Stator lead bending mechanism, stator assembly copper pipe equipment and assembly method thereof

Abstract

The invention discloses a stator lead bending mechanism, stator assembly copper pipe equipment and an assembly method thereof. The stator lead bending mechanism comprises a clamping part used for clamping a stator lead and a multi-axis driving part used for driving the clamping part to straighten and bend the stator lead. The multi-axis driving part comprises an X0 servo shaft moving in the X direction, a Y0 servo shaft moving in the Y direction, a Z0 servo shaft moving in the Z direction and a rotating shaft, and the rotating shaft is an output shaft of the multi-axis driving part and rotates in the Z-X plane; the clamping part is arranged in the Y direction, one end of the clamping part is connected with the output end of the rotating shaft, and the other end of the clamping part is provided with a stator lead clamping space which is open in one side of the X direction and is vertically through in the Z direction, and a telescopic assembly in the Y direction is arranged in the stator lead clamping space. The telescopic assembly stretches out and draws back in the stator lead clamping space in the Y direction so as to clamp or release a stator lead. By the adoption of the stator lead bending mechanism, high-precision bending of the stator lead can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor assembly equipment, and particularly relates to a stator lead bending mechanism, a stator copper tube assembly equipment and an assembly method thereof. Background Art

[0002] In the EPS motor assembly process, the installation of copper tubes to the stator leads usually requires key steps such as bending the stator leads, installing the copper tubes to the stator leads, pre-pressing the copper tubes and the stator leads, shearing the excess leads protruding from the ends of the copper tubes, welding the copper tubes, and bending the leads at the root of the copper tubes. When bending the stator leads, it is required to first straighten the middle lead, and then bend the two side leads towards the middle lead, and finally make the three leads arranged in a neat straight line and protrude from the stator, providing an accurate alignment basis for the subsequent installation of the copper tubes; when shearing the excess leads protruding from the ends of the copper tubes, it is necessary to ensure that the leads cannot fall into the inner cavity of the stator after shearing; when bending the leads at the root of the copper tubes, it is necessary to ensure that the gap between the top surface of the copper tube and the stator end cover after bending is more than 2 mm.

[0003] The invention patent with the patent number CN117081332B discloses a stator assembly waterproof sleeve equipment and its assembly method, and also discloses a lead bending mechanism. "The lead bending mechanism includes a clamping component for clamping the stator leads and a bending component for driving the stator to rotate to bend the leads. Among them, the bending component includes a rotation driving device. The clamping component clamps and fixes the leads of the stator, and the rotation driving device drives the stator to rotate a certain angle to facilitate bending the leads to the corresponding position." It also discloses a tangent mechanism. "The tangent mechanism includes a flipping driving component for flipping the stator by an angle. The flipping driving component flips the stator by 180 degrees to make the leads of the stator face downwards to prevent debris from falling into the stator during the shearing of the stator leads."

[0004] Although the lead bending mechanism disclosed in the above patent realizes the bending of the leads, it still cannot meet the bending requirements of the EPS motor assembly process; although the tangent mechanism disclosed in the above patent can prevent the leads from falling into the inner cavity of the stator after shearing by flipping the stator, the action of flipping the stator requires additional layout space inside the equipment and additional flipping driving power, and the structural layout of shearing from below will result in a narrow space for equipment debugging and maintenance, making the debugging and maintenance difficult.

[0005] In addition, in the prior art, it is very difficult to stably ensure that the gap between the top surface of the copper tube after bending and the stator end cover is within the required range. Therefore, it is urgent to develop a new stator lead bending mechanism, a stator copper tube assembly equipment and an assembly method thereof to meet the actual production needs. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a stator lead bending mechanism, a stator copper tube assembling device and an assembling method thereof, which are used to achieve high-precision bending of stator leads, so as to meet the requirements of the copper tube assembling process of EPS motors.

[0007] To achieve the above object, the first aspect of the present invention provides a stator lead bending mechanism, adopting the following technical solution: a stator lead bending mechanism includes a clamping part for clamping stator leads and a multi-axis driving part for driving the clamping part to straighten and bend the stator leads along a preset path; the multi-axis driving part includes an X0 servo axis moving in the X direction, a Y0 servo axis moving in the Y direction, a Z0 servo axis moving in the Z direction and a rotating axis, the rotating axis is the output axis of the multi-axis driving part and rotates in the Z-X plane; the clamping part is arranged in the Y direction and one end is connected to the output end of the rotating axis, and the other end is provided with a stator lead clamping space that is open on one side in the X direction and vertically penetrates in the Z direction. An expansion and contraction component in the Y direction is arranged in the stator lead clamping space, and the expansion and contraction component expands and contracts in the Y direction in the stator lead clamping space to clamp or release the stator leads.

[0008] Further, the clamping part includes a bending arm arranged in the Y direction and an axial driving cylinder. The axial driving cylinder is connected to the output end of the rotating axis. One end of the bending arm is connected to the cylinder body of the axial driving cylinder, and the other end is provided with the stator lead clamping space. The expansion and contraction component includes a push rod, and the push rod is connected to the piston rod of the axial driving cylinder. The push rod is driven by the axial driving cylinder to move in the Y direction in the stator lead clamping space.

[0009] Further, a spring is sleeved on the piston rod of the axial driving cylinder. One end of the spring abuts against the end face of the cylinder body of the axial driving cylinder, and the other end abuts against the end face of the push rod. The axial driving cylinder is connected to a three-way solenoid valve of the middle-position exhaust type. When the solenoid valve is in the middle position, the push rod clamps the stator leads by the spring force.

[0010] In a second aspect of the present invention, a stator copper tube assembly device is provided, which includes a workbench. Along the X direction on the workbench, a stator handling track is provided, and a first handling mechanism and a second handling mechanism are slidably arranged on the stator handling track. Along the X direction near the stator handling track on the workbench, a stator lead bending mechanism, a copper tube assembly mechanism for installing a copper tube onto the lead, a pressing mechanism for pre-pressing the copper tube and the lead, a wire cutting mechanism for cutting off the redundant lead protruding from the copper tube, a welding mechanism for welding the copper tube, and a pushing and bending mechanism for bending the lead at the root of the copper tube are sequentially arranged. The first handling mechanism can sequentially transport the stator to the stator lead bending mechanism, the copper tube assembly mechanism, and the pressing mechanism, and the second handling mechanism can sequentially transport the stator from the pressing mechanism to the wire cutting mechanism, the welding mechanism, and the pushing and bending mechanism.

[0011] Further, the wire cutting mechanism includes a first servo drive device controlled by multi-axis linkage and a pneumatic scissors and a pneumatic wire clamping jaw connected to the output end of the first servo drive device. The first servo drive device includes an X1 servo axis moving along the X direction, a Y1 servo axis moving along the Y direction, and a Z1 servo axis moving along the Z direction. The Z1 servo axis is the output axis of the first servo drive device, and the pneumatic scissors and the pneumatic wire clamping jaw are connected to the output end of the Z1 servo axis. The pneumatic wire clamping jaw is arranged above the pneumatic scissors, and the clamping jaw position of the pneumatic wire clamping jaw corresponds to the blade head position of the pneumatic scissors up and down.

[0012] Further, the wire cutting mechanism further includes a first detection device for detecting the flatness of the shearing end face of the stator lead and a second detection device for detecting the number of leads grabbed by the pneumatic wire clamping jaw, which are arranged beside the first servo device. Both the first detection device and the second detection device include a support column arranged on the workbench and an optical sensor connected to the upper end of the support column.

[0013] Further, the pushing and bending mechanism includes a second servo drive device controlled by multi-axis linkage and a bending component and a pushing component connected to the output end of the second servo drive device. The second servo drive device includes a Y2 servo axis moving along the Y direction and a Z2 servo axis moving along the Z direction. The Y2 servo axis is installed on the workbench, and the Z2 servo axis is arranged above the Y2 servo axis and connected to the output end of the Y2 servo axis. The bending component and the pushing component are arranged in a row along the Z direction at the output end of the Z2 servo axis, and the bending component is arranged above the pushing component.

[0014] Further, the bending component includes a lifting drive unit arranged in the Z direction with its output end facing downward, and the output end of the lifting drive unit is connected to a bending block; the pushing component includes a limiting member and a pushing unit. The limiting member is a sheet body with one end connected to the output end of the Z2 servo shaft and the other end extending towards the stator handling track. An opening in the Z direction is provided at the cantilever end of the limiting member; the pushing unit includes a Y-direction driving arm located above the limiting member. The rear end of the driving arm is connected to a Y-direction pushing drive unit, and the front end of the driving arm is connected to a roller. The roller moves back and forth in the Y direction above the opening under the drive of the Y-direction pushing drive unit, and the distance between the roller and the upper surface of the limiting member is less than the height of the copper tube.

[0015] The third aspect of the present invention provides an assembly method for a stator assembly copper tube device, which is characterized in that it includes the following steps:

[0016] S1. The first handling mechanism transports the stator from the upper work station to the stator lead bending mechanism for bending the stator leads. The stator is positioned by the first stator support device and rotated to the bending position; the multi-axis drive part drives the clamping part to first straighten the middle lead and then bend the two side leads.

[0017] S2. The first handling mechanism transports the stator with bent leads to the copper tube assembly mechanism for copper tube assembly. The stator is positioned by the second stator support device and rotated to the copper tube assembly position; the copper tube handling and transfer mechanism grabs the copper tube from the output port of the vibrating disc device and transports it to the copper tube extrusion device for flattening; then the copper tube handling and transfer mechanism grabs the flattened copper tube and sends it above the second stator support device, and the copper tube is loaded into a set of stator leads through the action cooperation between the copper tube handling and transfer mechanism and the regularizing device.

[0018] S3. The first handling mechanism transports the stator assembled with the copper tube to the pressing mechanism to pre-press the copper tube and the stator leads. The stator is positioned by the third stator support device and rotated to the copper tube pressing position; the pre-pressing drive device drives the pre-pressing component to complete the pre-pressing of the copper tube and the stator leads.

[0019] S4. The second handling mechanism transports the pressed stator to the wire cutting mechanism to cut the excess leads protruding from the copper tube. The stator is positioned by the fourth stator support device and driven to rotate to the wire cutting position; the first servo drive device drives the pneumatic scissors and the wire clamping claws to approach a set of leads along a preset path. First, the wire clamping claws clamp the leads and then the pneumatic scissors cut; after cutting, the first detection mechanism and the second detection mechanism respectively detect the cutting end face of the stator leads and the number of leads clamped by the wire clamping claws; then the first servo drive device drives the wire clamping claws to throw the cut leads into the waste wire recycling box along a preset path to complete the cutting action of a set of leads.

[0020] S5, the second transport mechanism transports the trimmed stator to the welding mechanism for copper tube welding, and the fifth stator support device positions the stator and drives the stator into the welding position; the welding device completes the welding of the copper tube;

[0021] S6, the second transport mechanism transports the welded stator to the push-down and bending mechanism to bend the lead at the root of the copper tube, and the stator is positioned by the sixth stator support device and driven to rotate to the bending position; the second servo drive device drives the limiter to pass through the copper tube shape through the through hole to enter the root position of the copper tube, and drives the limiter to abut against the lead at the root of the copper tube through the straight edge of the through hole close to the stator transport track, and then the Y-axis push-down drive unit drives the roller to push the copper tube to a certain angle with the abutting part as the axis and then retract it; the second servo drive device drives the limiter to retract, and then the second servo drive device drives the bending assembly to bend the lead at the root of the copper tube to the required angle, thereby completing the bending of the lead at the root of the copper tube.

[0022] Furthermore, the step of first straightening the middle lead and then bending the leads on both sides in step S1 includes:

[0023] S11. The multi-axis driving unit drives the clamping unit to approach the middle lead of a group of stator leads until the middle lead enters the stator lead clamping space;

[0024] S12. The middle position of the three-position solenoid valve is connected, and the push rod supports the middle lead by the spring force;

[0025] S13. The multi-axis driving unit drives the clamping unit to move upward along the Z direction until it is separated from the middle lead, thereby straightening the middle lead;

[0026] S14. The left position of the three-position solenoid valve is turned on, and the axial cylinder drives the ejector rod to retract;

[0027] S15. The multi-axis driving unit drives the clamping unit to approach the left lead or the right lead of a group of stator leads in S11, and controls the clamping unit so that the left lead or the right lead enters the stator lead clamping space;

[0028] S16. The right position of the three-position solenoid valve is turned on, and the axial cylinder drives the push rod to extend, thereby clamping the left lead or the right lead;

[0029] S17. The multi-axis driving unit drives the clamping unit to move along a preset path until the left lead or the right lead is bent and brought close to the middle lead;

[0030] S18. The left position of the three-way solenoid valve is turned on, and the axial cylinder drives the ejector rod to retract, thereby releasing the left lead or the right lead;

[0031] S19. The clamping part is driven by the rotating shaft to rotate 180°;

[0032] S110. Sequentially perform the bending and approaching actions on the other side leads of a group of stator leads in S11 according to steps S15, S16, S17, and S18.

[0033] Beneficial effects:

[0034] 1. The stator lead bending mechanism provided by the present invention drives the clamping part to displace along a preset path through a multi-axis driving part, and can accurately make the stator leads on both sides approach the middle lead to form a group of neatly arranged linear stator leads, ensuring the reliability and consistency of subsequent copper tube installation.

[0035] 2. A spring is arranged between the axial driving cylinder of the stator lead bending mechanism provided by the present invention and the ejector rod. The axial driving cylinder is connected to a three-way solenoid valve of the middle position exhaust type. When the control solenoid valve is in the middle position, the ejector rod clamps the stator lead by spring force, and then the clamping part is driven by the multi-axis driving part to displace upward, so that the function of straightening the stator lead before bending can be realized. Such a structural design integrates the pretreatment action of the stator lead before bending into the bending workstation, not only controlling the manufacturing cost of the equipment, but also making the overall layout of the equipment more compact.

[0036] 3. In the wire cutting mechanism, the pneumatic wire clamping jaws clamp the lead before cutting, cooperate with the pneumatic scissors for accurate cutting, directly process the lead through the vertical cutting action, and avoid debris from falling into the stator inner cavity without flipping the stator, reducing the additional space occupied by the flipping drive assembly, simplifying the equipment structure, and reducing the debugging and maintenance difficulty.

[0037] 4. The pushing and bending mechanism precisely controls the bending position and bending angle of the lead at the root of the copper tube through the coordinated action of the bending component and the pushing component, ensuring that the gap between the top surface of the copper tube and the stator end cover after bending is stable above 2 mm, meeting the assembly process requirements of the EPS motor.

[0038] 5. The key mechanisms (such as the stator lead bending mechanism, the wire cutting mechanism, and the pushing and bending mechanism) all adopt independent servo axis drive and modular structure, which is convenient to adjust parameters or replace components according to process requirements, improve the adaptability of the equipment to different models of stators, and reduce the transformation cost. Description of the drawings

[0039] Figure 1 Is an axonometric view of the stator lead bending mechanism;

[0040] Figure 2 Is an axonometric view of the clamping part;

[0041] Figure 3 Is a sectional view of the clamping part;

[0042] Figure 4 Is a top view of the copper tube assembly equipment;

[0043] Figure 5 Is an axonometric view of the copper tube assembly mechanism;

[0044] Figure 6 Is an axonometric view of the regularization device;

[0045] Figure 7 Is an axonometric view of the wire cutting mechanism;

[0046] Figure 8 Is an axonometric view of the pushing and bending mechanism;

[0047] Figure 9 Is a side view of the pushing and bending mechanism. Specific embodiments

[0048] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. However, the present invention is not limited to these embodiments. Any improvement or substitution based on the basic spirit of this embodiment still falls within the scope protected by the claims of the present invention.

[0049] Embodiment 1: In the EPS motor assembly process, before assembling the copper tube, three stator leads need to be grouped together, brought closer to each other, and arranged in a neat straight line to provide an accurate alignment basis for the subsequent installation of the copper tube. During the process of bringing them closer to each other, the middle lead needs to be straightened first, and then the two side leads are bent towards the middle lead. This embodiment provides a stator lead bending mechanism to achieve the above process action requirements.

[0050] As Figures 1-3 shown, it includes a clamping part 310 for clamping the stator leads and a multi-axis driving part 320 for driving the clamping part to straighten and bend the stator leads along a preset path.

[0051] Specifically, the multi-axis driving part 320 includes a Y0 servo axis 321 for driving the clamping part 310 to move in the Y direction; above the Y0 servo axis 321, an X0 servo axis 322 is provided for driving the clamping part 310 to move in the X direction, and the X0 servo axis 322 is connected to the output end of the Y0 servo axis 321; above the X0 servo axis 322, a Z0 servo axis 323 is provided for driving the clamping part 310 to move in the Z direction, and the Z0 servo axis 323 is connected to the output end of the X0 servo axis 322; the rotating axis 324 is connected to the output end of the Z0 servo axis 323 and rotates in the Z-X plane. In this embodiment, the Y0 servo axis 321, the X0 servo axis 322, and the Z0 servo axis 323 are all driven by servo motors, and the linear motion of the servo axes is realized in the form of screw-nut transmission; the rotating axis 324 is driven by a servo motor to realize the rotational motion of the rotating axis.

[0052] In addition, the clamping part 310 is arranged in the Y direction and one end is connected to the output end of the rotating axis 324, and the other end is provided with a stator lead clamping space that is open on one side in the X direction and vertically penetrates in the Z direction. The stator lead clamping space is used to introduce the stator lead into the clamping space from the side, and a telescopic component in the Y direction is arranged in the stator lead clamping space. The telescopic component telescopically moves in the Y direction in the stator lead clamping space to clamp or release the stator lead.

[0053] Specifically, the clamping portion includes a bent arm 313 and an axial driving cylinder 312; one end face of the cylinder block of the axial driving cylinder 312 is connected to the output end of the rotating shaft 324 along the Y direction through an adapter 311, and the other end face is connected to the bent arm 313; a stator lead clamping space is provided at the distal end of the free end of the bent arm 313. As an implementation manner of this example, the bent arm 313 includes a bent main body member 3131 and a cover plate member 3132. The bent main body member 3131 is provided with a bent fixed end and a bent cantilever end. The bent fixed end and the cover plate member 3132 are locked together as a whole along the X direction and connected to the cylinder block end face of the axial cylinder along the Y direction. The stator lead clamping space is arranged at the distal end of the bent cantilever end; the bent fixed end and the cover plate member 3132 are respectively provided with a counterbore along the X direction from the locking surface, so as to form a driving cavity of the bent arm. The driving cavity penetrates completely toward the side of the axial cylinder, and the other side is a blind groove. A push rod guiding hole is opened from the bottom surface in the Y direction of the blind groove and penetrates to the stator lead clamping space. The telescopic assembly includes a push rod 314. The front end of the push rod 314 is floatingly connected to the piston rod of the axial driving cylinder 312 in the driving cavity of the bent arm. The rear end of the push rod 314 can slide back and forth along the push rod guiding hole. By driving the front end of the push rod 314 through the axial driving cylinder 312, the rear end of the push rod 314 is driven to slide along the push rod guiding hole and penetrate into the stator lead clamping space. Furthermore, the side wall of the stator lead clamping space is cooperated with the rear end face of the push rod 314 to clamp or release the stator lead.

[0054] Furthermore, a spring is sleeved on the piston rod of the axial driving cylinder. The spring is located in the driving cavity of the bent arm, and one end abuts against the cylinder block end face of the axial driving cylinder, and the other end abuts against the front end face of the push rod; the axial driving cylinder is connected to a three-way solenoid valve of the middle position exhaust type. When the solenoid valve is in the middle position, the push rod clamps the stator lead by the spring force, so that the function of driving the clamping portion 310 to lift the wire upward through the multi-axis driving portion 320 can be realized.

[0055] In this example, the stator lead bending mechanism further includes a first stator support device 330 disposed opposite to the multi-axis driving portion 320. The clamping portion is located above the first stator support device 330, and it includes a base 331. A rotation driving assembly 332 for driving the stator to rotate is provided on the base 331. The output end of the rotation driving assembly is connected to a stator placement hole 333. A group of clamping blocks 334 that can synchronously move toward the center of the stator are symmetrically arranged on both sides of the stator placement hole.

[0056] In this embodiment, the specific operation process of the stator lead bending mechanism is as follows: a. The first stator support device drives the stator to rotate to a bending position, and clamps the stator from both sides through a set of the clamping blocks; b. The multi-axis driving part drives the clamping part to approach the middle lead of a set of stator leads until the middle lead enters the stator lead clamping space; c. The middle position of the three-way solenoid valve is connected, and the ejector rod presses against the middle lead by the spring force; d. The multi-axis driving part drives the clamping part to move vertically upward until it disengages from the middle lead, so as to straighten the middle lead; e. The left position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to retract and leave the stator lead clamping space; f. The multi-axis driving part drives the clamping part to approach the left or right lead of the set of stator leads until the left or right lead enters the stator lead clamping space; g. The right position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to extend, so as to clamp the left or right lead, and the clamping part firmly clamps the left or right lead; h. The multi-axis driving part drives the clamping part to displace along a preset path until the left or right lead is bent and brought close to the middle lead; i. The left position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to retract and leave the stator lead clamping space, so as to release the left or right lead; j. The clamping part is driven by the rotating shaft to rotate 180°; k. The bending and approaching actions are continuously performed on the other side lead of the set of stator leads in sequence according to steps f, g, h, and i.

[0057] Embodiment 2: This embodiment provides a stator copper tube assembling device for the efficient and precise assembly of stator leads and copper tubes. As Figure 4 shown, it includes a workbench 100, on which a stator handling track 200 is arranged along the X direction, and a first handling mechanism 210 and a second handling mechanism 220 are slidably arranged on the stator handling track 200; along the X direction near the stator handling track 200 on the workbench 100, there are sequentially arranged the stator lead bending mechanism 300, a copper tube assembling mechanism 400 for installing copper tubes onto the leads, a pressing mechanism 500 for pre-pressing the copper tubes and leads, a wire cutting mechanism 600 for cutting the redundant leads protruding from the copper tubes, a welding mechanism 700 for welding the copper tubes, and a pushing and bending mechanism 800 for bending the leads at the root of the copper tubes; the first handling mechanism can sequentially transport the stator to the stator lead bending mechanism 300, the copper tube assembling mechanism 400, and the pressing mechanism 500, and the second handling mechanism 210 can sequentially transport the stator from the pressing mechanism 500 to the wire cutting mechanism 600, the welding mechanism 700, and the pushing and bending mechanism 800.

[0058] In this embodiment, the stator handling track 200 is preferably a direct drive motor. The stator handling track 200 is provided with two first sliding seats and second sliding seats that can slide along the handling track. The first handling mechanism 210 is arranged on the first sliding seat, and the second handling mechanism 220 is arranged on the second sliding seat. The first handling mechanism 210 and the second handling mechanism 220 are driven by the direct drive motor, so as to realize the handling of the stator between different workstations.

[0059] Among them, the first handling mechanism 210 and the second handling mechanism 220 are respectively fixedly installed on the first sliding seat and the second sliding seat through a first transfer bottom plate and a second transfer bottom plate. The first transfer bottom plate and the second transfer bottom plate are respectively provided with a first cylinder drive track and a second cylinder drive track that span the stator handling track. The first cylinder drive track is provided with a first stator unloading gripper and a first stator loading gripper that can move up and down independently. The first stator unloading gripper and the first stator loading gripper can realize the up and down feeding actions of the stator between the stator lead bending mechanism 300, the copper tube assembling mechanism 400, and the pressing mechanism 500 through the driving of the stator handling track and the first cylinder drive track. The second cylinder drive track is provided with a second stator unloading gripper and a second stator loading gripper that can move up and down independently. The second stator unloading gripper and the second stator loading gripper can realize the up and down feeding actions of the stator between the pressing mechanism 500, the wire cutting mechanism 600, the welding mechanism 700, and the pushing and bending mechanism 800 through the driving of the stator handling track and the second cylinder drive track.

[0060] In this embodiment, the stator lead bending mechanism 300 is arranged at the front end of the workbench 100, as Figures 1-3 shown, and includes a clamping portion 310 for clamping the stator lead and a multi-axis driving portion 320 for driving the clamping portion to straighten and bend the stator lead along a preset path.

[0061] Specifically, the multi-axis driving part 320 includes a Y0 servo axis 321 for driving the clamping part 310 to move in the Y direction; above the Y0 servo axis 321, an X0 servo axis 322 is provided for driving the clamping part 310 to move in the X direction, and the X0 servo axis 322 is connected to the output end of the Y0 servo axis 321; above the X0 servo axis 322, a Z0 servo axis 323 is provided for driving the clamping part 310 to move in the Z direction, and the Z0 servo axis 323 is connected to the output end of the X0 servo axis 322; the rotating axis 324 is connected to the output end of the Z0 servo axis 323 and rotates in the Z-X plane. In this embodiment, the Y0 servo axis 321, the X0 servo axis 322, and the Z0 servo axis 323 are all driven by servo motors, and the linear motion of the servo axes is realized in the form of screw-nut transmission; the rotating axis 324 is driven by a servo motor to realize the rotational motion of the rotating axis.

[0062] In addition, the clamping part 310 is arranged in the Y direction and one end thereof is connected to the output end of the rotating axis 324, and the other end is provided with a stator lead clamping space that is open on one side in the X direction and penetrates up and down in the Z direction. The stator lead clamping space is used to introduce the stator lead into the clamping space from the side, and a telescopic component in the Y direction is arranged in the stator lead clamping space. The telescopic component telescopically moves in the Y direction in the stator lead clamping space to clamp or release the stator lead.

[0063] Specifically, the clamping part includes a bent arm 313 and an axial driving cylinder 312; one end face of the cylinder block of the axial driving cylinder 312 is connected to the output end of the rotating shaft 324 along the Y direction through an adapter 311, and the other end face is connected to the bent arm 313; a stator lead clamping space is provided at the distal end of the free end of the bent arm 313. As an implementation manner of this embodiment, the bent arm 313 includes a bent main body part 3131 and a cover plate part 3132. The bent main body part 3131 is provided with a bent fixed end and a bent cantilever end. The bent fixed end and the cover plate part 3132 are locked into a whole along the X direction and are connected to the cylinder block end face of the axial cylinder along the Y direction. The stator lead clamping space is arranged at the distal end of the bent cantilever end; the bent fixed end and the cover plate part 3132 are respectively provided with sunk grooves along the X direction from the locking surface, so as to form a driving cavity of the bent arm. The driving cavity penetrates completely toward the side of the axial cylinder, and the other side is a blind groove. A push rod guiding hole is opened from the bottom surface in the Y direction of the blind groove and penetrates to the stator lead clamping space. The telescopic assembly includes a push rod 314. The front end of the push rod 314 is floatingly connected to the piston rod of the axial driving cylinder 312 in the driving cavity of the bent arm. The rear end of the push rod 314 can slide back and forth along the push rod guiding hole. By driving the front end of the push rod 314 through the axial driving cylinder 312, the rear end of the push rod 314 is driven to slide along the push rod guiding hole and penetrate into the stator lead clamping space. Furthermore, the side wall of the stator lead clamping space is cooperated with the rear end face of the push rod 314 to clamp or release the stator lead.

[0064] Furthermore, a spring is sleeved on the piston rod of the axial driving cylinder. The spring is located in the driving cavity of the bent arm, and one end abuts against the cylinder block end face of the axial driving cylinder, and the other end abuts against the front end face of the push rod; the axial driving cylinder is connected to a three-position solenoid valve of the middle-position exhaust type. When the solenoid valve is in the middle position, the push rod clamps the stator lead through the spring force, so that the function of driving the clamping part 310 to lift the wire upward through the multi-axis driving part 320 can be realized.

[0065] In this embodiment, the stator lead bending mechanism further includes a first stator support device 330 arranged between the multi-axis driving part 320 and the stator handling track 200. The clamping part is located above the first stator support device 330, and it includes a base 331. A rotation driving assembly 332 for driving the stator to rotate is arranged on the base 331. The output end of the rotation driving assembly is connected to a stator placement hole 333. A group of clamping blocks 334 that can move synchronously toward the center of the stator are symmetrically arranged on both sides of the stator placement hole.

[0066] In this embodiment, the specific operation process of the stator lead bending mechanism is as follows: a. The first stator support device drives the stator to rotate to a bending position, and clamps the stator from both sides through a set of the clamping blocks; b. The multi-axis driving part drives the clamping part to approach the middle lead of a set of stator leads until the middle lead enters the stator lead clamping space; c. The middle position of the three-way solenoid valve is connected, and the ejector rod presses against the middle lead by the spring force; d. The multi-axis driving part drives the clamping part to move vertically upward until it disengages from the middle lead, so as to straighten the middle lead; e. The left position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to retract and leave the stator lead clamping space; f. The multi-axis driving part drives the clamping part to approach the left or right lead of this set of stator leads until the left or right lead enters the stator lead clamping space; g. The right position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to extend, so as to clamp the left or right lead, and the clamping part firmly clamps the left or right lead; h. The multi-axis driving part drives the clamping part to displace along a preset path until the left or right lead is bent and brought close to the middle lead; i. The left position of the three-way solenoid valve is connected, and the axial cylinder drives the ejector rod to retract and leave the stator lead clamping space, so as to release the left or right lead; j. The clamping part is driven by the rotating shaft to rotate 180°; k. The bending and approaching actions are continuously performed on the other side lead of this set of stator leads in sequence according to steps f, g, h, and i.

[0067] In this embodiment, the copper tube assembling mechanism 400 is arranged behind the stator lead bending mechanism 300, as Figures 5-6 shown, and includes a second stator support device 450 for positioning the stator and capable of driving the stator to rotate, a lead regulating device 410 for regulating the leads, a copper tube extruding device 420 for extruding the copper tube into a flat shape, a vibrating disk device 430 for feeding the copper tubes, and a copper tube handling and transferring device 440 for handling the copper tubes.

[0068] Among them, the second stator support device 450 is arranged on the workbench 100 and is located between the stator handling track 200 and the lead regulating device 410. The copper tube extruding device 420 and the vibrating disk device 430 are sequentially arranged near the lead regulating device 410 and are connected to the second stator support device 450 through the copper tube handling and transferring mechanism 440.

[0069] Specifically, the rectifying device 410 includes an electric slide table 411 disposed on the workbench. The output end of the electric slide table 411 is connected to a rectifying assembly, and the electric slide table can drive the rectifying assembly to move up and down above the second stator support device. The rectifying assembly includes a horizontally disposed transverse rectifying cylinder 412 and a longitudinal rectifying cylinder 413; the transverse rectifying cylinder 412 can drive the left transverse rectifying member 414 and the right transverse rectifying member 415 connected to its output end to approach each other, so as to horizontally rectify the bent and grouped stator leads on the stator support device 450; the longitudinal rectifying cylinder 413 can drive the front longitudinal rectifying member 416 and the rear longitudinal rectifying member 417 connected to its output end to approach each other, so as to longitudinally rectify the grouped stator leads; through the horizontal and longitudinal rectification of the rectifying assembly, a group of bent and grouped stator leads are brought closer together and arranged in a neat straight line, so that the copper tube can smoothly slide into the leads.

[0070] The copper tube extrusion device 420 includes an extrusion die cavity. A limiting post is disposed at the center of the extrusion die cavity, and the limiting post is used to limit the inner cavity size of the flattened copper tube. A set of copper tube extrusion dies are symmetrically disposed on both sides of the extrusion die cavity along the Y direction. A set of the copper tube extrusion dies are all connected to a die closing drive assembly. The die closing drive assembly can drive the extrusion dies to approach each other to extrude the copper tube towards the limiting post. The die closing drive assembly can be a cylinder, an electric cylinder or a hydraulic cylinder. A top ejection unit is further disposed below the extrusion die cavity. The top ejection unit includes a top pin and a top pin drive assembly for driving the top pin to move up and down. The top pin drive assembly drives the top pin to eject upwards, and can eject the flattened copper tube from the limiting post. The top pin drive assembly can be a cylinder, an electric cylinder or a hydraulic cylinder.

[0071] The copper tube handling and transfer mechanism 440 includes a handling servo device disposed on the workbench and a copper tube clamping gripper 443 connected to the output end thereof. The handling servo device includes a handling servo shaft 441 moving along the Y direction and a material grasping servo shaft 442 moving along the Z direction connected to the output end of the handling servo shaft; the copper tube clamping gripper 443 is connected to the output end of the material grasping servo shaft 442. The copper tube material grasping gripper can be driven by the handling servo device to transport the copper tube at the output end of the vibrating disk 430 to the extrusion die cavity of the copper tube extrusion device 420, and then transport the flattened copper tube from the extrusion die cavity to above the second stator support device 450. In this embodiment, both the handling servo shaft 441 and the material grasping servo shaft 442 are driven by electric cylinders.

[0072] The vibrating disk device 430 is a commonly used prior art in the field of automatic feeding, and will not be elaborated here. In addition, the structure of the second stator support device 450 is the same as that of the first stator support device 330.

[0073] The specific steps for loading the copper tube with the lead wire are as follows: The copper tube handling and transfer mechanism grabs the copper tube from the output end of the vibrating disk device and sends the copper tube to the copper tube extrusion device. After the copper tube extrusion device extrudes the copper tube into a flat shape, the copper tube handling and transfer mechanism grabs the extruded copper tube and sends it above the second stator support device. Through the coordinated actions of the copper tube clamping claws and the shaping device, the copper tube is loaded into a set of stator lead wires.

[0074] In this embodiment, the pressing mechanism 500 is arranged after the copper tube assembling mechanism 400, and includes a third stator support device and a copper tube pre-pressing device. The third stator support device is arranged on the workbench and is located between the stator handling track and the copper tube pre-pressing device.

[0075] Among them, the copper tube pre-pressing device includes a pre-pressing component and a pre-pressing servo shaft component. The pre-pressing component is connected to the output end of the pre-pressing servo shaft component. The pre-pressing servo shaft component can drive the pre-pressing component to move in the Z direction and the Y direction above the third stator support device. In this embodiment, the driving of the pre-pressing servo shaft component in the Z direction and the Y direction is realized by an electric slide table. The pre-pressing component includes a pre-pressing die and a pre-pressing driving cylinder. The pre-pressing head is connected to the output end of the pre-pressing driving cylinder and corresponds to the pre-pressing die. The pre-pressing die and the pre-pressing head can be spanned on both sides of a set of copper tubes to be pre-pressed by the pre-pressing servo shaft component. The pre-pressing driving cylinder drives the pre-pressing head to approach the pre-pressing die, and the copper tube can be extruded onto the pre-pressing die, thereby realizing the pre-pressing of the copper tube and the copper wire.

[0076] In this embodiment, the structure of the third stator support device is the same as that of the first stator support device.

[0077] In this embodiment, the establishment of the pressing mechanism is to ensure that the copper tube is tightly combined with a set of stator lead wires, avoid loosening, and ensure the stability of the subsequent copper tube welding effect. The specific steps for pre-pressing the copper tube are as follows: The pre-pressing servo shaft component drives the pre-pressing component to descend to the stator copper tube pre-pressing position on the third stator support device, so that the pre-pressing die and the pre-pressing head are spanned on both sides of the copper tube. The pre-pressing driving cylinder drives the pre-pressing head to approach the pre-pressing die, and the copper tube can be extruded onto the pre-pressing die, thereby realizing the pre-pressing of the copper tube and the copper wire.

[0078] In this embodiment, the wire cutting mechanism 600 is arranged after the pressing mechanism 500, as Figure 7 shown, and includes a first servo driving device 610 with multi-axis linkage control and a pneumatic scissors 621 and a pneumatic wire clamping claw 623 connected to the output end of the first servo driving device. The pneumatic wire clamping claw 623 is arranged above the pneumatic scissors 621.

[0079] Specifically, the first servo drive device 610 includes a Y1 servo axis 611 that moves in the Y direction. The Y1 servo axis 611 is disposed on the workbench 200. Above the Y1 servo axis 611, an X1 servo axis 612 that moves in the X direction is provided. The X1 servo axis 612 is connected to the output end of the Y1 servo axis 611. Above the X1 servo axis 612, a Z1 servo axis 613 that moves in the Z direction is provided. The Z1 servo axis 613 is connected to the output end of the X1 servo axis 612. The output end of the Z1 servo axis 613 is connected to an up-and-down sliding plate 614. The mounting surface of the up-and-down sliding plate 614 faces forward. The scissor mounting plate 624 is vertically disposed on the mounting surface of the up-and-down sliding plate 614. The mounting surface of the scissor mounting plate 624 faces upward. The body part of the pneumatic scissor 621 is connected to the mounting surface of the scissor mounting plate 624, and the cutting head part extends out of the scissor mounting plate. Above the body of the pneumatic scissor 621, an L-shaped pneumatic jaw mounting member 622 is provided. The pneumatic wire clamping jaw 623 is connected to the front end surface of the pneumatic jaw mounting member 622. The jaw position of the pneumatic wire clamping jaw 623 corresponds to the cutting head position of the pneumatic scissor 621 up and down.

[0080] In this embodiment, the Y1 servo axis 611, the X1 servo axis 612, and the Z1 servo axis 613 are all driven by servo motors, and the position control of the servo axes is achieved in the form of screw-nut transmission. The pneumatic scissor 621 is a pneumatic scissor often used in the motor assembly production line for cutting copper wires. The pneumatic wire clamping jaw 622 realizes the wire clamping function by connecting a pair of wire clamping jaws through a jaw cylinder.

[0081] In this embodiment, the wire cutting mechanism further includes a fourth stator support device 640 located between the stator handling track 200 and the first servo drive device 610. The structure of the fourth stator support device 640 is the same as that of the first stator support device 330.

[0082] As an implementation manner of this embodiment, the wire cutting mechanism 600 further includes a waste wire recovery box 630, a first detection device, and a second detection device disposed near the fourth stator support device 640. The waste wire recovery box 630 is detachably connected to the workbench 100 and is used for collecting the cut stator leads. Both the first detection device and the second detection device include a support column disposed on the workbench and an optical sensor connected to the upper end of the support column. The first detection device is used to detect whether there are any defects on the cutting end surface after the stator leads are cut. The second detection device is used to detect whether the number of leads clamped by the wire clamping jaws is three. Through the above two detections, it is possible to more reliably prevent defective products of the cut stator leads from flowing into the next work station.

[0083] The wire cutting mechanism provided in this embodiment has pneumatic wire clamping jaws that clamp the lead wire before cutting, cooperate with a pneumatic scissors for precise cutting, and directly process the lead wire through a vertical cutting action. Without flipping the stator, debris can be prevented from falling into the inner cavity of the stator. The specific wire cutting steps are as follows: Ⅰ. The fourth stator support device drives the stator to rotate to a wire cutting position and clamps the stator from both sides through the clamping blocks; Ⅱ. The first servo drive device drives the pneumatic scissors and the pneumatic wire clamping jaws to approach a group of lead wires along a preset path; Ⅲ. The pneumatic wire clamping jaws clamp the group of lead wires to be cut; Ⅳ. The pneumatic scissors perform precise cutting; Ⅴ. The first detection mechanism and the second detection mechanism respectively detect the cutting end face of the stator lead wire and the wire clamping jaws; Ⅵ. The first servo drive device drives the wire clamping jaws to throw the cut lead wire into the waste wire recycling box along the preset path, completing the cutting action of this group of lead wires.

[0084] In this embodiment, the welding mechanism 700 is arranged behind the wire cutting mechanism 600. It includes a welding device and a fifth stator support device. The welding device is arranged on the workbench, and the fifth stator support device is arranged between the welding device and the stator handling track.

[0085] The fifth stator support device includes a welding jig for carrying and positioning the stator. The welding jig is connected to the output end of a double-axis drive device. The double-axis drive device is arranged on the workbench. The double-axis drive device can drive the welding jig to move back and forth along a direction perpendicular to the stator handling track, and can also drive the welding jig to move up and down. Through the fifth stator support device, the stator to be welded can be sent to the corresponding position of the welding device for copper tube welding.

[0086] In this embodiment, the welding device is configured with a Miyachi welding power source, and is also configured with a welding fume protection device and a welding detection device to achieve reliable welding of the copper tube and the lead wire. Both drive shafts of the double-axis drive device are in the form of electric slide table drives.

[0087] In this embodiment, the pushing and bending mechanism 800 is arranged behind the welding mechanism 700, as Figures 8-9 shown, and includes a second servo drive device with multi-axis linkage control and a bending component and a pushing component connected to the output end of the second servo drive device. The bending component and the pushing component are arranged in a row along the Z direction, and the bending component is arranged above the pushing component.

[0088] Specifically, the second servo drive device includes a Y2 servo axis 811 moving in the Y direction and a Z2 servo axis 812 moving in the Z direction. The Y2 servo axis 811 is disposed on the workbench 100, and the Z2 servo axis 812 is disposed above the Y2 servo axis 811 and connected to the output end of the Y2 servo axis 811. The bending component and the pushing-down component are connected to the output end of the Z2 servo axis 812. In this embodiment, both the Y2 servo axis 811 and the Z2 servo axis 812 are driven by servo motors to achieve position control of the servo axes in the form of screw-nut transmission. The output end of the Z2 servo axis 812 is connected to a slide plate 813. The mounting surface of the slide plate 813 faces forward. A horizontal mounting plate 814 is vertically connected to the mounting surface of the slide plate through a reinforcing rib plate 815. The mounting surface of the horizontal mounting plate 814 faces upward, and the pushing-down component is disposed on the mounting surface of the horizontal mounting plate 814; a set of connecting vertical plates 816 are symmetrically disposed on the left and right sides of the pushing-down component. The lower end surfaces of the set of connecting vertical plates 816 are both connected to the mounting surface of the horizontal mounting plate 814, and the front end surfaces are connected together through a bow-shaped member 817. Four support columns 818 are symmetrically disposed on the upper end surface of the bow-shaped member 817. The upper end surfaces of the support columns 818 are connected to a bending mounting plate 819, and the bending component is disposed on the bending mounting plate 819.

[0089] The bending component includes a lifting drive unit 831 disposed in the Z direction with its output end facing downward, and the output end of the lifting drive unit 831 is connected to a bending block 832. As another implementation manner of this embodiment, a guide post 833 is disposed between the lifting drive unit 831 and the bending block 832. One end of the guide post 833 is connected to the output end of the lifting drive unit 831, and the other end is connected to the bending block 832. The guide post 833 is driven by the lifting drive unit 831 and can drive the bending block 832 to slide up and down in a guide sliding sleeve fixedly disposed inside the bow-shaped member 817. In this embodiment, the lifting drive unit 831 can be a cylinder, an electric cylinder, or an oil cylinder.

[0090] The pushing-down component includes a limiting member 822 and a pushing-down unit. Among them, the limiting member 822 is used to penetrate into the root of the copper tube and limit the bending position of the stator lead wire from the root; the pushing-down unit is used to push down the copper tube to a set angle. The limiting member 822 is a sheet body with one end fixedly connected to the horizontal mounting plate 814 and the other end extending toward the stator conveying track. An opening in the Z direction for penetrating into the root of the copper tube and limiting the bending position of the stator lead wire from the root is provided at the cantilever end of the limiting member 822. In this embodiment, a square-through hole is preferably opened. A relief counterbore is also opened on the upper surface of the limiting member near the cantilever end. The counterbore runs through in the Y direction, and its two side walls are connected to the two side walls of the square-through hole. The counterbore is mainly used to avoid the lower bottom surface of the copper tube when the limiting member 822 enters the copper tube and approaches the stator lead wire; the pushing-down unit includes a driving arm arranged in the Y direction above the limiting member 822. The rear end of the driving arm is connected with a Y-direction pushing-down driving unit 821, and the front end of the driving arm is connected with a roller 823. The roller 823 moves back and forth in the Y direction above the opening under the drive of the Y-direction pushing-down driving unit 821, and the distance between the roller 823 and the upper surface of the limiting member 822 is less than the height of the copper tube. In this embodiment, the Y-direction pushing-down driving unit is a cylinder or an electric cylinder.

[0091] In this embodiment, the pushing-down and bending mechanism 800 further includes a sixth stator support device 840 located between the stator conveying track 200 and the second servo driving device 810. The structure of the sixth stator support device 840 is the same as that of the first stator support device 330.

[0092] The push-down and bending mechanism provided in this embodiment drives the bending assembly and the push-down assembly to precisely move through the second servo drive device. Through the coordinated actions of the bending assembly and the push-down assembly, the bending of the lead at the root of the copper tube can be precisely controlled to ensure that the gap between the top surface of the copper tube and the stator end cover after bending is maintained above 2 mm, thereby meeting the anti-interference and heat dissipation requirements. The specific bending steps of the push-down bending mechanism are as follows: ① the sixth stator support device drives the stator to rotate to a bending position, and clamps the stator from both sides through the clamping block; ② the second servo drive device drives the bending assembly and the push-down assembly to move above the sixth stator support device; ③ the second servo drive device drives the limiter to move to the root of the copper tube and drives the straight edge of the limiter on the side of the U-shaped stator transport track to abut against the stator lead at the root of the copper tube; ④ the Y-axis push-down drive unit drives the roller to move forward to push the copper tube to a preset angle, and then the Y-axis push-down drive unit drives the roller to move backward; ⑤ the second servo drive device drives the limiter to move upward until the U-shaped through hole is separated from the copper tube; ⑥ the lifting drive unit drives the bending block of the bending assembly to move downward to press down the copper tube until the lead at the root of the copper tube is bent to the required angle.

[0093] This embodiment also provides a method for assembling a stator copper tube, comprising the following steps:

[0094] S1, the first transport mechanism transports the stator from the upper work station to the stator lead bending mechanism for stator lead bending, and positions the stator through the first stator support device and rotates it to the bending position; the multi-axis drive unit drives the clamping unit to first straighten the middle lead and then bend the leads on both sides;

[0095] S2, the first transport mechanism transports the stator with bent leads to the copper tube assembly mechanism for copper tube assembly, and positions the stator through the second stator support device and rotates it to the copper tube assembly position; the copper tube transport and transfer mechanism grabs the copper tube from the output port of the vibration plate device and transports it to the copper tube extrusion device for flattening; the copper tube transport and transfer mechanism then grabs the flattened copper tube and sends it to the top of the second stator support device, and the copper tube transport and transfer mechanism cooperates with the regularization device to load the copper tube into a group of stator leads;

[0096] S3, the first transport mechanism transports the stator with assembled copper tubes to the pressing mechanism to pre-press the copper tubes and stator leads, and the third stator support device positions the stator and rotates it to the copper tube pressing position; the pre-pressing drive device drives the pre-pressing assembly to complete the pre-pressing of the copper tubes and the stator leads;

[0097] S4. The second handling mechanism transports the stator after pressing to the wire cutting mechanism to cut the excess leads of the extended copper tubes. The stator is positioned by the fourth stator support device and driven to rotate to the wire cutting position. The pneumatic scissors and the wire clamping jaws are driven by the first servo drive device to approach a set of leads along a preset path. First, the wire clamping jaws clamp the leads, and then the pneumatic scissors cut them. After cutting, the first detection mechanism and the second detection mechanism are required to detect the cutting end face of the stator leads and the number of leads clamped by the wire clamping jaws respectively. Then, the first servo drive device drives the wire clamping jaws to throw the cut leads into the waste wire recycling box along the preset path, completing the cutting action of a set of leads.

[0098] S5. The second handling mechanism transports the stator after wire cutting to the welding mechanism for copper tube welding. The stator is positioned by the fifth stator support device and driven to enter the welding position. The welding of the copper tube is completed by the welding device.

[0099] S6. The second handling mechanism transports the stator after welding to the pushing and bending mechanism for bending the leads at the root of the copper tube. The stator is positioned by the sixth stator support device and driven to rotate to the bending position. The second servo drive device drives the limiting member to pass through the outer shape of the copper tube through the opened through hole and enter the position at the root of the copper tube. The second servo drive device drives the limiting member to abut against the leads at the root of the copper tube through the straight edge on the side close to the stator handling track of the through hole. Then, the Y-direction pushing drive unit drives the roller to push the copper tube to a certain angle with the abutting part as the axis and then retracts. The second servo drive device drives the limiting member to retract, and then the second servo drive device drives the bending assembly to bend the leads at the root of the copper tube to the required angle, thus completing the bending of the leads at the root of the copper tube.

Claims

1. A stator lead bending mechanism, characterized in that: It comprises a clamping part for clamping the stator lead and a multi-axis driving part for driving the clamping part to straighten and bend the stator lead along a preset path; The multi-axis driving unit includes an X0 servo axis moving along the X direction, a Y0 servo axis moving along the Y direction, a Z0 servo axis moving along the Z direction, and a rotating axis, which is the output axis of the multi-axis driving unit and rotates in the ZX plane; The clamping portion is arranged along the Y direction and one end is connected to the output end of the rotating shaft, and the other end is provided with a stator lead clamping space which is open on one side in the X direction and passes through up and down in the Z direction. A Y-direction telescopic component is provided in the stator lead clamping space, and the telescopic component telescopes along the Y direction in the stator lead clamping space to clamp or release the stator lead.

2. The stator lead bending mechanism according to claim 1, characterized in that: The clamping part includes a bending arm and an axial driving cylinder arranged in the Y direction, the axial driving cylinder is connected to the output end of the rotating shaft, one end of the bending arm is connected to the cylinder body of the axial driving cylinder, and the other end is provided with the stator lead clamping space, the telescopic assembly includes a push rod, the push rod is connected to the piston rod of the axial driving cylinder, and the push rod is driven by the axial driving cylinder to move along the Y direction in the stator lead clamping space.

3. The stator lead bending mechanism according to claim 2, characterized in that: A spring is sleeved on the piston rod of the axial drive cylinder, one end of the spring abuts against the end face of the cylinder body of the axial drive cylinder, and the other end abuts against the end face of the push rod. The axial drive cylinder is connected to a three-position electromagnetic valve of a mid-position exhaust type.

4. A stator copper tube assembly device, characterized in that: It comprises the stator lead bending mechanism as claimed in claim 1, 2 or 3; and also comprises a workbench, on which a stator transport track is arranged along the X direction, and a first transport mechanism and a second transport mechanism are slidably arranged on the stator transport track; the stator lead bending mechanism, a copper tube assembling mechanism for installing the copper tube to the lead, a pressing mechanism for pre-pressing the copper tube and the lead, a wire cutting mechanism for cutting excess leads protruding from the copper tube, a welding mechanism for copper tube welding, and a push-down and bending mechanism for bending the leads at the root of the copper tube are arranged in sequence on the workbench near the stator transport track along the X direction; the first transport mechanism can transport the stator to the stator lead bending mechanism, the copper tube assembling mechanism and the pressing mechanism in sequence, and the second transport mechanism can transport the stator from the pressing mechanism to the wire cutting mechanism, the welding mechanism and the push-down and bending mechanism in sequence.

5. The stator assembly copper tube equipment according to claim 4, characterized in that: The thread trimming mechanism includes a first servo drive device with multi-axis linkage control and pneumatic scissors and pneumatic wire clamping claws connected to the output end of the first servo drive device; the first servo drive device includes an X1 servo axis moving along the X direction, a Y1 servo axis moving along the Y direction and a Z1 servo axis moving along the Z direction, the Z1 servo axis is the output axis of the first servo drive device, the pneumatic scissors and the pneumatic wire clamping claw are connected to the output end of the Z1 servo axis; the pneumatic wire clamping claw is arranged above the pneumatic scissors, and the clamping position of the pneumatic wire clamping claw corresponds to the position of the blade of the pneumatic scissors up and down.

6. The stator assembly copper tube equipment according to claim 5, characterized in that: The wire cutting mechanism also includes a first detection device arranged next to the first servo device for detecting the flatness of the cut end surface of the stator lead and a second detection device for detecting the number of leads grasped by the pneumatic wire clamping claw. The first detection device and the second detection device both include a support column arranged on the workbench and an optical sensor connected to the upper end of the support column.

7. The stator assembly copper tube equipment according to claim 6, characterized in that: The push-down and bending mechanism includes a second servo drive device with multi-axis linkage control and a bending assembly and a push-down assembly connected to the output end of the second servo drive device; the second servo drive device includes a Y2 servo axis moving along the Y direction and a Z2 servo axis moving along the Z direction, the Y2 servo axis is installed on the workbench, the Z2 servo axis is arranged above the Y2 servo axis and connected to the output end of the Y2 servo axis; the bending assembly and the push-down assembly are arranged at the output end of the Z2 servo axis along the Z direction, and the bending assembly is arranged above the push-down assembly.

8. The stator assembly copper tube equipment according to claim 7, characterized in that: The bending assembly includes a lifting drive unit arranged along the Z direction and with an output end facing downward, and the output end of the lifting drive unit is connected to the bending block; the push-down assembly includes a limit piece and a push-down unit, and the limit piece is a sheet body with one end connected to the output end of the Z2 servo axis and the other end extending toward the stator transport track, and an opening in the Z direction is provided at the cantilever end of the limit piece; the push-down unit includes a Y-direction driving arm located above the limit piece, the rear end of the driving arm is connected to the Y-direction push-down driving unit, and the front end of the driving arm is connected to a roller, and the roller moves back and forth along the Y direction above the opening under the drive of the Y-direction push-down driving unit, and the distance between the roller and the upper surface of the limit piece is less than the height of the copper tube.

9. A method for assembling a stator copper tube assembly device, characterized in that: The following steps are involved: S1, the first transport mechanism transports the stator from the upper work station to the stator lead bending mechanism for stator lead bending, and positions the stator through the first stator support device and rotates it to the bending position; the multi-axis drive unit drives the clamping unit to first straighten the middle lead and then bend the leads on both sides; S2, the first transport mechanism transports the stator with bent leads to the copper tube assembly mechanism for copper tube assembly, and positions the stator through the second stator support device and rotates it to the copper tube assembly position; the copper tube transport and transfer mechanism grabs the copper tube from the output port of the vibration plate device and transports it to the copper tube extrusion device for flattening; the copper tube transport and transfer mechanism then grabs the flattened copper tube and sends it to the top of the second stator support device, and the copper tube transport and transfer mechanism cooperates with the regularization device to load the copper tube into a group of stator leads; S3, the first transport mechanism transports the stator with assembled copper tubes to the pressing mechanism to pre-press the copper tubes and stator leads, and the third stator support device positions the stator and rotates it to the copper tube pressing position; the pre-pressing drive device drives the pre-pressing assembly to complete the pre-pressing of the copper tubes and the stator leads; S4, the second transport mechanism transports the pressed stator to the wire cutting mechanism to cut the excess lead wires extending out of the copper tube, and the stator is positioned by the fourth stator support device and driven to rotate to the wire cutting position; the first servo drive device drives the pneumatic scissors and the wire clamping claws to approach a group of lead wires along a preset path, first clamp the lead wires by the wire clamping claws and then cut them by the pneumatic scissors; after the cutting is completed, the first detection mechanism and the second detection mechanism are required to detect the shearing end face of the stator lead wire and the number of lead wires clamped by the wire clamping claws respectively; then the first servo drive device drives the wire clamping claws to throw the cut lead wires into the waste wire recycling box along the preset path to complete the cutting action of a group of lead wires; S5, the second transport mechanism transports the trimmed stator to the welding mechanism for copper tube welding, and the fifth stator support device positions the stator and drives the stator into the welding position; the welding device completes the welding of the copper tube; S6, the second transport mechanism transports the welded stator to the push-down and bending mechanism to bend the lead wire at the root of the copper tube, and the stator is positioned by the sixth stator support device and driven to rotate to the bending position; the second servo drive device drives the limiter to pass through the copper tube shape through the through hole to enter the root position of the copper tube, and drives the limiter to abut against the lead wire at the root of the copper tube through the straight edge of the through hole close to the stator transport track, and then the Y-axis push-down drive unit drives the roller to push the copper tube to a certain angle with the abutting position as the axis and then retract it; The second servo drive device drives the limiter to be retracted, and then the second servo drive device drives the bending assembly to bend the lead at the root of the copper tube to a required angle, thereby completing the bending of the lead at the root of the copper tube.

10. The assembly method of the stator assembly copper tube equipment according to claim 9, characterized in that: The steps of first straightening the middle lead and then bending the leads on both sides in step S1 include: S11. The multi-axis driving unit drives the clamping unit to approach the middle lead of a group of stator leads until the middle lead enters the stator lead clamping space; S12. The middle position of the three-position solenoid valve is connected, and the push rod supports the middle lead by the spring force; S13. The multi-axis driving unit drives the clamping unit to move upward along the Z direction until it is separated from the middle lead, thereby straightening the middle lead; S14. The left position of the three-position solenoid valve is turned on, and the axial cylinder drives the ejector rod to retract; S15. The multi-axis driving unit drives the clamping unit to approach the left lead or the right lead of a group of stator leads in S11, and controls the clamping unit so that the left lead or the right lead enters the stator lead clamping space; S16. The right position of the three-position solenoid valve is turned on, and the axial cylinder drives the push rod to extend, thereby clamping the left lead or the right lead; S17. The multi-axis driving unit drives the clamping unit to move along a preset path until the left lead or the right lead is bent and brought close to the middle lead; S18. The left position of the three-position solenoid valve is turned on, and the axial cylinder drives the ejector rod to retract, thereby releasing the left lead or the right lead; S19. The clamping portion is driven by the rotating shaft to rotate 180°; S110. Continue to bend and bring together the other side lead wires of the group of stator lead wires in S11 according to steps S15, S16, S17, and S18 in sequence.

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