Motor stator assembly line and assembly method thereof

Abstract

The invention discloses a motor stator assembly line and an assembly method thereof. The assembly line comprises an iron core assembling chain plate machine used for assembling an iron core into a chain plate, a winding machine used for winding a product and cutting off a wire, a circle splicing welding machine used for splicing the product into a circle and then welding the product, an electrical terminal pressing machine used for pressing a terminal on the product, and a wire pre-clamping shearing machine used for automatic pre-clamping, wire cutting and detection of the wire. The terminal welding and performance testing equipment is used for terminal welding and electrical performance testing; the PIN position detection operation table is used for detecting the terminal position degree by a worker; and the post-injection detection equipment is used for detecting the terminal height and the power-on performance of an injection-molded product. According to the invention, automation and mechanization of multiple assembly processes of the motor stator are realized, the production efficiency of the motor is improved, the labor cost is reduced, and the consistency and stability of the quality of the motor are ensured.

Description

Technical Field

[0001] This application belongs to the technical field of motor production, and particularly relates to a motor stator assembly line and an assembly method thereof. Background Art

[0002] As a special type of motor, the chain-type motor has unique features in the design and structure of the stator core. The stator core of the chain-type motor is usually composed of a series of ring-shaped or chain-shaped cores, which are precisely connected together by connecting pieces to form a closed ring structure. The main function of this structure is to provide a magnetic circuit and fix the stator coil to ensure the efficient and stable operation of the motor. Each core maintains a high degree of consistency in shape and size to ensure the overall performance and quality of the motor.

[0003] Currently, the assembly of this type of motor relies on manual operation, which not only has low production efficiency and is difficult to meet the requirements of large-scale production of products, but also due to the different operation experiences and skill levels of workers, the quality of the produced motors is uneven, making it difficult to ensure the consistency and stability of the motor quality. Summary of the Invention

[0004] The purpose of this application is to provide a motor stator assembly line and an assembly method thereof, which can solve the problems of low production efficiency and difficulty in ensuring the consistency and stability of motor quality existing in the current manual assembly of motor stators.

[0005] This application is implemented as follows. A motor stator assembly line includes a core inserting chain plate machine, a winding machine, a circular assembling and welding machine, an electrical terminal pressing machine, a wire pre-clamping and shearing machine, a terminal welding and performance testing device, a PIN position detection operation table, and a post-injection molding detection device;

[0006] The core inserting chain plate machine is used to insert the core into the chain plate;

[0007] The winding machine is used to wind the product and cut the wire;

[0008] The circular assembling and welding machine is used to assemble the product into a circle and then weld it;

[0009] The electrical terminal pressing machine is used to press the terminal on the product;

[0010] The wire pre-clamping and shearing machine is used for automatic pre-clamping, wire cutting, and detection of the wire;

[0011] The terminal welding and performance testing device is used to weld the terminal and perform electrical performance testing on the product;

[0012] The PIN position detection operation table is used for workers to press the assembly detection mold on the product to detect the terminal position accuracy;

[0013] The post-injection detection device is used to detect the terminal height and power-on performance of the stator after injection molding.

[0014] To achieve the above object, the present application also provides a method for assembling a motor stator using the above-mentioned motor stator assembly line, and the method includes the following steps:

[0015] After manually reversing the chain plate, the core is loaded into the chain plate by using a core assembly chain plate machine;

[0016] The product is wound by a winding machine, and after winding is completed, the wire is cut;

[0017] The wire and the lead wire are manually arranged, the chain plate is removed by using a circular welding machine, and the product is circularly welded after being circularly assembled;

[0018] The electrical terminal press-fitting machine is used to press-fit terminals on the product;

[0019] The wire pre-clamping and shearing machine is used to pre-clamp the wire on the terminal, and then wire cutting is performed and it is detected whether the wire cutting is qualified;

[0020] The terminal welding and performance testing equipment is used to weld the terminals and perform electrical performance testing on the product;

[0021] The product is transferred to the PIN position detection operation table, and a press-fitting detection mold is used for the product to detect the terminal position degree;

[0022] After the stator is injection-molded, the post-injection detection device is used to detect the terminal height and power-on performance of the stator.

[0023] Compared with the prior art, the beneficial effects of the present application are as follows:

[0024] The motor stator assembly line provided by the present application integrates a core assembly chain plate machine, a winding machine, a circular welding machine, an electrical terminal press-fitting machine, a wire pre-clamping and shearing machine, a terminal welding and performance testing equipment, a PIN position detection operation table, and a post-injection detection device, realizing the automation and mechanization of multiple assembly processes of the motor stator; compared with the method of assembling the motor stator manually, the present application improves the motor production efficiency, reduces the labor cost, and ensures the consistency and stability of the motor quality. Description of the Drawings

[0025] Figure 1 is a schematic plan view of the motor stator assembly line provided by the embodiment of the present application;

[0026] Figure 2 is a schematic three-dimensional structure view of the core assembly chain plate machine provided by the embodiment of the present application;

[0027] Figure 3 is Figure 2Schematic diagram of the three-dimensional structure of the shown iron core group inserted into the chain plate machine from another perspective;

[0028] Figure 4 Schematic diagram after the iron core is inserted into the chain plate;

[0029] Figure 5 Schematic diagram of the three-dimensional structure of the iron core transportation and detection belt line provided by the embodiment of the present application;

[0030] Figure 6 Schematic diagram of the three-dimensional structure of the swing mechanism provided by the embodiment of the present application;

[0031] Figure 7 Schematic diagram of the three-dimensional structure of the motor iron core group winding machine provided by the embodiment of the present application;

[0032] Figure 8 Schematic diagram of the three-dimensional structure of the product clamping mechanism provided by the embodiment of the present application;

[0033] Figure 9 Schematic diagram of the three-dimensional structure of the truss scissors mechanism provided by the embodiment of the present application;

[0034] Figure 10 Cross-sectional view schematic diagram of the wire processing component provided by the embodiment of the present application;

[0035] Figure 11 Schematic diagram of the structure of the pole-changing mechanism provided by the embodiment of the present application;

[0036] Figure 12 Schematic diagram of the three-dimensional structure of the circular splicing welding machine provided by the embodiment of the present application;

[0037] Figure 13 Schematic diagram of the three-dimensional structure of the stator inserting ring gauge mechanism provided by the embodiment of the present application;

[0038] Figure 14 Schematic diagram of the three-dimensional structure of the iron core weld laser welding mechanism provided by the embodiment of the present application;

[0039] Figure 15 Schematic diagram of the three-dimensional structure of the stator removing ring gauge mechanism provided by the embodiment of the present application;

[0040] Figure 16 Schematic diagram of the three-dimensional structure of the outer diameter gauge and weld detection mechanism provided by the embodiment of the present application;

[0041] Figure 17 Schematic diagram of the three-dimensional structure of the electrical terminal press-fitting machine provided by the embodiment of the present application;

[0042] Figure 18 Schematic diagram of the three-dimensional structure of the press-fitting ground terminal mechanism provided by the embodiment of the present application;

[0043] Figure 19 It is a schematic three - dimensional structure diagram of the fish - eye - pressing terminal mechanism provided by an embodiment of the present application;

[0044] Figure 20 It is a schematic three - dimensional structure diagram of the pre - clamping and shearing machine for motor stator wire provided by an embodiment of the present application;

[0045] Figure 21 It is a schematic three - dimensional structure diagram of the main transmission mechanism provided by an embodiment of the present application;

[0046] Figure 22 It is a schematic three - dimensional structure diagram of the rotating wire - clamping assembly in the main transmission mechanism provided by an embodiment of the present application;

[0047] Figure 23 It is a schematic three - dimensional structure diagram of the wire pre - clamping mechanism provided by an embodiment of the present application;

[0048] Figure 24 It is a schematic three - dimensional structure diagram of the wire cutting mechanism provided by an embodiment of the present application;

[0049] Figure 25 It is a schematic three - dimensional structure diagram of the vision inspection mechanism and the blanking and handling mechanism provided by an embodiment of the present application;

[0050] Figure 26 It is a schematic three - dimensional structure diagram of the terminal welding and performance testing equipment provided by an embodiment of the present application;

[0051] Figure 27 It is a schematic three - dimensional structure diagram of the cross - bridge wire height detection mechanism provided by an embodiment of the present application;

[0052] Figure 28 It is a schematic three - dimensional structure diagram of the terminal welding mechanism provided by an embodiment of the present application;

[0053] Figure 29 It is a schematic three - dimensional structure diagram of the laser marking mechanism provided by an embodiment of the present application;

[0054] Figure 30 It is a schematic three - dimensional structure diagram of the EOL testing mechanism provided by an embodiment of the present application;

[0055] Figure 31 It is a schematic three - dimensional structure diagram of the post - injection molding inspection equipment provided by an embodiment of the present application;

[0056] Figure 32 It is a schematic three - dimensional structure diagram of the cross - translation drive module and the power - on performance detection component provided by an embodiment of the present application;

[0057] Figure 33 It is a schematic side structure diagram of the cross - translation drive module and the power - on performance detection component provided by an embodiment of the present application. Detailed implementation manners

[0058] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0060] Referring to Figure 1 , there is shown an electric motor stator assembly line provided in this embodiment, including a core group-in chain plate machine 100, a winding machine 200, a round assembling and welding machine 300, an electrical terminal pressing machine 400, a wire pre-clamping and shearing machine 500, a terminal welding and performance testing device 600, a PIN position detection operation table 700, and an after-injection molding detection device 800; wherein, the core group-in chain plate machine 100 is used to load the core onto the chain plate, the winding machine 200 is used to wind the product and cut the wire, the round assembling and welding machine 300 is used to assemble the product into a circle and then weld it, the electrical terminal pressing machine 400 is used to press the terminal onto the product, the wire pre-clamping and shearing machine 500 is used for automatic pre-clamping, wire cutting and detection of the wire, the terminal welding and performance testing device 600 is used to weld the terminal and perform electrical performance testing on the product, the PIN position detection operation table 700 is used for workers to press the detection mold on the product to detect the terminal position degree, and the after-injection molding detection device 800 is used to detect the terminal height and power-on performance of the stator after injection molding.

[0061] Specifically, referring to Figures 2 to 3 , the core group-in chain plate machine includes a feeding mechanism 110, a handling mechanism 120, a core transporting and detecting belt line 130, an abnormal core discharging mechanism 140, a swinging mechanism 150, a core pushing assembly 160, and a discharging mechanism 170.

[0062] The feeding mechanism 110 includes a feeding fixture and a feeding fixture transverse movement assembly. The feeding fixture is used to fix the chain plate (as shown, the chain plate is a closed ring formed by connecting multiple blocks and is used as a template for installing the iron core), and the feeding fixture transverse movement assembly is used to move the feeding fixture from the loading station to the handling station. Further, the feeding fixture is provided with positioning pins that cooperate with the jacks on the chain plate and elastic buckles for clamping the inner ring of the chain plate. An elastic pressing member is provided inside the feeding fixture. The elastic buckles are in an expanded state under the elastic force of the elastic pressing member. When the chain plate is installed on the feeding fixture, the elastic buckles are in a retracted state under the reaction of the inner ring wall of the chain plate and press against the inner ring wall of the chain plate to fix the chain plate. Figure 4 As shown, the chain plate is a closed ring formed by connecting multiple blocks and is used as a template for installing the iron core.

[0063] The handling mechanism 120 is used to transport the blank chain plate from the handling station to the iron core inserting station, and to transport the chain plate assembled with the iron core from the iron core inserting station to the discharging mechanism 170.

[0064] Specifically, the handling mechanism 120 is an equidistant handling mechanism, including a gantry 121, a translation module 122, a lifting cylinder 123, a connecting plate 124, and two sets of grasping components 125. The translation module 122 is fixed on the gantry 121. The lifting cylinder 123 is fixed on the slider of the translation module 122. The connecting plate 124 is fixed at the bottom end of the piston rod of the lifting cylinder 123. Two sets of grasping components 125 are fixedly arranged on the connecting plate 124 at intervals. Each set of grasping components 124 includes an opening and closing cylinder and a clamping jaw. The opening and closing cylinder can drive the clamping jaw to open and close to press against or release the inner ring of the chain plate, thereby grasping or releasing the chain plate. The grasping component 125 further includes two sets of downward pressing springs, a spring fixing seat, two sets of spring limiting rods, and a pressing block. The spring fixing seat is fixedly connected to the opening and closing cylinder. The top ends of the two sets of spring limiting rods are respectively fixed on both sides of the spring fixing seat, and the bottom ends are both movably installed in the pressing block. The downward pressing springs are sleeved on the outer periphery of the spring limiting rods. After the lifting cylinder descends in place, the pressing block can press down the chain plate to keep the chain plate horizontal, so as to avoid the difficulty in aligning the iron core with the empty positions on the chain plate in the subsequent iron core inserting process.

[0065] The iron core conveying and detecting belt line 130 receives the iron cores from the vibrating bowl (at this time, the iron cores are sorted and regularized by the vibrating bowl, and when there is no error, their orientations are unified and there are no two states of forward and reverse), and detects the model and forward and reverse directions of the iron cores, and then transports the qualified iron cores to a position close to the iron core pushing component 160.

[0066] Specifically, referring to Figure 5, the iron core conveying and detecting belt line 130 includes a belt conveyor line 131, a feeding detection sensor 132, a shape-limiting block 133, a reverse material detection sensor 134, a buffer block 135, and a buffer block moving component 136. One end of the belt conveyor line 131 is the inlet end of the iron core, and the other end is docked with the shape-limiting block 133. The feeding detection sensor 132 is arranged near the inlet end of the belt conveyor line 131 and is used to detect in real time whether an iron core passes through, so as to send information to the upper computer for subsequent mechanisms to make work preparations. The interior of the shape-limiting block 133 has a first hollow area, and the size and shape of the first hollow area match the shape of the required iron core. By setting the shape-limiting block 133, the iron core that matches its shape can be restricted from entering to avoid production errors caused by material mixing. The reverse material detection sensor 134 is used to emit a signal to the iron core to detect whether the iron core is in reverse material. The interior of the buffer block 135 has a second hollow area, and the size and shape of the second hollow area match the shape of the required iron core. The buffer block moving component 136 is used to drive the buffer block 135 to move. When it is detected that the iron core in the buffer block 135 meets the requirements, the buffer block moving component 136 can drive the buffer block 135 to move to a position aligned with the push rod of the iron core pushing component 160. By designing the buffer block 135 and the buffer block moving component 136, the conveying direction of the iron core and the direction of the pushing chain plate can be staggered to avoid spatial conflicts. Further, in order to timely discharge abnormal iron cores (in this embodiment, an iron core with a mismatched model or a wrong forward and reverse direction is defined as an abnormal iron core) to avoid affecting subsequent iron core assembly work. In this embodiment, an abnormal iron core discharging mechanism 140 is provided. The abnormal iron core discharging mechanism 140 includes an abnormal iron core discharging component and an abnormal iron core storage box. The abnormal iron core discharging component is used to transfer the non-conforming iron cores to the abnormal iron core storage box.

[0067] The iron core pushing component 160 includes a pushing cylinder and a push rod. The pushing cylinder can drive the push rod to extend or retract. When the push rod extends, it can push the iron core. It should be noted that the shape and size of the end of the push rod should match the shape and size of the end face of the iron core to avoid slippage caused by too small a contact area or poor contact during the pushing process.

[0068] Specifically, referring to Figure 6, the swing mechanism 150 includes an iron core loading jig 151, a jig rotation motor 152, a swing assembly 153, and a forward and backward drive assembly 154; the iron core loading jig 151 is used to fix the chain plate, the iron core loading jig 151 is fixedly connected to the rotating shaft of the jig rotation motor 152, both the iron core loading jig 151 and the jig rotation motor 152 are fixed to the power output end of the swing assembly 153, and the iron core loading jig 151, the jig rotation motor 152, and the swing assembly 153 are all fixed to the power output end of the forward and backward drive assembly 154; the jig rotation motor 152 can drive the iron core loading jig 151 to rotate, and the swing assembly 153 can drive the iron core loading jig 151 to turn over; the forward and backward drive assembly 154 can drive the iron core loading jig 151 to move in the direction close to the iron core pushing assembly 160 to the iron core pushing station, waiting for the iron core pushing assembly 160 to push the iron core into the chain plate; when an iron core assembly is completed, the forward and backward drive assembly 154 can drive the iron core loading jig 151 to move in the direction away from the iron core pushing assembly to avoid spatial interference between the iron core loading jig 151 and the iron core pushing assembly 160.

[0069] Further, the forward and backward drive assembly 154 includes a forward and backward drive cylinder 1541, a forward and backward sliding group 1542, and a sliding seat 1543. The sliding seat 1543 is slidably mounted on the slider of the forward and backward sliding group 1542, and the sliding seat 1543 is fixedly connected to the piston rod of the forward and backward drive cylinder 1541. The forward and backward drive cylinder 1541 can drive the sliding seat 1543 to slide reciprocally; the swing assembly 153 is fixed on the sliding seat 1543. The swing mechanism 150 further includes a swing limiting assembly, and the swing limiting assembly includes a swing limiting block 1544 and an arc swing block 1545. The arc swing block 1545 is fixedly connected to the rotating shaft of the swing assembly 153, the swing limiting block 1544 is fixed on the sliding seat 1543 and is located directly above the arc swing block 1545; when the arc swing block 1545 swings to the set angle, it generates spatial interference with the swing limiting block 1544 and stops rotating.

[0070] The structure design of the discharging mechanism 170 is similar to that of the feeding mechanism 110. It has two stations and a chain plate fixing jig. One station is used to receive the chain plate grabbed by the handling mechanism, and the other station is used for workers to unload materials. The chain plate fixing jig reciprocates between the two stations driven by the transverse movement drive assembly.

[0071] Please refer to Figure 7The winding machine 200 includes a machine platform, on which a product clamping mechanism 210, a wire supply mechanism, a tension mechanism 220, a spindle assembly 230, a winding mechanism 240, a truss scissor mechanism 250 and a pole changing mechanism 260 are arranged. Among them: the product clamping mechanism 210 is used to clamp the two sides of the product, the wire supply mechanism is used to place the copper wire roll and introduce the copper wire into the tension mechanism 220, the tension mechanism 220 is used to tighten the copper wire to keep the copper wire at an appropriate tension, the winding mechanism 140 is used to wind the wire on the iron core, the spindle assembly 130 is located between the tension mechanism 120 and the winding mechanism 140, the spindle assembly 130 is connected to the winding mechanism 140 by transmission, the spindle assembly 130 can drive the winding mechanism 40 to move forward and backward, the copper wire is led out from the tension mechanism 120 and connected to the winding mechanism 140 through the spindle assembly 130, the truss scissors mechanism 150 is used to cut the copper wire and pull the copper wire end to the next iron core to be wound, and the pole changing mechanism 160 is used to fix the product and can drive the product to rotate a required angle.

[0072] Specifically, see Figure 8 The above-mentioned product clamping mechanism 210 includes two clamping units arranged at intervals, two protective covers 211 and a group of cross-beam detection sensors 212. Each clamping unit includes a linear drive module 213 and a top pressure block 214. The top pressure block 214 is fixedly connected to the power output end of the linear drive module 213. The two linear drive modules 213 can work simultaneously to drive the two top pressure blocks 214 to clamp or loosen the two sides of the product. The iron core currently being wound is always located at one end of the product close to the winding mechanism and protrudes forward to form an avoidance space to prevent the winding mechanism 240 from interfering with the clamping mechanism 210 during winding. The protective cover 211 is fixedly connected to the power output end of the linear drive module 213 and is located on the side of the product close to the winding mechanism 240 to protect the product and the copper wire from accidentally winding onto the nearby iron core. Preferably, the outer surface of the protective cover 211 is an arc-shaped curved surface, so that the protective cover 211 can also play a guiding effect, leading the copper wire sliding over its outer surface to the core position of the current winding. The beam detection sensor 212 can emit a signal to the top surface of the product. In this embodiment, the beam detection sensor 212 is a photoelectric sensor. When the winding does not exceed the set range of the top surface of the chain plate fixture, the light can enter the receiving end from the transmitting end, indicating that the winding is qualified; when the winding exceeds the set range of the top surface of the chain plate fixture, the copper wire will block the light, indicating that the winding is unqualified, and feedback is given to the host computer. Specifically, the above-mentioned wire supply mechanism includes a wire barrel and a trolley 270, and the wire barrel is directly placed on the trolley 270. The trolley 270 is located next to the machine and close to the tension mechanism 220. After the copper wire is drawn out from the wire barrel, it is connected to the tension mechanism 220. In this embodiment, the tension mechanism 220 includes a plurality of tension wheels, and the position of the tension wheel is dynamically adjusted to prevent the wire from being loosened or overstretched.

[0073] Specifically, seeFigure 9 The truss scissor mechanism 250 includes a truss 251, a wire processing assembly and a wire processing assembly moving drive module; the wire processing assembly moving drive module is installed on the truss 251, which can drive the wire processing assembly to move in three-dimensional space. Figure 10 , the wire processing assembly includes scissors 252, a first rotating drive assembly, a wire hooking block 253, a wire pulling block 254 and a second rotating drive assembly 255. The first rotating drive assembly can drive the scissors 252 to rotate, and the scissors 252 can be tangent to the bottom surface of the wire hooking block 253 when rotating, thereby cutting the copper wire; the second rotating drive assembly can drive the wire hooking block 253 and the wire pulling block 254 to rotate at the same time, and under the cooperation of the wire processing assembly moving drive module and the second rotating drive assembly 255, the wire hooking block 253 can hook up and tighten the copper wire, and the wire pulling block 254 can pull the copper wire from one core position to another core position. In this embodiment, the first rotating drive assembly includes a rotating motor 256, a belt 257 and a pulley 258, the belt 257 is wound around the pulley 258, and the pulley 258 is fixedly connected to the scissors 252. The second rotary drive assembly 255 includes a rotary motor, the rotary shaft of the rotary motor is fixedly connected to the hooking block 253 and the wire-pulling block 254, and the hooking block 253 and the wire-pulling block 254 are respectively arranged on opposite sides of the rotary motor shaft. The wire processing assembly mobile drive module includes an advance and retreat motor 259, an advance and retreat sliding module 25a, a translation plate 25b, a lifting motor 25c and a lifting sliding module. The advance and retreat motor 259 is installed on the top plate of the truss 254, the translation plate 25b is fixedly connected to the slider in the advance and retreat sliding module 25a, and the advance and retreat motor 259 drives the translation plate 25b to slide forward and backward through a screw pair; the lifting motor 25c is installed on the translation plate 25b, the wire processing assembly is fixedly connected to the slider in the lifting sliding module, and the lifting motor 25 drives the wire processing assembly to slide up and down through another screw pair. Through the above structural design, the wire processing assembly mobile drive module can drive the wire processing assembly to rise and fall and translate in three-dimensional space. Specifically, the winding mechanism 240 includes a flying fork, a flying fork rotation drive assembly and a winding guide assembly. The flying fork is connected to the flying fork rotation drive assembly in a transmission manner. The flying fork rotation drive assembly can drive the flying fork to rotate around the iron core. The flying fork drives the copper wire to move during the rotation process and realizes winding. The winding guide assembly includes a guide block opening and closing cylinder and two guide blocks. The guide block opening and closing cylinder can drive the two guide blocks to open and close. During the winding process, the two guide blocks are in a closed state, respectively close to the two sides of the wound iron core. Preferably, the two guide blocks are symmetrically distributed up and down, and the side of the guide block close to the iron core is an arc surface, so that the copper wire can abut against and be wound around the iron core along the arc surface. While winding, the winding guide assembly is driven by the spindle assembly and slowly retreats so that the copper wire is wound around the periphery of the iron core along the length direction of the iron core.

[0074] See alsoFigure 11 , the pole-changing mechanism 160 includes a fixed fixture 161 and a fixture rotation driving member 162. Among them, the fixed fixture 161 is used to fix the product. Inside the fixed fixture 161, there are a bayonet, steel balls and an air passage. By introducing high-pressure gas into the air passage, the steel balls can protrude from the bayonet, and then the steel balls clamp the chain plate fixture. After a core winding is completed, the fixture rotation driving member 162 works to drive the fixed fixture 161 and the product thereon to rotate by the required angle to achieve pole changing.

[0075] Refer to Figure 12 , the circular welding machine 300 includes a material handling robot 310, a stator into-ring gauge mechanism 320, a core weld laser welding mechanism 330, a stator out-ring gauge mechanism 340, an outer diameter gauge and weld inspection mechanism 350, an inner diameter passing gauge mechanism 360, a stator handling assembly 370, a stator discharging mechanism 380, and a defective product discharging mechanism 390.

[0076] On the machine table, there is a ring gauge placement table reserved for storing the ring gauges to facilitate the nearby grasping of the ring gauges; the material handling robot 310 is used to realize the handling of the stator and the ring gauges between the mechanisms, including but not limited to transporting the stator and the ring gauges to the stator into-ring gauge mechanism 320 respectively, transporting the stator with the ring gauge installed to the core weld laser welding mechanism 330, transporting the welded stator to the stator out-ring gauge mechanism 340, transporting the stator to the outer diameter gauge and weld inspection mechanism 350 and the inner diameter passing gauge mechanism 360, and transporting the defective products to the defective product discharging mechanism 390. The stator into-ring gauge mechanism 320 is used to push the stator away from the chain plate and make the stator enter the ring gauge. The core weld laser welding mechanism 330 is used to weld the seams between the cores, and the stator out-ring mechanism 340 is used to push the welded stator out of the ring gauge. The outer diameter gauge and weld inspection mechanism 350 is used to detect whether the weld and the outer diameter of the stator are qualified, and the inner diameter passing gauge mechanism 360 is used to detect whether the inner diameter of the stator is qualified. The stator handling assembly 370 is used to transport the pole-combined stator to the stator discharging mechanism 380, and the stator discharging mechanism 380 outputs the qualified stator outward; while the defective product discharging mechanism 390 is used to discharge the stator with unqualified welds or dimensions. Specifically, refer to Figure 13, the stator ring gauge mechanism 320 includes a ring gauge platform lifting drive 321, a ring gauge annular pressing block 322, a ring gauge lifting plate 323, a ring gauge lifting plate drive 324, a ring gauge lifting slide group 325, a ring gauge limiting top plate 326, a guide needle ring 327, and a guide needle ring downward pressing drive 328. The ring gauge annular pressing block 322 is used to place the stator, and it is fixed to the power output end of the ring gauge platform lifting drive 321. The ring gauge platform lifting drive 321 can drive the ring gauge annular pressing block 322 and the stator to rise, and the size and shape of the ring gauge annular pressing block 322 match those of the stator. The ring gauge lifting plate 323 is used to place the ring gauge a, and it is fixedly connected to the power output end of the ring gauge lifting plate drive 24 and the sliding sleeve of the ring gauge lifting slide group 325. The ring gauge lifting plate drive 324 can drive the ring gauge lifting plate 323 to rise and fall; a ring gauge perforation is provided at the position on the ring gauge lifting plate 323 where the ring gauge is placed, and the size of the ring gauge perforation is larger than the size of the stator and smaller than the size of the ring gauge a. The ring gauge limiting top plate 326 is located directly above the ring gauge lifting plate 323, and a ring gauge limiting hole is provided at the position corresponding to the ring gauge perforation on the ring gauge limiting top plate 326. The size of the ring gauge limiting hole is smaller than the size of the stator and larger than the size of the guide needle ring 327. Through the above design, after the material handling robot 310 grabs the product onto the ring gauge annular pressing block 322, the ring gauge platform lifting drive 321 works to drive the ring gauge annular pressing block 322 and the stator thereon to rise. At the same time, the ring gauge lifting plate drive 324 can drive the ring gauge lifting plate 323 and the ring gauge a to rise. When the ring gauge a rises to the position where it presses against the ring gauge limiting top plate 326, the ring gauge lifting plate 323 and the ring gauge a stop rising, while the stator is continuously lifted by the ring gauge annular pressing block 322, passes upward through the ring gauge perforation, and is pushed into the ring gauge a. The guide needle ring 327 is fixedly connected to the power output end of the guide needle ring downward pressing drive 328. The guide needle ring downward pressing drive can drive the guide needle ring 327 to pass through the ring gauge limiting hole and tighten the peripheral edge of the top of the stator. When the guide needle ring 327 tightens the peripheral edge of the top of the stator, it rises synchronously with the ring gauge annular pressing block 322, which can prevent the stator from loosening. In this embodiment, the annular needle ring 327 includes a plurality of circumferentially arranged elastic needles, and the elastic needles can deform radially outward when subjected to a radial external force.

[0077] Specifically, refer to Figure 14, the laser welding mechanism 330 for the iron core weld seam includes a laser welder 331, a welder lifting drive assembly 332, a welding fixture 333, a welding rotation drive, a rotation angle detection sensor 334, a vacuum cleaner 335, and a protective cover 336. The laser welder 331 is fixedly connected to the power output end of the welder lifting drive assembly 332, and the welder lifting drive assembly 332 can drive the laser welder 331 to lift and weld the butt joint between the welded iron cores. The welding fixture 333 is used to fix the stator, and the welding fixture 333 is fixedly connected to the power output end of the welding rotation drive, and the welding rotation drive can drive the welding fixture 333 and the stator thereon to rotate; the rotation angle detection sensor 334 can detect the rotation angle of the welding fixture 333 and feedback it to the host computer, so that the host computer can control the angle and duration of each rotation of the welding fixture 333. After a certain butt joint is welded, the host computer controls the welding fixture 333 to rotate by a set angle and stop. At this time, the butt joint can just align with the welding nozzle of the laser welder 331, and then the welder lifting drive assembly 332 and the laser welder 331 are restarted to perform the welding operation of the next butt joint. The protective cover 336 covers the periphery of the welding fixture 333, and a vertical hole is opened at the position of the protective cover 336 corresponding to the laser welder 331 for the welding gun of the laser welder 331 to extend in. The suction port of the vacuum cleaner 335 extends into the protective cover 336 to suck out the smoke and dust in the protective cover 336.

[0078] Specifically, refer to Figure 15, the stator ring gauge mechanism 340 includes a ring gauge lifting drive 341, a ring gauge lifting ring 342, a ring gauge lifting plate 343, a ring gauge lifting plate drive 344, and a ring gauge limiting top plate 345. The ring gauge lifting ring 342 is fixed to the power output end of the ring gauge lifting drive 341, and the product is placed on the ring gauge lifting plate 343. The ring gauge lifting plate 343 is fixed to the power output end of the ring gauge lifting plate drive 344, and a ring gauge perforation matching the size and shape of the stator is provided at the position of the ring gauge lifting plate 343 corresponding to the ring gauge lifting ring 342. The ring gauge lifting drive 341 can drive the ring gauge lifting ring 342 to lift and lower. The ring gauge limiting top plate 345 is fixed directly above the ring gauge lifting plate 343, and the space between the upper and lower two plates is used as the operating space of the material handling manipulator 310. A ring gauge limiting hole is provided at the position of the ring gauge limiting top plate 345 corresponding to the ring gauge perforation. The size of the ring gauge limiting hole is smaller than the ring gauge size and larger than the stator size. Through the above design, when the product is grabbed by the material handling manipulator 310 and placed on the ring gauge lifting plate 343, the ring gauge lifting drive 341 works to drive the ring gauge lifting ring 342 to rise. At the same time, the ring gauge lifting plate drive 344 also synchronously drives the ring gauge lifting plate 343 and the ring gauge a placed thereon to rise. When it rises to the position where the ring gauge a presses against the bottom surface of the ring gauge limiting top plate 345, due to the limitation of the ring gauge limiting top plate 345, the ring gauge a and the ring gauge lifting plate 343 stop rising, and the stator inside the ring gauge a is lifted by the ring gauge lifting ring 342 and passes upward through the ring gauge limiting hole until it is completely pushed out of the ring gauge a.

[0079] Specifically, referring to Figure 16 , the outer diameter gauge and weld detection mechanism 350 includes a detection fixture 351, a photographing device 352, a detection rotating motor 353, an outer diameter gauge pressing ring 354, and an outer diameter pressing ring lifting drive assembly 355. The detection fixture 351 is used to fix the stator, the detection rotating motor 353 is used to drive the stator to rotate, the photographing device 352 is used to collect the image information of the stator weld and feedback it to the upper computer for analysis and processing. The outer diameter gauge pressing ring 354 is fixedly connected to the power output end of the outer diameter pressing ring lifting drive assembly 355, and the outer diameter pressing ring lifting drive assembly 355 can drive the outer diameter gauge pressing ring 354 to press down. When the outer diameter specification of the stator meets the requirements, the outer diameter gauge pressing ring 354 can be sleeved on the outer periphery of the stator.

[0080] The inner diameter passing gauge mechanism 360 includes an inner diameter passing gauge placement platform and an outer edge limiting top plate. An inner diameter passing gauge convex column is provided on the inner diameter passing gauge placement platform, and the size of the inner diameter passing gauge convex column matches the inner diameter size of the stator. The outer edge limiting top plate is fixed directly above the inner diameter passing gauge placement platform, and an outer edge limiting hole is provided at the position of the outer edge limiting top plate corresponding to the inner diameter passing gauge convex column. The size of the outer edge limiting hole matches the size of the outer periphery of the stator.

[0081] Please refer to Figure 17 , the electrical terminal press 400 includes a ground terminal pressing mechanism 410, a vision inspection system 420, a fish-eye terminal pressing mechanism 430, an alarm system, and a defective product storage box for storing unqualified products. Also refer to Figure 18, the press-fitting ground terminal mechanism 410 includes a ground terminal mounting jig 411, a press-fitting ground terminal lifting plate 412, a ground terminal downward pressing driving member 413, a first stator fixing jig 414, a press-fitting ground terminal limiting post 415, a press-fitting ground terminal displacement sensor 416, a first product detection sensor 417, a first bottom plate 418, a press-fitting ground terminal lifting slide rod 419, a press-fitting ground terminal lifting slide sleeve 41a, and a first restoring spring 41b. The ground terminal mounting jig 411 fixes the ground terminal by true pressure adsorption, and the ground terminal downward pressing driving member 413 can drive the press-fitting ground terminal lifting plate 412 and the ground terminal mounting jig 411 to press down together. The first stator fixing jig 414 is located directly below the ground terminal mounting jig 411. When the ground terminal mounting jig 411 is pressed down to the set height, the ground terminal thereon can be exactly pressed into the slot of the stator. The press-fitting ground terminal limiting post 415 is used to limit the lowest position of the press-fitting ground terminal lifting plate 412. The press-fitting ground terminal limiting post 415 is arranged below the press-fitting ground terminal lifting plate 412 and is located on the outer side of the first stator fixing jig 414. The top surface of the press-fitting ground terminal limiting post 415 is higher than the top surface of the first stator fixing jig 414. By setting the press-fitting ground terminal limiting post 415, it can prevent the machine from accidentally damaging the product. The installation position of the press-fitting ground terminal displacement sensor 416 is higher than the top surface of the press-fitting ground terminal limiting post 415. The displacement data of the press-fitting ground terminal displacement sensor 416 being pressed down is transmitted to the upper computer. The upper computer judges the pressing depth of the press-fitting ground terminal lifting plate 412 according to the displacement data, and then judges whether the ground terminal is pressed in place. When it is detected that it is not pressed in place, the upper computer controls the alarm system to send out an alarm signal to inform the staff. The first product detection sensor 417 is a transmissive photoelectric sensor. The transmitting end and the receiving end of the first product detection sensor 417 are respectively located on the opposite side edges of the first stator fixing jig 414. The light-emitting direction of its transmitting end faces the position where the product is placed directly above the first stator fixing jig 414. When there is no product on the first stator fixing jig 417, it triggers the first product detection sensor 417 to send a signal to the upper computer, and the upper computer controls the alarm system to send out an alarm signal to inform the staff. The press-fitting ground terminal lifting slide rod 419 is vertically fixed on the first bottom plate 418. The press-fitting ground terminal lifting slide sleeve 41a is slidably sleeved on the periphery of the press-fitting ground terminal lifting slide rod 419. The press-fitting ground terminal lifting slide sleeve 41a is fixedly connected to the press-fitting ground terminal lifting plate 412. The first restoring spring 41b is sleeved on the periphery of the press-fitting ground terminal lifting slide rod 419 and is clamped between the press-fitting ground terminal lifting plate 412 and the first bottom plate 418. Since there is no fixed connection between the ground terminal downward pressing driving member 413 and the press-fitting ground terminal lifting plate 412, the downward pressing driving member 413 only produces a downward pressing effect on the press-fitting ground terminal lifting plate 412 and has no lifting effect. Therefore, in this embodiment, the first restoring spring 41b can make the press-fitting ground terminal lifting plate 412 rise to its original position.

[0082] Refer to again Figure 17 The shooting direction of the visual detection system 420 is towards the stator mounted on the first stator fixing fixture 414, which is used to collect the reference identification of the marks on the stator and feedback it to the host computer. The host computer judges whether the installation orientation of the stator is correct according to the received image information. When the installation orientation of the stator is incorrect, the host computer controls the alarm system to send out an alarm signal. By setting the visual detection system 420, the feeding angle of the stator can be automatically recognized to avoid positioning errors when pressing the electrical terminals subsequently.

[0083] Refer to together Figure 19, the fish-eye terminal pressing mechanism 430 includes a fish-eye terminal mounting fixture 431, a fish-eye terminal pressing lifting plate 432, a fish-eye terminal pressing driving member 433, a second stator fixing fixture 434, a fish-eye terminal pressing limiting post 435, a second product detection sensor 436, a fish-eye terminal detection sensor 437, a second base plate 438, a fish-eye terminal pressing lifting slide rod 439, a fish-eye terminal pressing lifting slide sleeve 43a, and a second return spring 43b. The fish-eye terminal mounting fixture 431 fixes the fish-eye terminal by vacuum adsorption, and the fish-eye terminal pressing driving member 433 can drive the fish-eye terminal pressing lifting plate 432 and the fish-eye terminal mounting fixture 431 to lift and lower together. The second stator fixing fixture 434 is located directly below the fish-eye terminal mounting fixture 431. When the fish-eye terminal mounting fixture 431 is pressed down to the set height, the fish-eye terminal thereon can just be pressed into the slot of the stator. The fish-eye terminal pressing limiting post 435 is used to limit the lowest position of the fish-eye terminal pressing lifting plate 432. The fish-eye terminal pressing limiting post 435 is arranged below the fish-eye terminal pressing lifting plate 432 and on the outer side of the second stator fixing fixture 434. The top surface of the fish-eye terminal pressing limiting post 435 is higher than the top surface of the second stator fixing fixture 434. By setting the fish-eye terminal pressing limiting post 435, it can prevent the machine from accidentally damaging the product. Both the second product detection sensor 436 and the fish-eye terminal detection sensor 437 are through-beam photoelectric sensors. The transmitting end and the receiving end of the second product detection sensor 436 are respectively located on the opposite sides of the second stator fixing fixture 434. When there is no product on the second stator fixing fixture 434, it triggers the second product detection sensor 436 to send a signal to the upper computer, and the upper computer controls the alarm system to send an alarm signal to inform the staff. Similarly, the fish-eye terminal detection sensor 437 emits a signal to the top surface position of the fish-eye terminal (the height of this position can be obtained by measuring when the fish-eye terminal is pressed and installed qualified) to detect whether the fish-eye terminal is pressed and installed in place. When the light emitted by its transmitting end is blocked, it means that it has not been pressed down in place. When an abnormality is detected, the staff is also informed through the alarm system. In actual operation, a certain range of error in the pressing height should be allowed. Therefore, the connection line between the transmitting end and the receiving end of the fish-eye terminal detection sensor 437 in this embodiment is inclined at a certain angle to the horizontal plane, so that the emitted light is inclined to the horizontal plane, and the path of the light propagates within a certain height range. If the fish-eye terminal enters this height range, it means that the pressing height is not enough and it has not been pressed and installed in place.

[0084] The fish-eye terminal lifting slide rod 439 is vertically fixed on the second bottom plate 438. The fish-eye terminal lifting slide sleeve 3a is slidably sleeved on the periphery of the fish-eye terminal lifting slide rod 439. The fish-eye terminal lifting slide sleeve 43a is fixedly connected to the fish-eye terminal lifting plate 432. The second return spring 43b is sleeved on the periphery of the fish-eye terminal lifting slide rod 439 and is clamped between the fish-eye terminal lifting plate 432 and the second bottom plate 438. Since the fish-eye terminal pressing drive member 433 is not fixedly connected to the fish-eye terminal lifting plate 432, the fish-eye terminal pressing drive member 433 only exerts a pressing force on the fish-eye terminal lifting plate 432 and has no lifting effect. Therefore, in this embodiment, the second return spring 43b can lift the fish-eye terminal lifting plate 432 to its original position.

[0085] The defective product storage box is provided with an intelligent box door. Each time the alarm system alarms, the intelligent box door will be opened accordingly. When the intelligent box door is not opened, it indicates that defective products are mixed in the qualified products, and the alarm system notifies the user through a sound or light signal.

[0086] Refer to Figure 20 , the wire pre-clamping and shearing machine 500 includes a main conveying mechanism 510, a vision detection mechanism 520, a wire pre-clamping mechanism 530, a wire cutting mechanism 540, a blanking and handling mechanism 550, a defective product discharge line 560, and a qualified product discharge line 570.

[0087] Refer to Figure 21 , the main conveying mechanism 510 includes a product fixing fixture 511 and a conveying drive assembly 512. The power output end of the conveying drive assembly 512 is fixedly connected to the product fixing fixture 511. The conveying drive assembly 512 can drive the product fixing fixture 511 and the product fixed thereon to be conveyed to the detection station, the wire pre-clamping station, the wire cutting station, and the blanking station.

[0088] The vision detection mechanism 520 is used to collect the image information of the product and send it to the host computer for analysis and processing. After that, the host computer controls the blanking and handling mechanism to work according to the processing result; the wire pre-clamping mechanism 530 is used to press the terminals and clamp the wires; the wire cutting mechanism 540 is used to cut the wires. The blanking and handling mechanism 550 is controlled by the host computer and is used to transport the unqualified products to the defective product discharge line 560 and the qualified products to the qualified product discharge line 570.

[0089] Specifically, refer to Figure 22, the main transmission mechanism 510 further includes a rotating wire binding assembly 513. The rotating wire binding assembly 513 is fixedly connected to the power output end of the transmission driving assembly 512. The rotating wire binding assembly 513 includes a rotating wire binding driving member 5131, a rotating platform 5132, a rotating angle detection sensor, and a pressing device 5133. The rotating platform 5132 is fixedly connected to the power output end of the rotating wire binding driving member 5131. The rotating wire binding driving member 5131 can drive the rotating platform 5132 to rotate by a required angle. A plurality of pressing devices 5133 are circumferentially spaced apart on the top surface of the rotating platform 5132. Each pressing device 5133 includes a pressing driving member and a pressing block. The pressing driving member can drive the pressing block to perform a telescopic movement, thereby pressing the lead wire on the outer periphery of the product, so that the lead wire is tightened on the outer periphery of the product. The rotating angle detection sensor is used to detect the rotation angle of the rotating platform and feedback it to the host computer. When rotating to the set angle, the host computer controls the rotating wire binding driving member to pause working. In this embodiment, the rotating angle detection sensor includes a photoelectric transceiver module and a light-blocking sheet. There is a gap between the transmitting end and the receiving end of the photoelectric transceiver module. The light-blocking sheet is fixed on the outer periphery of the rotating platform. When the light-blocking sheet moves to block the light of the photoelectric transceiver module, it can trigger the photoelectric transceiver module to send a signal to the host computer, thereby detecting the angle by which the rotating platform rotates relative to the starting position.

[0090] Specifically, referring to Figure 23 , the wire pre-clamping mechanism 530 includes a pre-clamping lifting driving member 531, a pre-clamping lifting slide group 532, a pre-clamping lifting plate 533, a jaw cylinder 534, a guide block 535, a supporting block 536, and a pressing rod 537. The power output end of the pre-clamping lifting driving member 531 is fixedly connected to the slider of the pre-clamping lifting slide group 532. The pre-clamping lifting plate 533 is fixedly connected to the slider of the pre-clamping lifting slide group 532. The pre-clamping lifting driving member 531 can drive the pre-clamping lifting plate 533 to lift and lower. The jaw cylinder 534 is fixed on the pre-clamping lifting plate 533. One piston rod of the jaw cylinder 534 is fixedly connected to the supporting block 536, and the other piston rod is fixedly connected to the pressing rod 537. A guide hole is formed in the guide block 535, and the pressing rod 537 movably penetrates through the guide hole. The jaw cylinder 534 can drive the supporting block 536 and the pressing rod 537 to move towards each other under the guidance of the guide hole to clamp and press the wiring part of the terminal, so that the deformed wiring terminal can clamp the wire.

[0091] Specifically, referring to Figure 24, the wire cutting mechanism 540 includes a wire cutting lifting drive member 541, a wire cutting lifting slide group 542, a wire cutting lifting plate 543, and a transverse wire cutting assembly for wire cutting; the power output end of the wire cutting lifting drive member 541 is fixedly connected to the slider of the wire cutting lifting slide group 542, the wire cutting lifting plate 543 is fixedly connected to the slider of the wire cutting lifting slide group 543, the wire cutting lifting drive member 541 can drive the wire cutting lifting plate 543 to lift and lower, and the transverse wire cutting assembly is fixed on the wire cutting lifting plate 543.

[0092] Further, the transverse wire cutting assembly includes a transverse linear drive member 544, a transverse linear slide group 545, a wire cutting assembly mounting plate 546, a wire cutting scissors 547, and a scissors opening and closing drive member 548; the power output end of the transverse linear drive member 544 is fixedly connected to the slider of the transverse linear slide group 545, the wire cutting assembly mounting plate 546 is fixedly connected to the slider of the transverse linear slide group 545, the transverse linear drive member 544 can drive the wire cutting assembly mounting plate 546 to perform a reciprocating linear motion in the horizontal direction, the wire cutting scissors 547 is fixedly connected to the power output end of the scissors opening and closing drive member 548, and when the spatial position of the transverse wire cutting assembly moves to the wire cutting station, the scissors opening and closing drive member 548 can drive the wire cutting scissors 547 to perform an opening and closing action to cut the wire (i.e., the part of the lead end protruding from the top surface of the terminal).

[0093] Specifically, referring to Figure 25 , the blanking handling mechanism 550 includes a gantry 551, a blanking transverse movement drive assembly 552, a blanking lifting drive assembly 553, and a product gripping device 554; the blanking transverse movement drive assembly is fixed on the gantry 551, the power output end of the blanking transverse movement drive assembly 552 is fixedly connected to the blanking lifting drive assembly 553, the blanking transverse movement drive assembly 552 can drive the blanking lifting drive assembly 553 to perform a reciprocating linear motion in the horizontal direction; the power output end of the blanking lifting drive assembly 553 is fixedly connected to the product gripping device, the blanking lifting drive assembly 553 can drive the product gripping device to lift and lower; the product gripping device includes a gripping opening and closing cylinder and gripping jaws, and the gripping opening and closing cylinder can drive the gripping jaws to perform an opening and closing action to clamp or release the product. Specifically, the vision inspection mechanism 520 is fixed on the gantry 551 and is located on the other side of the blanking handling mechanism 550, and the vision inspection mechanism 520 includes a CCD camera, and the CCD camera is installed on the gantry 551 through a fixing component.

[0094] Please refer to Figure 26, the terminal welding and performance testing equipment 600 includes a feeding slide assembly 61, a handling manipulator 62, a bridge line height detection mechanism 63, a terminal welding mechanism 64, a terminal cooling mechanism 65, a laser marking mechanism 66, an EOL testing mechanism 67, a defective product discharge line 68, and a discharging slide assembly 69. Among them, the feeding slide assembly 61 is used to receive products and convey the products to a position close to the handling manipulator 62; the handling manipulator 62 is used to handle products and transfer the products between mechanisms; the bridge line height detection mechanism 63 is used to detect the height of the bridge line of the products and feed back the detection results to the host computer; the terminal welding mechanism 64 is used to weld terminals, and the terminal cooling mechanism 65 is used to dissipate heat from the welded products; the laser marking mechanism 66 is used to mark codes on the products; the EOL testing mechanism 67 is used to perform electrical performance tests on the products; the defective product discharge line 68 is used to discharge unqualified products, and the discharging slide assembly 69 is used to discharge qualified products. Specifically, please refer to Figure 27, the height detection mechanism 63 of the cross-bridge wire includes a height detection support 631, a height detection downward pressing drive cylinder 632, a height detection lifting sliding group 633, a height detection lifting plate 634, a height detection circular pressing plate 635, a height detection movable rod 636, a height detection displacement sensor 637, and a height detection buffer spring 638. The height detection downward pressing drive cylinder 632 is fixed on the height detection support 631, and the piston rod of the height detection downward pressing drive cylinder 632 is fixedly connected to the slider of the height detection lifting sliding group 633. The height detection lifting plate 634 is fixed on the outer side surface of the slider of the height detection lifting sliding group 633. An upper mounting plate and a lower mounting plate are provided at intervals up and down on the outer side surface of the height detection lifting plate 634. When the height detection downward pressing drive cylinder 632 works, it is controlled by the upper computer and drives the height detection lifting plate 634 to rise or fall to a set height. The height detection displacement sensor 637 is fixed on the upper mounting plate. The shape of the height detection circular pressing plate 635 matches the shape of the part of the product where the cross-bridge wire is wound. It is fixed at the bottom end of the height detection movable rod 636, and the height detection movable rod 636 movably passes through the lower mounting plate. Preferably, the top end of the height detection movable rod 636 is a large head end, and the diameter of the large head end is greater than the aperture of the vertical through hole on the lower mounting plate, so that the large head end will not slide out of the vertical through hole. The top surface of the large head end is a plane. When the height detection circular pressing plate 635 presses against the cross-bridge wire on the product, the height detection movable rod 636 can slide upward and press against the height detection displacement sensor 637. By reading the displacement information of the height detection displacement sensor 637 by the upper computer and comparing it with the pre-stored reference range, when the measured displacement information of the height detection displacement sensor 637 is within the reference range, it can be determined that the height of the cross-bridge wire is within the qualified range. It can be understood that if one turn of the cross-bridge wire is missing, or the winding position is too low, the height detection displacement sensor 637 may have no reading, or the reading is less than the pre-stored reference range, and it can be determined as unqualified; on the contrary, if one turn of the cross-bridge wire is added, or the winding position is too high, the reading of the height detection displacement sensor 637 exceeds the pre-stored reference range, and it can also be determined as unqualified.

[0095] The height detection buffer spring 638 is sleeved on the outer periphery of the height detection movable rod 636 and is clamped between the lower mounting plate and the height detection circular pressing plate 635. By setting the height detection buffer spring 638, it can help the height detection circular pressing plate 635 quickly return to the initial set height position after detection. At the same time, since the height detection buffer spring 638 can apply a certain upward force to the height detection circular pressing plate 635, the height detection circular pressing plate 635 can press the cross-bridge wire with gaps tightly, so as to improve the accuracy of the cross-bridge wire height detection. After the cross-bridge wire is compacted, the wiring is more compact, which is beneficial to improving the product quality.

[0096] Specifically, please refer to Figure 28, the terminal welding mechanism 64 includes a welding fixture 641, a welding moving slide 642, a spot welding head 643, and a welding moving mechanism. The spot welding head 643 is fixed to the power output end of the welding moving mechanism. The welding fixture 641 is used to fix the product and is installed at the power output end of the welding moving slide 642. The welding moving slide 642 can move the welding fixture 641 to the welding station directly below the spot welding head 643. The welding moving mechanism can drive the spot welding head 643 to move close to the product to achieve welding of the product terminals. Further, the above-mentioned welding moving mechanism includes a welding fixed bracket 644, a welding lifting driving member 645, a welding lifting slide group 646, a welding lifting plate 647, and a welding transverse moving driving member 648. The welding lifting driving member 645 is fixed to the welding fixed bracket 644. The power output end of the welding lifting driving member 645 is fixedly connected to the slider of the welding lifting slide group 646. The welding lifting plate 647 is fixedly connected to the slider of the welding lifting slide group 646. The welding transverse moving driving member 648 is fixed to the welding lifting plate 647. The spot welding head 643 is fixedly connected to the power output end of the welding transverse moving driving member 648. Through the above design, the welding moving mechanism can move the spot welding head 643 to the target position in three-dimensional space.

[0097] In this embodiment, the terminal welding mechanism 64 is provided with two inclined and symmetrically distributed spot welding heads 643 for respectively welding the left and right wiring parts of a terminal. Specifically, the terminal cooling mechanism 65 includes a blower, and fresh air is blown to the product through the blower to take away the heat on the product, so that the product is quickly cooled.

[0098] Specifically, please refer to Figure 29 , the laser marking mechanism 66 includes a laser marking machine 661, a marking fixture 662, a marking material detection sensor 663, a marking protective cover 664, and a marking protective cover driving member 665. The marking fixture 661 is used to fix the product. The marking material detection sensor 662 is used to detect whether there is a product placed on the marking fixture 661. The laser marking machine 661 is used to emit laser to the product to form a code mark. The marking protective cover 664 is hinged to the power output end of the marking protective cover driving member 665. The marking protective cover driving member 665 can drive the marking protective cover 664 to swing downward to cover the product, thereby protecting the parts outside the product marking area. The marking protective cover 664 is provided with an avoidance notch corresponding to the product marking area for the laser to enter.

[0099] Specifically, please refer to Figure 30, the EOL test mechanism 67 includes a test fixture 671, a test bracket 672, a test lifting drive 673, a test lifting slide group 674, a test lifting plate 675, a test fixture 676, and a test fixture opening and closing cylinder 677; the test fixture 671 is used to fix the product, the test lifting drive 673 is fixed on the test bracket 672, the power output end of the test lifting drive 673 is fixedly connected to the slider of the test lifting slide group 674, the test lifting plate 675 is fixedly connected to the slider of the test lifting slide group 674, and when the test lifting drive 673 works, it is controlled by the host computer and can lower the test lifting plate 675 to the set height. The test fixture opening and closing cylinder 677 is installed at the bottom of the test lifting plate 675, and the two jaws of the test fixture 676 are respectively fixedly connected to the two piston rods of the test fixture opening and closing cylinder 677. The test fixture opening and closing cylinder 677 can drive the test fixture to clamp and contact the terminals on the product to achieve electrical connection. After the host computer collects the feedback electrical signals, the electrical performance of the product can be analyzed.

[0100] The PIN position detection operation table 700 has a PIN position detection operation table, a PIN position detection fixture, and a detection mold. The PIN position detection fixture is used to fix the product, and positioning posts protrude upward therefrom. The detection mold is provided with a press-fitting guide hole and a PIN needle hole. The size and position of the press-fitting guide hole match those of the positioning posts, and the size and shape of the PIN match those of the terminals on the product. The operator installs the product on the PIN position detection fixture, picks up the detection mold, aligns it with the product, and then inserts the positioning posts into the press-fitting guide holes and presses down the detection mold. If the terminals can all be inserted into the PIN needle holes, it indicates that the position distribution of the terminals on the product is qualified.

[0101] Please refer to Figure 31 , the post-injection molding detection equipment 800 includes a fixture 81, a transverse movement drive module 82, a code scanning component 83, a PIN needle height detection mechanism 84, a power-on performance detection component 85, and a manual transfer cart 86.

[0102] The fixture 81 is used to fix the product. The fixture 81 is fixed to the power output end of the transverse movement drive module 82, and the transverse movement drive module 82 can drive the fixture 81 and the product thereon to move to the designated working station; the code scanning component 83 is used to scan the code of the product and feedback it to the host computer to determine and record the ID information of the current product; the PIN needle height detection mechanism 84 includes a 3D profiler, which can collect the image information of the product and feedback it to the host computer. After the host computer analyzes and processes the image information, the PIN needle height can be obtained; the power-on performance detection component 85 is used to contact and energize the terminals of the product to achieve the power-on performance detection of the product. The manual transfer cart 86 is provided with a storage platform for storing products and a product transfer roller assembly that slopes downward along one side of the storage platform.

[0103] Specifically, referring to Figure 32 and Figure 33 , the above-mentioned transverse movement driving module 82 includes a transverse movement driving motor 821, a transverse movement lead screw pair 822, a transverse movement slide rail 823, a fixture fixing plate 824, a transverse movement component mounting bracket 825, and a die movement position detection sensor 826. The rotating shaft of the transverse movement driving motor 821 is in transmission connection with the transverse movement lead screw pair 822. The slider of the transverse movement lead screw pair 822 is slidably sleeved on the transverse movement slide rail 823. The fixture fixing plate 824 is fixedly connected to the slider of the transverse movement lead screw pair 822. The fixing fixture 81 is fixedly installed on the fixture fixing plate 824. When the transverse movement driving motor 821 works, it can drive the fixing fixture 81 to reciprocally slide along the length direction of the transverse movement slide rail 823.

[0104] The light blocking piece of the die movement position detection sensor 826 is fixedly connected to the slider of the transverse movement lead screw pair. The inductor of the die movement position detection sensor 826 and the transverse movement slide rail are both fixed on the transverse movement component mounting bracket 825. When the light blocking piece moves to a position where it blocks a certain inductor, it indicates that the product has reached that position.

[0105] Furthermore, a product detection sensor 827 for detecting whether a product is installed on the fixing fixture 81 is provided on the fixture fixing plate 824. The product detection sensor 827 has a transmitting end and a receiving end respectively located on two opposite outer sides of the fixing fixture 81. By setting the product detection sensor, it can be known in real time whether a product has been installed on the fixing fixture 81, so as to facilitate the upper computer to start controlling the work of each mechanism.

[0106] Specifically, the power-on performance detection component 85 includes a lifting driving member 851, a lifting slide group 852, a detection needle mounting plate 853, detection needles 854, a lifting component mounting bracket 855, and a lifting height detection sensor 856. The power output end of the lifting driving member 851 is fixedly connected to the slider of the lifting slide group 852. The slider of the lifting slide group 852 is fixedly connected to the detection needle mounting plate 853. The detection needles 854 are installed on the detection needle mounting plate 853. When the lifting driving member 851 works, it can drive the detection needles 854 to press down, so that the detection needles 854 are in contact with the terminals of the product to conduct electricity. The electrical signal is transmitted to the upper computer through a cable. After the upper computer analyzes and processes the power-on signal, the power-on performance of the product can be obtained. The light blocking piece of the lifting height detection sensor 856 is fixedly connected to the slider in the lifting slide group 852. The slide rail in the lifting slide group 852 and the inductor of the lifting height detection sensor 856 are fixed on the lifting component mounting bracket 855. When the light blocking piece moves to a position where it blocks a certain inductor, it indicates that the product has reached that height position.

[0107] It should be understood that a plurality of detection needles 854 are provided on the detection needle mounting plate 853 of the energization performance detection component 85, and the number and distribution positions of the detection needles 854 match the number and distribution positions of the PIN needles on the product.

[0108] To make the working principle and working process of the motor stator assembly line of this embodiment clearer, this embodiment also provides a method for assembling a motor stator, and this method includes the following steps:

[0109] After manually reverse-rolling the chain plate, use the iron core assembling chain plate machine 100 to load the iron core into the chain plate;

[0110] Use the winding machine 200 to wind the product, and after winding is completed, cut the wire;

[0111] Manually arrange the wire and the lead wire, use the circular welding machine 300 to remove the chain plate, and weld the product after circular assembly;

[0112] Use the electrical terminal press-fitting machine 400 to press-fit terminals on the product;

[0113] Use the wire pre-clamping and shearing machine 500 to pre-clamp the wire on the terminal, and then perform wire cutting and detect whether the wire cutting is qualified;

[0114] Use the terminal welding and performance testing equipment 600 to weld the terminals and perform electrical performance testing on the product;

[0115] Transfer the product to the PIN position detection operation table 700, and press-fit the detection mold on the product to detect the position accuracy of the terminal;

[0116] After the stator is injection-molded, use the post-injection molding detection equipment 800 to detect the terminal height and energization performance of the stator.

[0117] In summary, the motor stator assembly line of this application realizes the automation and mechanization of each assembly process of the motor stator; compared with the method of manually assembling the motor stator, this application improves the motor production efficiency, reduces the labor cost, and ensures the consistency and stability of the motor quality.

[0118] The above are only the preferred embodiments of this application and are not used to limit this application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A motor stator assembly line, characterized in that, Including core assembly chain plate machine, winding machine, round welding machine, electrical terminal press machine, wire pre-clamp shearing machine, terminal welding and performance testing equipment, PIN position detection operation table and post-injection testing equipment; The iron core assembly chain plate machine is used to install the iron core into the chain plate; The winding machine is used to wind the product and cut the wire; The rounding welding machine is used to round the products and then weld them; The electrical terminal press-fitting machine is used to press-fit terminals onto products; The wire pre-clamping and shearing machine is used for automatic pre-clamping, wire cutting and testing of wires; The terminal welding and performance testing equipment is used for welding terminals and performing electrical performance tests on products; The PIN position detection operation table is used for workers to press-fit the product into the detection mold to detect the terminal position; The post-injection molding detection equipment is used to perform terminal height and power-on performance detection on the stator after injection molding.

2. The motor stator assembly line according to claim 1, characterized in that, The iron core assembly chain plate machine includes a feeding mechanism, a transport mechanism, an iron core transport and detection belt line, a swing mechanism, an iron core pushing component and a discharging mechanism; The feeding mechanism is used to receive blank chain plates and move the chain plates to the handling station; The iron core conveying and detecting belt line receives the iron core from the vibrating plate, detects the type and forward and reverse direction of the iron core, and then conveys the iron core that meets the requirements to a position close to the iron core pushing assembly; The swing mechanism includes an iron core insertion jig, a jig rotating motor and a swing assembly; the iron core insertion jig is used to fix a chain plate so that the iron core pushing assembly pushes the iron core into the chain plate, the iron core insertion jig is fixedly connected to the rotating shaft of the jig rotating motor, the iron core insertion jig and the jig rotating motor are both fixed to the power output end of the swing assembly, the jig rotating motor can drive the iron core insertion jig to rotate, and the swing assembly can drive the iron core insertion jig to flip; The transport mechanism is used to transport the blank chain plate from the transport station to the core-entry fixture, and to transport the chain plate with the core assembled to the discharging mechanism.

3. The motor stator assembly line according to claim 1, characterized in that, The winding machine includes a product clamping mechanism, a wire supply mechanism, a tension mechanism, a spindle assembly, a winding mechanism, a truss scissor mechanism and a pole changing mechanism; The product clamping mechanism is used to clamp both sides of the product; The wire supply mechanism is used to place the copper wire coil and introduce the copper wire into the tension mechanism; The tension mechanism is used to tighten the copper wire to keep the copper wire at a suitable tension; The winding mechanism comprises a flying fork and a flying fork rotation drive assembly, wherein the flying fork is in transmission connection with the flying fork rotation drive assembly, and the flying fork rotation drive assembly can drive the flying fork to rotate around the iron core, and the flying fork drives the copper wire to move and realize winding during the rotation process; The spindle assembly is located between the tension mechanism and the winding mechanism, the spindle assembly is in transmission connection with the winding mechanism, the spindle assembly can drive the winding mechanism to move forward and backward, and the copper wire is led out from the tension mechanism and connected to the winding fly fork through the spindle assembly; The truss scissor mechanism is used to cut the copper wire and pull the copper wire end to the next iron core to be wound; The pole-changing mechanism includes a pole-changing fixing jig and a jig rotation driving member. The pole-changing fixing jig is used to fix the product, and the jig rotation driving member can drive the pole-changing fixing jig and the product thereon to rotate by a required angle.

4. The motor stator assembly line according to claim 1, characterized in that, The circular butt welding machine includes a material handling robot, a stator feeding ring gauge mechanism, an iron core weld laser welding mechanism, a stator discharging ring gauge mechanism, a stator handling assembly, and a stator discharging mechanism. The material handling robot is used to handle the stator and the ring gauge. The stator feeding ring gauge mechanism is used to push the stator away from the chain plate and make the stator enter the ring gauge. The iron core weld laser welding mechanism is used to weld the butt joints between the iron cores. The stator discharging ring gauge mechanism is used to push the welded stator out of the ring gauge. The stator handling assembly is used to handle the qualified stator after welding and inspection to the stator discharging mechanism, and the stator discharging mechanism outputs the stator outward.

5. The motor stator assembly line according to claim 1, wherein The electrical terminal press-fitting machine includes a ground terminal pressing mechanism, a vision detection system, a fish-eye terminal pressing mechanism, and an alarm system. The ground terminal pressing mechanism includes a ground terminal mounting jig, a ground terminal pressing lifting plate, a ground terminal downward pressing driving member, and a first stator fixing jig. The ground terminal mounting jig fixes the ground terminal by true pressure adsorption. The ground terminal downward pressing driving member can drive the ground terminal pressing lifting plate and the ground terminal mounting jig to press downward together. The first stator fixing jig is located directly below the ground terminal mounting jig. When the ground terminal mounting jig presses down to a set height, the ground terminal thereon can just be pressed into the stator. The shooting direction of the vision detection system faces the stator installed on the first stator fixing jig, and is used to collect the reference marks of the marks on the stator and feed them back to the host computer. The host computer judges whether the installation orientation of the stator is correct according to the received image information. When the installation orientation of the stator is incorrect, the host computer controls the alarm system to send out an alarm signal. The fish-eye terminal pressing mechanism includes a fish-eye terminal mounting jig, a fish-eye terminal pressing lifting plate, a fish-eye terminal downward pressing driving member, and a second stator fixing jig. The fish-eye terminal mounting jig fixes the fish-eye terminal by vacuum adsorption. The fish-eye terminal downward pressing driving member can drive the fish-eye terminal pressing lifting plate and the fish-eye terminal mounting jig to lift and lower together. The second stator fixing jig is located directly below the fish-eye terminal mounting jig. When the fish-eye terminal mounting jig presses down to a set height, the fish-eye terminal thereon can just be pressed into the stator.

6. The motor stator assembly line according to claim 1, characterized in that, The wire pre-clamping and shearing machine includes a main conveying mechanism, a vision detection mechanism, a wire pre-clamping mechanism, a wire cutting mechanism, a blanking and handling mechanism, a defective product discharging line, and a qualified product discharging line. The main conveying mechanism includes a product fixing jig and a conveying driving assembly. The power output end of the conveying driving assembly is fixedly connected to the product fixing jig. The conveying driving assembly can drive the product fixing jig and the product fixed thereon to be conveyed to the detection station, the wire pre-clamping station, the wire cutting station, and the blanking station. The vision detection mechanism is used to collect the image information of the product, send it to the host computer for analysis and processing, and then the host computer controls the blanking and handling mechanism to work according to the processing result. The wire pre-clamping mechanism is used to press the terminals and clamp the wire; The wire cutting mechanism is used to cut the wire; The blanking and handling mechanism is controlled by the host computer and is used to transport unqualified products to the defective product discharge line and qualified products to the qualified product discharge line.

7. The motor stator assembly line according to claim 1, characterized in that, The terminal welding and performance testing equipment includes a feeding sliding table assembly, a handling manipulator, a bridge wire height detection mechanism, a terminal welding mechanism, a terminal cooling mechanism, a laser marking mechanism, an EOL testing mechanism, a defective product discharge line, and an output sliding table assembly; The feeding sliding table assembly is used to receive products and transport the products to a position close to the handling manipulator; The handling manipulator is used to handle products and transfer the products between mechanisms; The bridge wire height detection mechanism is used to detect the height of the bridge wire of the product and feedback the detection result to the host computer; The terminal welding mechanism is used to weld the terminals, and the terminal cooling mechanism is used to dissipate heat from the welded products; The laser marking mechanism is used to mark codes on the products; The EOL testing mechanism is used to perform electrical performance testing on the products; The defective product discharge line is used to discharge unqualified products, and the output sliding table assembly is used to discharge qualified products.

8. The motor stator assembly line according to claim 1, wherein The PIN position detection operation table has a PIN position detection operation table, a PIN position detection fixing fixture, and a detection mold. The PIN position detection fixing fixture is used to fix the product, and positioning columns protrude upward therefrom. The detection mold is provided with a press-fitting guide hole and a PIN needle hole. The size and position of the press-fitting guide hole match those of the positioning columns, and the size and shape of the PIN match those of the terminals on the product.

9. The motor stator assembly line according to claim 1, characterized in that, The post-injection molding detection equipment includes a detection fixing fixture, a transverse movement drive module, a barcode scanning component, a PIN needle height detection mechanism, and a power-on performance detection component; The detection fixing fixture is used to fix the product. The detection fixing fixture is fixed to the power output end of the transverse movement drive module, and the transverse movement drive module can drive the detection fixing fixture and the product thereon to move to a specified position; The barcode scanning component is used to scan the barcode of the product and feedback it to the host computer to determine and record the ID information of the current product; The PIN needle height detection mechanism includes a 3D profiler. The 3D profiler can collect the image information of the product and feedback it to the host computer. After the host computer analyzes and processes the image information, the PIN needle height is obtained; The power-on performance detection component includes a lifting drive member, a lifting sliding group, a detection needle mounting plate, and detection needles. The power output end of the lifting drive member is fixedly connected to the slider of the lifting sliding group. The slider of the lifting sliding group is fixedly connected to the detection needle mounting plate, and the detection needles are mounted on the detection needle mounting plate. When the lifting drive member works, it can drive the detection needles to press down so that the detection needles contact the terminals of the product to conduct electricity.

10. A method for assembling a motor stator using the motor stator assembly line as described in claim 1, characterized in that, It includes the following steps: After manually rewinding the chain plate, use an iron core assembling machine to assemble the iron core into the chain plate; Use a winding machine to wind the wire for the product. After winding is completed, cut the wire; Manually arrange the wire and the lead wire, and use a circular welding machine to remove the chain plate and weld the product after circularizing; Use an electrical terminal press-fitting machine to press-fit terminals on the product; Use a wire pre-clamping and shearing machine to pre-clamp the wire on the terminal, then perform wire cutting and detect whether the wire cutting is qualified; Use terminal welding and performance testing equipment to weld the terminals and conduct electrical performance testing on the products; Transfer the products to the PIN position detection workbench and press the detection mold on the products to detect the terminal position accuracy; After the stator is injection-molded, use the post-injection-molding detection equipment to detect the terminal height and power-on performance of the stator.

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