A heavy-duty stator winding, embedding and expanding integrated machine
By designing an integrated winding and expansion machine and heavy-load wire-embedding robot, the problems of low production efficiency and low equipment safety in the motor stator manufacturing process in the prior art are solved, and an efficient and safe stator manufacturing process is achieved, and a stator with interphase common grooves is adapted.
Patent Information
- Application Number
- CN202411949943.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-04
AI Technical Summary
In the manufacturing process of existing motor stator, processes such as winding, wire insertion, and shaping usually require independent equipment, resulting in low production efficiency and high equipment costs. It is difficult for conventional robots to carry heavy-load stators, making operation difficult, stability and safety low.
A heavy-duty stator winding and expansion integrated machine is designed, integrating winding, wire insertion and shaping modules. The alternate use of wire cup molds is achieved through the frame and the turntable, and equipped with a heavy-duty wire insertion manipulator and loading and unloading mechanism to quickly replace large molds through the mold change mechanism.
It improves production efficiency, reduces equipment costs and positioning times, enhances the stability and safety of the equipment, and adapts to heavy-load stators with interphase common grooves, and improves flexibility and use range.
Smart Images
Figure CN119765826A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of motor stator manufacturing, and in particular to a heavy-load stator winding, embedding and expanding integrated machine. The present invention also relates to a working method of the heavy-load stator winding, embedding and expanding integrated machine. Background Art
[0002] The stator is the stationary part of the motor or generator. It is mainly composed of the stator core and the coil wound on the stator core. During the stator manufacturing process, the stator needs to go through the processes of paper insertion, winding, embedding, shaping, and wire binding.
[0003] At present, the traditional winding, wire embedding and shaping processes are usually completed by independent winding machines, wire embedding machines and shaping machines. The winding, wire embedding and shaping processes are not integrated together, and multiple positioning is required, which affects production efficiency. In addition, when switching between workstations of winding machines, wire embedding machines and shaping machines, robots are generally used for clamping, moving and positioning. However, the robot has a limited load. For heavy-loaded stators greater than 100 kilograms, conventional robots cannot bear the load, resulting in difficulty in operation, and low stability and safety. Summary of the invention
[0004] The present invention aims to provide a heavy-duty stator winding, embedding and expanding integrated machine to overcome the deficiencies in the prior art.
[0005] In order to solve the above technical problems, the technical solution of the present invention is: a heavy-load stator winding, embedding and expanding integrated machine, comprising a frame and a winding module, a wire embedding module and a shaping module arranged on the frame, wherein the winding module is arranged on one side of the frame for winding, the wire embedding module is arranged on the other side of the frame for embedding, and the shaping module is arranged in parallel on the front side of the wire embedding module for expanding and shaping after embedding; a turntable is arranged on the base of the frame, wire cup molds are arranged at both ends of the turntable, and a paper inserting mechanism is arranged on one side of the winding module under the turntable; the frame is close to the wire embedding A heavy-loaded wire-inserting robot is also provided on one side of the module, and a loading and unloading mechanism located outside the frame is provided below the wire-inserting robot. The loading and unloading mechanism is used for loading and unloading the stator, and the wire-inserting robot is used for positioning and clamping the stator, so that the stator alternates between the wire-inserting module, the shaping module and the loading and unloading mechanism, and cooperates with the wire-inserting module and the shaping module to complete the wire-inserting and shaping. A mold-changing mechanism is also provided on the front side of the turntable, and the mold-changing mechanism is used to assist in replacing the wire cup mold. The wire cup mold alternates between the winding module, the wire-inserting module and the mold-changing mechanism through the turntable.
[0006] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the winding module includes a winding mechanism and a wire clamping and cutting mechanism, the winding mechanism is arranged on the upper frame of the frame, the wire clamping and cutting mechanism includes a wire cutting assembly and a wire clamping assembly, the wire cutting assembly is arranged on the side of the winding mechanism away from the wire embedding module, and is used for cutting the wire, the wire clamping assembly is arranged on the rear side of the winding mechanism, and is used for clamping the wire end and rolling the wire end into a spring shape, and the wire clamping assembly is movably connected to the winding mechanism through two translation assemblies; the wire clamping assembly includes a wire winding rod, a wire pushing rod, and a wire clamping rod, and the wire winding rod is arranged on the wire winding seat, and is provided with The driving assembly on the wire winding seat is rotatably connected to the wire winding seat, one end of the wire pushing rod is connected to the wire pushing cylinder arranged on the wire winding seat, and the other end is connected to the wire pushing sleeve, the wire pushing sleeve is arranged on the outside of the wire winding rod, and is slidably connected to the wire winding rod through the wire pushing cylinder, the wire clamping rod is inserted into the wire winding rod, and is slidably connected to the wire winding rod through the wire clamping cylinder arranged on the wire winding seat, and the end of the wire winding rod is provided with a conical hole and a wire passing groove passing through the conical hole, and the end of the wire clamping rod is provided with a conical head away from the wire clamping cylinder, and the conical head cooperates with the conical hole to clamp the wire passing through the wire passing groove.
[0007] Furthermore, in the above-mentioned heavy-duty stator winding, embedding and expanding integrated machine, the paper insertion mechanism is arranged on a turntable base, the turntable is rotatably connected to the turntable base through a driving motor, the paper insertion mechanism includes a paper feeding assembly, a cutter assembly 1, a cutter assembly 2, a paper punching assembly, a paper pushing assembly, and a dividing assembly, the paper feeding assembly, the cutter assembly 1, the cutter assembly 2, and the paper punching assembly are arranged on the paper insertion base plate in sequence from bottom to top, the paper feeding assembly is used to transport the roll paper, the roll paper enters the paper storage via the paper tray and the paper feeding assembly, and the paper punching assembly is used to punch the paper into the forming groove of the paper storage for forming, The cutter assembly 1 is used to cut the roll paper after the roll paper is formed. The cutter assembly 2 is arranged close to the top of the cutter assembly 1 and is used to cut a notch at the lower end of the cut slot cover paper so that the protruding part of the slot cover paper used for separation can be unfolded. The cutter assembly 2 includes a cutter cylinder and a cutter seat arranged at the output end of the cutter cylinder. Two forks are arranged at the end of the cutter seat, and each of the forks is provided with a cutter. The indexing assembly is arranged on the turntable base and is used to index the rotating paper library. The paper pushing mechanism is arranged below the paper library and is used to push the formed slot cover paper in the paper library into the wire cup mold.
[0008] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the loading and unloading mechanism includes a ground rail conveying assembly and two mobile pallets, the two mobile pallets are respectively arranged at both ends of the ground rail conveying assembly, and are used for loading the stator and unloading the stator respectively, and the mobile pallets are provided with a positioning assembly for loading the stator and a flipping assembly for changing the state of the stator.
[0009] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the wire embedding manipulator is arranged on a side frame on one side of the frame, and includes a manipulator base, a column, a rotating component, a lifting component, and a clamping and positioning mechanism. A column is provided above the manipulator base, and the rotating component is provided on the manipulator base, and is used to drive the column to rotate around the center of the manipulator base. The lifting component is provided on the column and can drive the clamping and positioning mechanism to move up and down in the vertical direction. The clamping and positioning mechanism includes a clamping arm and an upper tooth guard plate, a lower tooth guard plate, and a flip component provided on the clamping arm. The clamping arm is connected to the output end of the lifting component, and the upper and lower tooth guard plates are used to position and clamp the stator. The upper and lower tooth guard plates are symmetrically arranged on the upper and lower sides of the clamping arm with the clamping arm as the center, and are combined with the support plate arranged between the upper and lower tooth guard plates to form a wire embedding mold. The flipping component is connected to the support plate and is used to drive the wire embedding mold to rotate in a horizontal direction. A tooth opening component is also provided on one side of the column, and the tooth opening component is movably connected to the clamping and positioning mechanism, which is used to simultaneously drive the movable plates on the upper and lower tooth guard plates to rotate so as to loosen or clamp the stator.
[0010] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the wire embedding module includes an upper pressure mechanism and a wire embedding mechanism, the upper pressure mechanism is arranged on the upper frame, and is used to press the stator and locate the center of the stator, the wire embedding mechanism is arranged on the base, and is located directly below the upper pressure mechanism, and includes a push rod assembly 1 and a push rod assembly 2 and a push rod assembly 3 arranged on the push rod assembly 1, the push rod assembly 1 includes a push rod disk 1 and a push rod 1, and the push rod 1 is provided with a plurality of push rods, which are arranged along the circumference of the push rod disk 1. The push rod assembly 2 includes a push rod disc 2 and a push rod 2. The push rod 2 is provided with multiple push rods, which are arranged along the circumference of the push rod disc 2. The push rod assembly 3 includes a push rod disc 3 and a push rod 3. The push rod 3 is provided with multiple push rods, which are arranged along the circumference of the push rod disc 3. The push rod 1, the push rod 2 and the push rod 3 are arranged at intervals and respectively correspond to the embedded wire push of one phase of the stator, and the push rod assembly 1, the push rod assembly 2 and the push rod assembly 3 are respectively connected to an independent driving assembly.
[0011] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the shaping module includes an upper expansion component and an expansion mold, the upper expansion component is arranged at the upper end of the side frame, the expansion mold is arranged on an expansion tray, the expansion tray is arranged on the top of the expansion bracket and is movably connected to the expansion bracket, and an expansion component for driving the expansion mold is also arranged inside the expansion bracket.
[0012] Furthermore, the above-mentioned heavy-loaded stator winding, embedding and expanding integrated machine also includes a mold changing mechanism 2 for replacing the expansion mold. The mold changing mechanism 2 is arranged on one side of the mold changing mechanism 1, and includes a translation conveying assembly and an expansion mold changing trolley. The translation conveying assembly is arranged on the base, and is used to drive the expansion bracket to move between the shaping station and the expansion mold changing trolley. A guide rail sliding assembly 1 is provided on the top of the expansion bracket, and a guide rail sliding assembly 2 is provided on the top of the expansion mold changing trolley, which is docked with the guide rail sliding assembly 1. The expansion tray moves between the expansion bracket and the expansion mold changing trolley through the guide rail sliding assembly 1 and the guide rail sliding assembly 2. Preferably, the guide rail sliding assembly 1 includes a guide rail 1, a ball group 1, and a pressure plate 1. Guide rails 1 are arranged opposite to each other on both sides of the top of the expansion bracket. The two guide rails 1 form a guide groove for guiding the expansion tray to move. The ball group 1 includes a plurality of balls evenly arranged along the inner side of the guide rail 1, and the pressure plate 1 is arranged on the top of the guide rail 1; the guide rail sliding assembly 2 includes a guide rail 2, a guide rail 3, a guide rail seat, a ball group 2, and a pressure plate 2. Guide rails 2 are arranged on both sides of the top of the expansion mold changing trolley, and a guide rail 3 is arranged in the same line with the guide rail 2 at one end. The guide rail 3 extends to the outside of the expansion mold changing trolley and is connected to the expansion mold changing trolley through the guide rail seat. The two guide rails 2 and the two guide rails 3 form a guide groove for guiding the expansion tray to move to the expansion mold changing trolley, the ball group 2 includes a plurality of balls evenly arranged along the inner sides of the guide rails 2 and the guide rails 3, and the pressure plate 2 includes a plurality of small pressure plates installed on the top of the guide rail 2.
[0013] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the mold changing mechanism 1 includes a mold changing trolley and a jacking assembly, the jacking assembly is arranged below the turntable and is used to lift the wire cup mold to separate the wire cup mold from the turntable, the jacking assembly includes a jacking device 1 and a jacking disk coaxially arranged with the wire cup mold, the jacking device 1 is arranged at the top of the bracket, and its output end is connected to the bottom of the jacking disk, the bracket is fixed on the base, and a plurality of balls are arranged on the jacking disk. Preferably, the jacking disk is a circular disk body, and the plurality of balls are evenly arranged along a plurality of concentric circles on the bottom surface of the disk body, and are staggered on adjacent concentric circles; two symmetrically arranged guide rods are also arranged on both sides of the jacking device, the top of the guide rod is connected to the jacking disk, and the lower end is slidably connected to the bracket, the mold changing trolley is arranged at the mold changing station of the turntable, and includes a car body, a transfer push plate is arranged above the car body, a roller is arranged at the bottom of the transfer push plate, a positioning member for positioning the paper cup tool is arranged on the top, and it is movably connected to the car body through a lifting assembly 2.
[0014] Furthermore, in the above-mentioned heavy-load stator winding, embedding and expanding integrated machine, the lifting component 2 includes a lifter 2, a lifting platform, and guide columns. The lifter 2 is fixed on the top of the vehicle body, and a lifting platform is provided at its output end. The transfer push plate is provided on the lifting platform, and the four corners of the lifting platform are provided with guide columns slidably connected to the vehicle body; a guide groove is provided on the top of the lifting platform, and side guide plates are provided on both sides of the guide groove. Limiting plates detachably connected to the lifting platform are provided at both ends of the guide groove, and oppositely arranged introduction inclined surfaces are provided at both ends of the two side guide plates.
[0015] Furthermore, in the above-mentioned heavy-loaded stator winding, embedding and expanding integrated machine, the mold changing mechanism also includes a moving trolley, which is arranged on a side of the mold changing trolley away from the jacking assembly and is movably connected to the mold changing trolley. The moving trolley is provided with universal wheels at the bottom, handrails at the sides, and a receiving groove movably connected to the transfer push plate at the top, and the receiving groove is a U-shaped opening groove, the opening end of the opening groove is arranged toward the mold changing trolley, and the side plates on both sides of the opening end of the opening groove are provided with introduction inclined surfaces, and the opening end of the opening groove is also provided with a stop plate for blocking the opening, and the stop plate is detachably connected to the moving trolley.
[0016] The present invention also provides a working method of a heavy-duty stator winding, embedding and expanding integrated machine, comprising the following steps:
[0017] S1, winding;
[0018] S2, inserting paper. After the paper is inserted, the turntable rotates to rotate the wire cup mold with the paper inserted to the wire embedding station;
[0019] S3, loading the stator. While winding the wire, the stator is loaded by the mobile tray of the loading and unloading mechanism and moved to the loading and unloading station of the wire-inserting manipulator. The wire-inserting manipulator clamps and holds the stator tightly.
[0020] S4, wire embedding, the wire embedding manipulator rotates to the wire embedding station, puts the stator into the wire cup mold and stops, then the upper pressing mechanism and the wire embedding mechanism are started in sequence to complete the wire embedding of one phase, and then the upper pressing mechanism and the wire embedding mechanism are reset;
[0021] S4, shaping, the wire-inserting manipulator rotates to the shaping station, puts the stator into the expansion mold and stops, and the upper expansion component and the expansion component are started in sequence to complete the expansion shaping of one phase;
[0022] S5, completing two-phase line embedding and shaping according to steps S3-S4 in a loop, and completing three-phase line embedding according to step S3;
[0023] S6, unloading, the wire embedding robot rises, takes the completed wire-embedded stator out of the wire cup mold, and then the wire embedding robot rotates and resets, the mobile pallet used for unloading moves to the unloading and loading station of the wire embedding robot, takes away the stator on the wire embedding robot, and completes unloading.
[0024] When the stator to be processed is a case of interlaced common slots, in step S2, the cutter assembly 2 is started to cut a notch in the isolation slot cover paper inserted into the common slot, and in step S4, the push rod assembly 2 or the push rod assembly 3 of the wire embedding mechanism pushes the notched slot cover paper twice to make the notched slot cover paper higher than the stator end surface.
[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention integrates winding, wire embedding and shaping into one, saves equipment cost, reduces positioning, and improves production efficiency; and by transplanting the stator with a heavy-loaded wire embedding robot and cooperating with wire embedding and shaping, the wire embedding process is reduced, production efficiency is further improved, and the working stability and safety of the equipment are improved; the mold changing of large wire cup molds and expansion molds is also realized through the mold changing mechanism, the operation is convenient and fast, and the mold changing efficiency and mold changing safety are improved; it can also adapt to the winding and embedding of heavy-loaded stators with interphase common slots, with good flexibility and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0027] Figure 1 The structure of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention is shown in FIG. Figure 1 ;
[0028] Figure 2 The structure of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention is shown in FIG. Figure 2 ;
[0029] Figure 3 It is a schematic diagram of a movable tray of a heavy-load stator winding, embedding and expanding integrated machine of the present invention;
[0030] Figure 4 It is a partial schematic diagram of the wire clamping and cutting mechanism of the winding, embedding and expanding integrated machine of the heavy-duty stator of the present invention;
[0031] Figure 5 The wire clamping assembly of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention is schematically shown. Figure 1 ;
[0032] Figure 6 The wire clamping assembly of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention is schematically shown. Figure 2 ;
[0033] Figure 7 It is a schematic diagram of the wire embedding mechanism and paper inserting mechanism of the winding, embedding and expanding integrated machine for the heavy-duty stator of the present invention;
[0034] Figure 8 for Figure 7 A local enlarged structural schematic diagram;
[0035] Fig. 9 It is a schematic diagram of a turntable of a heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0036] Fig.10 Schematic diagram of the wire inserting manipulator of the heavy-duty stator winding, inserting and expanding integrated machine of the present invention Figure 1 ;
[0037] Fig.11 Schematic diagram of the wire inserting manipulator of the heavy-duty stator winding, inserting and expanding integrated machine of the present invention Figure 2 ;
[0038] Fig.12 It is a schematic diagram of a die changing mechanism of a heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0039] Fig.13 It is a schematic diagram of a mold changing trolley of a heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0040] Fig.14 It is a schematic diagram of the connection between the shaping module and the second die-changing mechanism of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0041] Fig.15 It is a partial schematic diagram of the second die-changing mechanism of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0042] Fig.16 It is a schematic diagram of the expansion and die-changing mechanism trolley of the heavy-duty stator winding, embedding and expanding integrated machine of the present invention;
[0043] In the figure: 1, frame; 11, base; 12, upper frame; 13, side frame;
[0044] 2. Wire winding module; 21. Wire winding mechanism; 22. Wire clamping and cutting mechanism; 221. Wire cutting assembly; 222. Wire clamping assembly; 2221. Wire winding rod; 22211. Wire passing groove; 2222. Wire pushing rod; 2223. Wire clamping rod; 22231. Conical head; 2224. Wire winding seat; 2225. Wire pushing cylinder; 2226. Wire pushing sleeve; 2227. Wire clamping cylinder; 223. Translation assembly;
[0045] 3. Wire embedding module; 31. Pressing mechanism; 32. Wire embedding mechanism; 321. Pushing reel 1; 322. Pushing rod 1; 323. Pushing reel 2; 324. Pushing rod 2; 325. Pushing reel 3; 326. Pushing rod 3;
[0046] 4. Shaping module; 41. Upper expansion assembly; 42. Expansion mold; 43. Expansion tray; 44. Expansion bracket; 45. Expansion assembly;
[0047] 5. Turntable; 51. Spool mold; 52. Turntable base;
[0048] 6. Paper inserting mechanism; 61. Paper feeding assembly; 62. Cutter assembly 1; 63. Cutter assembly 2; 631. Cutter cylinder; 632. Cutter seat; 633. Cutter; 64. Paper punching assembly; 65. Paper pushing assembly; 66. Indexing assembly; 67. Paper inserting base plate; 68. Paper storage;
[0049] 7. Wire-inserting manipulator; 71. Manipulator base; 72. Column; 73. Rotating assembly; 74. Lifting assembly 1; 75. Clamping and positioning mechanism; 751. Clamping arm; 752. Upper tooth guard plate; 753. Lower tooth guard plate; 754. Flipping assembly; 755. Support plate; 76. Tooth opening assembly;
[0050] 8. Loading and unloading mechanism; 81. Ground rail conveying assembly; 82. Moving pallet; 821. Positioning assembly; 822. Turning assembly;
[0051] 9. Mold changing mechanism 1; 91. Mold changing trolley; 911. Car body; 912. Fixed plate; 913. Mounting bottom plate; 92. Lifting assembly; 921. Lifting plate; 922. Lifter 1; 923. Bracket; 924. Guide rod; 93. Transfer push plate; 931. Quick clamp; 932. Positioning hole; 94. Lifting assembly 2; 941. Lifter 2; 942. Lifting platform; 943. Guide column; 944. Side guide plate; 945. Limit plate; 95. Moving trolley; 951. Universal wheel; 952. Handrail; 953. Accommodating slot; 954. Stop plate;
[0052] 10. Mold changing mechanism 2; 101. Translation conveying assembly; 102. Expansion mold changing trolley, guide rail sliding assembly 2; 1021. Guide rail 2; 1022. Guide rail 3; 1023. Guide rail seat; 1024. Ball group 2; 1025. Press plate 2; 103. Guide rail sliding assembly 1; 1031. Guide rail 1; 1032. Ball group 1; 1033. Press plate 1. DETAILED DESCRIPTION
[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0054] Example 1
[0055] like Figure 1-16As shown, a heavy-load stator winding, embedding and expanding integrated machine includes a frame 1 and a winding module 2, a wire embedding module 3, and a shaping module 4 arranged on the frame 1. The winding module 2 is arranged on one side of the frame 1 for winding, the wire embedding module 3 is arranged on the other side of the frame 1 for embedding, and the shaping module 4 is arranged in parallel on the front side of the wire embedding module 3 for expanding and shaping after embedding; a turntable 5 is arranged on the base 11 of the frame 1, and wire cup molds 51 are arranged at both ends of the turntable 5, and a paper insertion mechanism 6 located on one side of the winding module 2 is also arranged under the turntable 5; the frame 1 is also provided on the side close to the wire embedding module 3 A heavy-loaded wire inserting robot 7 is provided with a loading and unloading mechanism 8 located outside the frame 1 below the wire inserting robot 7. The loading and unloading mechanism 8 is used for loading and unloading the stator, and the wire inserting robot 7 is used to position and clamp the stator, so that the stator alternates between the wire inserting module 3, the shaping module 4 and the loading and unloading mechanism 8, and cooperates with the wire inserting module 3 and the shaping module 4 to complete wire inserting and shaping; a mold changing mechanism 9 is also provided on the front side of the turntable 5, and the mold changing mechanism 9 is used to assist in replacing the wire cup mold 51. The wire cup mold 51 alternates between the winding module 2, the wire inserting module 3 and the mold changing mechanism 9 through the turntable 5. The present invention integrates winding, wire embedding and shaping into one, which saves equipment cost, reduces positioning, and improves production efficiency. The stator is transplanted by a heavy-loaded wire embedding manipulator, and the wire embedding and shaping are coordinated to reduce the wire embedding process, further improve production efficiency, and improve the working stability and safety of the equipment. The mold changing mechanism can also be used to realize the mold changing of large wire cup molds and expansion molds, which is convenient and quick to operate, and improves the mold changing efficiency and mold changing safety.
[0056] like Figure 1-2, 4-6, the winding module 2 includes a winding mechanism 21 and a clamping and cutting mechanism 22. The winding mechanism 21 is arranged on the upper frame 12 of the frame 1. The clamping and cutting mechanism 22 includes a cutting assembly 221 and a clamping assembly 222. The cutting assembly 221 is arranged on the side of the winding mechanism 21 away from the wire inserting module 3 for cutting the wire. The clamping assembly 222 is arranged on the rear side of the winding mechanism 21 for clamping the wire end and rolling the wire end into a spring shape. The clamping assembly 222 is movably connected to the winding mechanism 21 through two translation assemblies 223; the clamping assembly 222 includes a winding rod 2221, a pushing rod 2222, and a clamping rod 2223. The winding rod 2221 is arranged on a winding seat 2224, and is connected to the winding seat 2224 through a driving assembly arranged on the winding seat 2224. Rotationally connected, one end of the wire pushing rod 2222 is connected to the wire pushing cylinder 2225 provided on the wire winding seat 2224, and the other end is connected to the wire pushing sleeve 2226, the wire pushing sleeve 2226 is sleeved on the outside of the wire winding rod 2221, and is slidably connected to the wire winding rod 2221 through the wire pushing cylinder 2225, the wire clamping rod 2223 is inserted into the wire winding rod 2221, and is slidably connected to the wire winding rod 2221 through the wire clamping cylinder 2227 provided on the wire winding seat 2224, and the end of the wire winding rod 2221 is provided with a conical hole and a wire passing groove 22211 passing through the conical hole, and the end of the wire clamping rod 2223 away from the wire clamping cylinder 2227 is provided with a conical head 22231, and the conical head 22231 cooperates with the conical hole to clamp the wire passing through the wire passing groove 22221. When clamping the line, the wire clamping rod 2223 extends out of the wire winding rod 2221, and there is a gap between the conical head 22231 and the conical hole. The wire end is inserted into the gap from the wire passing groove 22221, and then the wire clamping rod 2223 retracts, and the conical head 22231 cooperates with the conical hole to clamp the wire end, and then the wire winding rod 2221 rotates to wind the wire. After the winding is completed, the wire clamping rod 2223 is released, and the wire pushing sleeve 2226 pushes the wound wire outside the wire winding rod 2221 out of the wire winding rod 2221. Through the setting of the wire clamping rod 2223, it can be ensured that the wire does not slip when winding, and effective winding is guaranteed. The wire clamping rod 2223 has a simple structure and is easy to operate.
[0057] like Figure 1-3 As shown, the loading and unloading mechanism 8 includes a ground rail conveying assembly 81 and two mobile pallets 82. The two mobile pallets 82 are respectively arranged at the two ends of the ground rail conveying assembly 81, and are used for loading the stator and unloading the stator. The mobile pallet 82 is provided with a positioning assembly 821 for loading the stator and a flip assembly 822 for changing the state of the stator. The flip assembly 822 allows the stator to switch between a vertical state and a horizontal state, which is convenient for loading a heavy-loaded stator onto the mobile pallet 82, and also convenient for transferring the stator to the wire inserting manipulator 7.
[0058] like Figure 1 , 7-8, the paper inserting mechanism 6 is arranged on the turntable base 52, and the turntable 5 is rotatably connected with the turntable base 52 through a driving motor. The paper inserting mechanism 6 includes a paper feeding assembly 61, a cutter assembly 1 62, a cutter assembly 2 63, a paper punching assembly 64, a paper pushing assembly 65, and a dividing assembly 66. The paper feeding assembly 61, the cutter assembly 1 62, the cutter assembly 2 63, and the paper punching assembly 64 are arranged on the paper inserting base plate 67 in sequence from bottom to top. The paper feeding assembly 61 is used to transport the roll paper, and the roll paper enters the paper storage 68 through the paper placing tray and the paper feeding assembly 61. The paper punching assembly 64 is used to punch the paper into the forming groove of the paper storage 68 for forming. The cutter assembly 1 62 is used to cut the roll paper after the roll paper is formed. The cutter assembly 2 63 is arranged close to the cutter assembly 1 62 and is used to cut a notch at the lower end of the cut slot cover paper, so as to separate the slot cover paper convex The protruding part can be unfolded, the cutter component 2 63 includes a cutter cylinder 631 and a cutter seat 632 arranged at the output end of the cutter cylinder 631, the end of the cutter seat 632 is provided with two forks, each of the forks is provided with a cutter 633, because the wire packages in the stator have interphase common slots, in order to avoid leakage, the wire packages in the common slots need to be separated, and a high slot cover paper protruding from the stator end face needs to be inserted into the middle of the stator slot. In order to facilitate the insertion of the phase separation paper between the high slot cover paper and the external low slot cover paper in the later stage, the protruding part of the high slot cover paper is notched to make the formed protruding part unfolded, so as to facilitate the insertion of the phase separation paper into the bottom later; the indexing component 66 is arranged on the turntable base 52, which is used for indexing the rotating paper library 68, and the paper pushing mechanism 65 is arranged below the paper library 68, which is used to push the formed slot cover paper in the paper library 68 into the wire cup mold 51.
[0059] Example 2
[0060] Based on the structure of Example 1, Figure 1-2As shown in 10-11, the wire embedding manipulator 7 is arranged on the side frame 13 on one side of the frame 1, including a manipulator base 71, a column 72, a rotating component 73, a lifting component 74, and a clamping and positioning mechanism 75. A column 72 is provided above the manipulator base 71. The rotating component 73 is provided on the manipulator base 71 and is used to drive the column 72 to rotate around the center of the manipulator base 71. The lifting component 73 is provided on the column 72 and can drive the clamping and positioning mechanism 75 to move up and down in the vertical direction. The clamping and positioning mechanism 75 includes a clamping arm 751 and an upper tooth guard plate 752, a lower tooth guard plate 753, and a flip component 754 provided on the clamping arm 751. The clamping arm 751 and the lifting component 74 are provided on the clamping arm 751. The output end of the descending component 74 is connected, the upper tooth guard plate 752 and the lower tooth guard plate 753 are used to position and clamp the stator, the upper tooth guard plate 752 and the lower tooth guard plate 753 are symmetrically arranged on the upper and lower sides of the clamping arm 751 with the clamping arm 751 as the center, and are combined with the support plate 755 arranged between the upper tooth guard plate 751 and the lower tooth guard plate 752 to form a wire embedding mold, the flipping component 754 is connected to the support plate 755, and is used to drive the wire embedding mold to rotate in a horizontal direction, and a tooth opening component 76 is also provided on one side of the column 72, and the tooth opening component 76 is movably connected to the clamping positioning mechanism 75, and is used to simultaneously drive the movable plates on the upper tooth guard plate 752 and the lower tooth guard plate 753 to rotate, thereby loosening or clamping the stator.
[0061] like Figure 1-2 As shown in Figure 7, the wire embedding module 3 includes a pressing mechanism 31 and a wire embedding mechanism 32. The pressing mechanism 31 is arranged on the upper frame 12 and is used to press the stator and locate the center of the stator. The wire embedding mechanism 32 is arranged on the base 11 and is located directly below the pressing mechanism 31. It includes a push rod assembly 1 and a push rod assembly 2 and a push rod assembly 3 arranged on the push rod assembly 1. The push rod assembly 1 includes a wire pushing disk 1 321 and a wire pushing rod 1 322. The wire pushing rod 1 322 is provided with a plurality of push rods arranged along the circumference of the wire pushing disk 1 321. The push rod assembly 2 includes a push rod assembly 3 The wire reel 2 323 and the wire pushing rod 2 324, wherein the wire pushing rod 2 324 is provided with a plurality and arranged circumferentially of the wire pushing reel 2 323, the push rod assembly 3 comprises a wire pushing reel 3 325 and a wire pushing rod 3 326, wherein the wire pushing rod 3 326 is provided with a plurality and arranged circumferentially of the wire pushing reel 3 325, the wire pushing rod 1 322, the wire pushing rod 2 324 and the wire pushing rod 3 326 are arranged at intervals and respectively correspond to the wire pushing of one phase of the stator, and the push rod assembly 1, the push rod assembly 2 and the push rod assembly 3 are respectively connected to an independent driving assembly. When embedding the wire, the push rod assembly 1 starts first, driving the wire pushing rod 1 322 and the wire pushing assembly 2 and the wire pushing assembly 3 to rise. At this time, the low slot cover paper is pushed into place. If there is no interphase common slot situation, the wire embedding is completed. If there is an interphase common slot situation, the wire pushing assembly 2 or the wire pushing assembly 3 is started according to the position of the high slot cover paper, and the high slot cover paper is pushed up a distance to realize the stator wire embedding of interphase common slots, which has good flexibility.
[0062] like Figure 1-2 As shown in 14, the shaping module 4 includes an upper expansion component 41 and an expansion mold 42. The upper expansion component 41 is arranged at the upper end of the side frame 13, and the expansion mold 42 is arranged on an expansion tray 43. The expansion tray 43 is arranged on the top of the expansion bracket 44 and is movably connected to the expansion bracket 44. The expansion bracket 44 is also provided with an expansion component 45 for driving the expansion mold 42.
[0063] like Figure 1-2 As shown in 14-16, the above-mentioned winding, embedding and expanding integrated machine also includes a mold changing mechanism 10 for replacing the expansion mold 42, and the mold changing mechanism 10 is arranged on one side of the mold changing mechanism 9, including a translation conveying component 101 and an expansion mold changing trolley 102. The translation conveying component 101 is arranged on the base 11, and is used to drive the expansion bracket 44 to move between the shaping station and the expansion mold changing trolley 102. The top of the expansion bracket 44 is provided with a guide rail sliding component 103, and the expansion mold changing trolley 102 The top is provided with a guide rail sliding assembly 2 docking with the guide rail sliding assembly 103, and the expansion tray 43 moves between the expansion bracket 44 and the expansion mold changing trolley 102 through the guide rail sliding assembly 103 and the guide rail sliding assembly 2; the guide rail sliding assembly 103 includes a guide rail 1031, a ball group 1032, and a pressure plate 1033. The top two sides of the expansion bracket 44 are provided with guide rails 1031 arranged opposite to each other, and the two guide rails 1031 form a guide for guiding the expansion tray 43 to move. The ball group 1032 includes a plurality of balls evenly arranged along the inner side of the guide rail 1031, and the pressure plate 1033 is arranged on the top of the guide rail 1031; the guide rail sliding assembly 2 includes the guide rail 2 1021, the guide rail 3 1022, the guide rail seat 1023, the ball group 2 1024, and the pressure plate 2 1025. The expansion mold changing trolley 102 is provided with guide rails 2 1021 on both sides of the top, and one end of the guide rail 2 1021 is provided with a guide rail 3 1022 arranged in the same line therewith. 22 extends to the outside of the expansion mold changing trolley 102 and is connected to the expansion bracket 44, and is connected to the expansion mold changing trolley 102 through the guide rail seat 1023. Two guide rails 1021 and two guide rails 1022 form a guide groove for guiding the expansion tray 43 to move to the expansion mold changing trolley 102. The ball group 1024 includes a plurality of balls evenly arranged along the inner sides of the guide rails 1021 and 1022. The pressure plate 1025 includes a plurality of small pressure plates installed on the top of the guide rail 1021. The pressure plates 1 and 2 limit the displacement of the expansion tray 43 in the vertical direction. The expansion tray is also locked and connected with the expansion bracket and the expansion mold changing trolley through a locking pin.
[0064] When the expansion mold 42 needs to be replaced, the translation conveying assembly 101 is started, driving the expansion bracket 44 to move close to the expansion mold changing trolley 102, and connecting the guide rail seat 1023 with the expansion bracket 44, solving the locking of the expansion tray 43 and the expansion bracket 44, pulling the expansion tray 43, and the expansion tray 43 moves along the guide rail 1 1031, the guide rail 3 1022, and the guide rail 2 1021, and moves from the expansion bracket 44 to the expansion mold changing trolley 102, and then locks the expansion tray 43 and the expansion mold changing trolley 102, and moves the expansion mold changing trolley 102 to the maintenance place; when a new expansion mold 42 needs to be installed, it can be implemented in the opposite direction of the mold changing. The mold changing mechanism 2 10 has a simple structure and convenient operation, which greatly reduces the difficulty of maintenance and mold changing, and has high operational safety.
[0065] like Figure 1-2 As shown in 12-13, the mold changing mechanism 9 includes a mold changing trolley 91 and a lifting assembly 92. The lifting assembly 92 is arranged below the turntable 5 and is used to lift the wire cup mold 51 to separate the wire cup mold 51 from the turntable 5. The lifting assembly 92 includes a lifter 922 and a lifting disk 921 coaxially arranged with the wire cup mold 51. The lifter 922 is arranged on the top of the bracket 923, and its output end is connected to the bottom of the lifting disk 921. The bracket 93 is fixed on the base 11. A plurality of balls are arranged on the lifting disk 921. The lifting disk 921 is a circular disk body. The plurality of balls are arranged along the bottom surface of the disk body. The multiple concentric circles are evenly arranged and staggered on adjacent concentric circles, so that the friction force is small during jacking and the wire-embedded mold is evenly stressed; two symmetrically arranged guide rods 924 are also provided on both sides of the jacking device 922, the top of the guide rod 924 is connected to the jacking plate 921, and the lower end is slidably connected to the bracket 923. The mold-changing trolley 91 is arranged at the mold-changing station of the turntable 5, including a car body 911, and a transfer push plate 93 is provided above the car body 911. The transfer push plate 93 is provided with a roller at the bottom and a positioning piece for positioning the paper cup tool 51 at the top, and is movably connected to the car body 911 through a lifting component 2 94.
[0066] Among them, Figure 12-13As shown, the lifting assembly 2 94 includes a jack 2 941, a lifting platform 942, and a guide column 943. The jack 2 941 is fixed on the top of the car body 911, and a lifting platform 942 is provided at its output end. The transfer push plate 93 is arranged on the lifting platform 942, and the four corners of the lifting platform 942 are provided with guide columns 943 that are slidably connected to the car body 911; the top of the lifting platform 942 is provided with a guide groove, and the two sides of the guide groove are side guide plates 944. The two ends of the guide groove are provided with limit plates 945 that are detachably connected to the lifting platform 942, and the two ends of the two side guide plates 944 are provided with oppositely arranged introduction slopes. The setting of the guide groove facilitates the transfer push plate 93 to enter the guide groove from both sides of the lifting platform 942, and the limit plate 945 on the side from which the transfer push plate 93 enters the guide groove is removed, and the limit plate 945 is connected to the lifting platform 942 through a latch, so that the disassembly and assembly are convenient and quick. In addition, a fixing plate 912 is provided at the bottom of the mold-changing trolley 91, a mounting base plate 913 is provided at the bottom of the vehicle body 911, a square through hole is provided at the center of the mounting base plate 913, and four fixing plates 912 are provided, which are located on four sides of the through hole and are used to fix the position of the vehicle body 911. The setting of the fixing plates 912 ensures the docking accuracy between the mold-changing lower vehicle 91 and the turntable, thereby improving the safety of operation.
[0067] like Figure 1-2 As shown in Figures 1 and 12, the mold changing mechanism 1 also includes a moving trolley 95, which is arranged on the side of the mold changing trolley 91 away from the jacking assembly 92 and is movably connected to the mold changing trolley 91. The bottom of the moving trolley 95 is provided with a universal wheel 951, the side is provided with a handrail 952, and the top is provided with a receiving groove 953 movably connected to the transfer push plate 93. The receiving groove 953 is a U-shaped opening groove, the opening end of the opening groove is arranged toward the mold changing trolley 91, and the side plates on both sides of the opening end of the opening groove are provided with an introduction slope, and the opening end of the opening groove is also provided with a stop plate 954 for blocking the opening, and the stop plate 954 is detachably connected to the moving trolley 95. By setting the moving trolley 95, the replaced wire inserting mold can be transported to the maintenance site, and the mold changing trolley 91 does not need to be moved, which reduces the number of positioning times during mold changing, has good flexibility, and is more convenient to operate.
[0068] When the wire cup mold needs to be replaced, the turntable 5 rotates to the mold changing station, the mold changing trolley 91 docks with the turntable 5, the jacking assembly 92 and the lifting assembly 94 are started synchronously, the wire cup mold rises and separates from the turntable 5, the lifting platform 942 is flush with the turntable, the transfer push plate 93 rises, and then the transfer push plate 93 on the lifting platform 942 is pushed and inserted above the lifting plate 921, and then the lifting assembly 92 is reset, the transfer push plate 93 carries the middle part of the wire cup mold, and the transfer push plate 93 handle is pulled to pull the transfer push plate 93 and the wire embedding mold to be repaired back to the mold changing trolley 91, and separate from the wire embedding equipment; finally, the limit plate 945 and the stop plate 954 are removed in turn, and the transfer push plate 93 on the mold changing trolley 91 is pushed onto the mobile trolley 95. After the stop plate is installed, the mobile trolley 95 is pulled out and moved to the maintenance place; when a new wire cup mold needs to be installed, it can be implemented in the opposite direction of the mold change. The mold changing mechanism 9 has a simple structure, and through the arrangement of the mold changing trolley 91 and the moving trolley 95, the difficulty of maintenance and mold changing is greatly reduced, and the operation safety is high.
[0069] The present invention also provides a working method of a heavy-duty stator winding, embedding and expanding integrated machine, comprising the following steps:
[0070] S1, winding;
[0071] S2, inserting paper. After the paper is inserted, the turntable 5 rotates to rotate the wire cup mold 51 with the paper inserted to the wire inserting station;
[0072] S3, loading the stator. While winding the wire, the stator is loaded by the mobile tray 82 of the loading and unloading mechanism 8 and moved to the loading and unloading station of the wire inserting manipulator 7. The wire inserting manipulator 7 clamps and holds the stator tightly.
[0073] S4, wire embedding, the wire embedding manipulator 7 rotates to the wire embedding station, puts the stator into the wire cup mold 51 and then stops, then the upper pressing mechanism 31 and the wire embedding mechanism 32 are started in sequence to complete the wire embedding of one phase, and then the upper pressing mechanism 31 and the wire embedding mechanism 32 are reset;
[0074] S4, shaping, the wire inserting manipulator 7 rotates to the shaping station, puts the stator into the expansion mold 42 and then stops, and the upper expansion component 41 and the expansion component 45 are started in sequence to complete the expansion shaping of one phase;
[0075] S5, completing two-phase line embedding and shaping according to steps S3-S4 in a loop, and completing three-phase line embedding according to step S3;
[0076] S6, unloading, the wire-inserting robot 7 rises, takes out the wire-inserted stator from the wire cup mold 51, and then the wire-inserting robot 7 rotates and resets, and the mobile tray 82 used for unloading moves to the loading and unloading station of the wire-inserting robot 7, takes away the stator on the wire-inserting robot 7, and completes unloading.
[0077] In addition, when the stator to be processed is a case of interlaced common slots, in step S2, the cutter assembly 2 63 is started to cut a notch in the isolation slot cover paper inserted into the common slot, and in step S4, the push rod assembly 2 or the push rod assembly 3 of the wire embedding mechanism 32 pushes the notched slot cover paper twice to make the notched slot cover paper higher than the stator end face.
[0078] In summary, the present invention has a high degree of automation, and can not only realize the winding and embedding of heavy-loaded stators, but also adapt to the winding and embedding of heavy-loaded stators with interphase common slots, and has good flexibility and a wide range of applications.
[0079] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.
[0080] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A heavy-duty stator winding, embedding and expanding integrated machine, characterized in that: The machine comprises a frame and a winding module, a wire inserting module and a shaping module arranged on the frame. The winding module is arranged on one side of the frame for winding wires, the wire inserting module is arranged on the other side of the frame for inserting wires, and the shaping module is arranged in parallel in front of the wire inserting module for expanding and shaping wires after inserting wires. A turntable is arranged on the base of the frame, wire cup molds are arranged at both ends of the turntable, and a paper inserting mechanism is arranged below the turntable on one side of the winding module. A heavy-loaded wire inserting manipulator is also arranged on the side of the frame close to the wire inserting module. A loading and unloading mechanism located outside the frame is also provided below the wire inserting robot, and the loading and unloading mechanism is used for loading and unloading the stator, and the wire inserting robot is used to position and clamp the stator, so that the stator alternates between the wire inserting module, the shaping module and the loading and unloading mechanism, and cooperates with the wire inserting module and the shaping module to complete the wire inserting and shaping; a mold changing mechanism is also provided on the front side of the turntable, and the mold changing mechanism is used to assist in replacing the wire cup mold. The wire cup mold alternates between the winding module, the wire inserting module and the mold changing mechanism through the turntable.
2. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 1, characterized in that: The winding module includes a winding mechanism and a clamping and cutting mechanism. The winding mechanism is arranged on the upper frame of the frame. The clamping and cutting mechanism includes a cutting assembly and a clamping assembly. The cutting assembly is arranged on the side of the winding mechanism away from the wire embedding module and is used for cutting the wire. The clamping assembly is arranged on the rear side of the winding mechanism and is used for clamping the wire end and rolling the wire end into a spring shape. The clamping assembly is movably connected to the winding mechanism through two translation assemblies. The clamping assembly includes a winding rod, a pushing rod and a clamping rod. The winding rod is arranged on the winding seat and is driven by a driving assembly arranged on the winding seat. It is rotatably connected to the wire winding seat, one end of the wire pushing rod is connected to the wire pushing cylinder provided on the wire winding seat, and the other end is connected to the wire pushing sleeve, the wire pushing sleeve is arranged on the outside of the wire winding rod, and is slidably connected to the wire winding rod through the wire pushing cylinder, the wire clamping rod is inserted into the wire winding rod, and is slidably connected to the wire winding rod through the wire clamping cylinder provided on the wire winding seat, and the end of the wire winding rod is provided with a conical hole and a wire passing groove passing through the conical hole, and the end of the wire clamping rod is provided with a conical head away from the wire clamping cylinder, and the conical head cooperates with the conical hole to clamp the wire passing through the wire passing groove.
3. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 1, characterized in that: The paper inserting mechanism is arranged on the turntable base, and the turntable is rotatably connected with the turntable base through a driving motor. The paper inserting mechanism includes a paper feeding assembly, a cutter assembly 1, a cutter assembly 2, a paper punching assembly, a paper pushing assembly, and a dividing assembly. The paper feeding assembly, the cutter assembly 1, the cutter assembly 2, and the paper punching assembly are arranged on the paper inserting substrate in sequence from bottom to top. The paper feeding assembly is used to transport the roll paper, and the roll paper enters the paper storage through the paper placing tray and the paper feeding assembly. The paper punching assembly is used to punch the paper into the forming groove of the paper storage for forming. The cutter assembly 1 is used to After forming, the roll paper is cut. The second cutter component is arranged close to the top of the first cutter component, and is used to cut a notch at the lower end of the cut slot cover paper so that the protruding part of the slot cover paper used for separation can be unfolded. The second cutter component includes a cutter cylinder and a cutter seat arranged at the output end of the cutter cylinder. Two forks are arranged at the end of the cutter seat, and each fork is provided with a cutter. The indexing component is arranged on the turntable base, and is used to index the rotating paper library. The paper pushing mechanism is arranged below the paper library, and is used to push the formed slot cover paper in the paper library into the wire cup mold.
4. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 1, characterized in that: The loading and unloading mechanism includes a ground rail conveying assembly and two mobile pallets. The two mobile pallets are arranged at both ends of the ground rail conveying assembly and are respectively used for loading the stator and unloading the stator. The mobile pallets are provided with a positioning assembly for loading the stator and a flip assembly for changing the state of the stator.
5. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 1, characterized in that: The wire embedding manipulator is arranged on a side frame on one side of the frame, and includes a manipulator base, a column, a rotating assembly, a lifting assembly, and a clamping and positioning mechanism. A column is arranged above the manipulator base, and the rotating assembly is arranged on the manipulator base, and is used to drive the column to rotate around the center of the manipulator base. The lifting assembly is arranged on the column and can drive the clamping and positioning mechanism to move up and down in the vertical direction. The clamping and positioning mechanism includes a clamping arm and an upper tooth plate, a lower tooth plate, and a flip assembly arranged on the clamping arm. The clamping arm and the lifting assembly are connected to the transmission The output end is connected, the upper tooth guard plate and the lower tooth guard plate are used for positioning and clamping the stator, the upper tooth guard plate and the lower tooth guard plate are symmetrically arranged on the upper and lower sides of the clamping arm with the clamping arm as the center, and are combined with the support plate arranged between the upper tooth guard plate and the lower tooth guard plate to form a wire embedding mold, the flip assembly is connected to the support plate, and is used to drive the wire embedding mold to rotate around the horizontal direction, and a tooth opening assembly is also provided on one side of the column, and the tooth opening assembly is movably connected with the clamping positioning mechanism, and is used to simultaneously drive the movable plates on the upper tooth guard plate and the lower tooth guard plate to rotate, thereby loosening or clamping the stator.
6. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 5, characterized in that: The wire embedding module includes an upper pressing mechanism and a wire embedding mechanism. The upper pressing mechanism is arranged on the upper frame and is used to press the stator and position the center of the stator. The wire embedding mechanism is arranged on the base and is located directly below the upper pressing mechanism. It includes a push rod assembly 1 and a push rod assembly 2 and a push rod assembly 3 arranged on the push rod assembly 1. The push rod assembly 1 includes a wire pushing disk 1 and a wire pushing rod 1. The wire pushing rod 1 is provided with a plurality of wire pushing rods and arranged along the circumference of the wire pushing disk 1. The push rod assembly 2 includes a wire pushing disk 2 and a wire pushing rod 2. The wire pushing rod 2 is provided with a plurality of wire pushing rods and arranged along the circumference of the wire pushing disk 2. The push rod assembly 3 includes a wire pushing disk 3 and a wire pushing rod 3. The wire pushing rod 1, the wire pushing rod 2 and the wire pushing rod 3 are provided with a plurality of wire pushing rods and arranged along the circumference of the wire pushing disk 3. The wire pushing rod 1, the wire pushing rod 2 and the wire pushing rod 3 are arranged at intervals and respectively correspond to the wire embedding push of one phase of the stator, and the push rod assembly, the push rod assembly 2 and the push rod assembly 3 are respectively connected to an independent driving assembly.
7. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 5, characterized in that: The shaping module includes an upper expansion component and an expansion mold. The upper expansion component is arranged at the upper end of the side frame, and the expansion mold is arranged on an expansion tray. The expansion tray is arranged on the top of the expansion bracket and is movably connected to the expansion bracket. An expansion component for driving the expansion mold is also arranged inside the expansion bracket.
8. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 7, characterized in that: It also includes a mold changing mechanism 2 for replacing the expansion mold. The mold changing mechanism 2 is arranged on one side of the mold changing mechanism 1, and includes a translation conveying component and an expansion mold changing trolley. The translation conveying component is arranged on the base, and is used to drive the expansion bracket to move between the shaping station and the expansion mold changing trolley. A guide rail sliding component 1 is provided on the top of the expansion bracket, and a guide rail sliding component 2 is provided on the top of the expansion mold changing trolley to dock with the guide rail sliding component 1. The expansion tray moves between the expansion bracket and the expansion mold changing trolley through the guide rail sliding component 1 and the guide rail sliding component 2.
9. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 1, characterized in that: The mold changing mechanism 1 includes a mold changing trolley and a lifting component. The lifting component is arranged below the turntable and is used to lift the wire cup mold to separate the wire cup mold from the turntable. The lifting component includes a lifter 1 and a lifting disk coaxially arranged with the wire cup mold. The lifter 1 is arranged at the top of the bracket, and its output end is connected to the bottom of the lifting disk. The bracket is fixed on the base, and a plurality of ball bearings are arranged on the lifting disk. The mold changing trolley is arranged at the mold changing station of the turntable and includes a car body. A transfer push plate is arranged above the car body, a roller is arranged at the bottom of the transfer push plate, and a positioning piece for positioning the paper cup tool is arranged on the top, and the transfer push plate is movably connected to the car body through a lifting component 2.
10. The heavy-duty stator winding, embedding and expanding integrated machine according to claim 9, characterized in that: The mold changing mechanism also includes a moving trolley, which is arranged on a side of the mold changing trolley away from the jacking assembly and is movably connected to the mold changing trolley. The moving trolley is provided with universal wheels at the bottom, handrails at the sides, and a receiving groove movably connected to the transfer push plate at the top. The receiving groove is a U-shaped opening groove, and the opening end of the opening groove is arranged toward the mold changing trolley, and the side plates on both sides of the opening end of the opening groove are provided with introduction inclined surfaces, and the opening end of the opening groove is also provided with a stop plate for blocking the opening, and the stop plate is detachably connected to the moving trolley.