt (62) is used to support the tray (13) in the fixture; The support wheel (63) is rotatably connected to the conveying frame (55) and is located on the inner side of the conveying belt (62) to provide support for the conveying belt (62); The conveying motor (58) is connected to the driving shaft (56) and is used to drive the driving shaft (56) to rotate, thereby driving the driving wheel (60) to rotate, and then driving the conveyor belt (62) to move so as to convey the pallet (13) to move; The lifting seat (6), the rotating mechanism (8) and the rotating seat (7) are all used to lift or lower between the two conveying assemblies (59); The conveyor frame (55) is connected to a left clamping block (64) for abutting against the upper surface of the left end of the pallet (13) and a right clamping block (65) for abutting against the upper surface of the right end of the pallet (13). The lifting drive mechanism is used to drive the lifting seat (6) to rise so that the lifting seat (6) lifts the pallet (13) on the conveyor belt (62) upward so that the upper surface of the pallet (13) is respectively pressed against the left clamping block (64) and the right clamping block (65).

8. The automatic wire insertion device according to claim 2, characterized in that: The lifting seat (9) comprises an upper seat body (66), a lower seat body (67) and at least two sliding rods (68); The sliding rod (68) is slidably connected to the rotating seat (7) in an up-down direction; The upper seat body (66) is connected to the upper end of the slide rod (68) and is located above the rotating seat (7); The lower seat body (67) is connected to the lower end of the slide rod (68) and is located below the rotating seat (7); The inserts (12) are arranged in sequence along the circumferential direction of the upper seat body (66) and are slidably disposed in the upper seat body (66) along the radial direction of the upper seat body (66); The lifting drive mechanism (10) is connected to the lifting seat (6) and is rotationally connected to the lower seat body (67). The lifting drive mechanism (10) is used to drive the lower seat body (67) to rise and thereby drive the upper seat body (66) and the insert plate (12) to move upward until they extend into the insertion channel (16). The lifting drive mechanism (10) is also used to drive the lower seat body (67) to descend so as to drive the upper seat body (66) and the insert plate (12) to move downward until they exit the insertion channel (16). Wherein, the lifting drive mechanism (10) comprises a mounting frame (69), a lifting screw rod (70), a lifting nut (71), a lifting motor (72) and a connecting seat (73); The mounting frame (69) is connected to the lifting seat (6); The lifting screw rod (70) is rotatably connected to the mounting frame (69); The connecting seat (73) is rotatably connected to the lower seat body (67), and the rotating shaft between the connecting seat (73) and the lower seat body (67) is coaxially arranged with the rotating shaft of the rotating mechanism (8) driving the rotating seat (7) to rotate; The lifting nut (71) is cooperatively connected to the lifting screw rod (70) and is connected to the connecting seat (73); The lifting motor (72) is connected to the mounting frame (69), and the lifting motor (72) is connected to the lifting screw (70) and is used to drive the lifting screw (70) to rotate, thereby driving the lifting nut (71), the connecting seat (73) and the lower seat body (67) to move up and down; Wherein, the telescopic driving mechanism (11) comprises a driving disk (74), a driving shaft (75) and a driving motor (76); The drive disk (74) is rotatably disposed in the upper seat body (66), and a plurality of drive slots (77) are provided in the drive disk (74) and are sequentially distributed along the circumferential direction. A drive pin (78) is connected to the insert (12), and the drive pin (78) is engaged in the corresponding drive slot (77); The upper end of the drive shaft (75) is connected to the drive disk (74), and the lower end of the drive shaft (75) is connected to the drive motor (76); The driving motor (76) is connected to the lower seat (67) and is used to drive the driving shaft (75) to rotate, thereby driving the driving disk (74) to rotate, and then driving the insert (12) to move radially outward or inward through the cooperation of the driving slot (77) and the driving pin (78); Wherein, the upper seat body (66) comprises a top plate (79), a bottom plate (80), at least one support sleeve (81) and at least one locking bolt (82); The bottom plate (80) is connected to the upper end of the slide rod (68) and is located above the rotating seat (7); The top plate (79) is located above the bottom plate (80), the support sleeve (81) is provided between the bottom plate (80) and the top plate (79), the upper end of the support sleeve (81) abuts against the top plate (79), the lower end of the support sleeve (81) abuts against the bottom plate (80), the locking bolt (82) passes through the top plate (79) and the support sleeve (81) and is threadedly connected to the bottom plate (80), thereby locking and connecting the top plate (79), the support sleeve (81) and the bottom plate (80); The driving disk (74) is rotatably disposed between the top plate (79) and the bottom plate (80), and the driving disk (74) is further provided with an arc-shaped groove (83) corresponding to the support sleeve (81), and the support sleeve (81) is fitted in the arc-shaped groove (83); The lower seat body (67) is provided with sliding grooves (84) corresponding one to one with the inserting pieces (12), and the inserting pieces (12) are radially slidably fitted in the corresponding sliding grooves (84).

9. The automatic wire insertion device according to claim 2, characterized in that: The lifting seat (6) comprises a lifting base plate (85) and at least two supporting frames (86); The lifting base plate (85) is slidably connected to the frame (1) in an up-down direction; The support frame (86) is connected to the lifting base plate (85), a rubber block (87) and a positioning pin (88) are connected to the support frame (86), and a positioning hole (89) corresponding to the positioning pin (88) is provided on the tray (13); The lifting drive mechanism comprises at least one lifting cylinder (90), the lifting cylinder (90) being connected to the frame (1) and connected to the lifting base plate (85), when the lifting cylinder (90) drives the lifting base plate (85) to rise and then drives the supporting frame (86) to rise, the rubber block (87) rises to abut against the bottom of the tray (13) and lifts the tray (13) on the material receiving and conveying mechanism (2) upwards, and the positioning pin (88) is inserted into the positioning hole (89) in the tray (13); The rotating mechanism (8) is a hollow rotating platform, the hollow rotating platform is connected to the lifting base plate (85), the rotating seat (7) is connected to the hollow rotating platform, and the lifting cylinder (90) is used to drive the lifting base plate (85) to rise, thereby driving the hollow rotating platform, the rotating seat (7) and the second clamping portion (20) to rise so that the second clamping portion (20) is lifted to be clamped and connected with the first clamping portion (18); The lifting base plate (85) is provided with a through channel (91), and the lifting seat (9) passes through the inner side of the hollow rotating platform and the through channel (91) and is slidably connected to the rotating seat (7).

10. The automatic wire insertion device according to claim 2, characterized in that: It also includes an unlocking mechanism; The plug body (14) is connected to a limit block (92), and a limit groove is provided in the limit block (92); The tray (13) is connected to a limiting mechanism, the limiting mechanism comprising a base assembly (93), a limiting clamping plate (94) and a spring (95); The base assembly (93) is connected to the tray (13); The limit clamping plate (94) is slidably connected in the base assembly (93) along the up-down direction; The spring (95) is installed in the base assembly (93), the spring (95) abuts against the limit clamping plate (94) and is used to drive the limit clamping plate (94) to slide and snap into the limit groove, thereby locking the circumferential position of the limit block (92) and the plug body (14) relative to the tray (13); The unlocking mechanism comprises an unlocking cylinder (96) and an unlocking component (97), wherein the unlocking component (97) is connected to the unlocking cylinder (96), and the unlocking cylinder (96) is used to drive the unlocking component (97) to move against the limit clamping plate (94), thereby driving the limit clamping plate (94) to overcome the elastic force of the spring (95) and slide out of the limit groove, thereby releasing the circumferential position lock of the limit block (92) and the plug body (14).

Images