Stator coil automatic transposition forming device and transposition forming method

Abstract

The invention discloses a stator coil automatic transposition forming device and a transposition forming method, and belongs to the technical field of hydroelectric generator stator coil manufacturing. The problems that at present, manual transposition of the stator coil easily causes certain damage to surface insulation of the flat copper wires, the insulation performance between every two adjacent flat copper wires is reduced, and manual transposition forming efficiency is low are solved. The transposition device, the forming device and the feeding device are sequentially arranged on the workbench in the feeding direction of the stator coil, transposition of the stator coil composed of an upper flat copper wire layer and a lower flat copper wire layer in the horizontal direction and the vertical direction is completed through the transposition device, and the single flat copper wire of the stator coil is pressed into an S bend shape through the forming device. And the stator coil is clamped by the feeding device to circularly move according to a fixed transposition pitch distance. According to the automatic transposition forming device and method for the stator coil, automatic transposition forming of the stator coil is achieved, efficiency is high, forming quality consistency is good, popularization is easy, and universality is high.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of manufacturing stator coils of hydroelectric generators, and particularly relates to a stator coil automatic transposition forming device and a transposition forming method. BACKGROUND

[0002] The stator coil is one of the core components of a generator set, is installed on a large generator set stator core, and directly affects the overall service life of the generator set, so its role is crucial.

[0003] A single stator coil is composed of multiple flat copper wires, the multiple flat copper wires are arranged in two layers, the flat copper wires are pressed into an "S" bend at a certain interval of transposition pitch distance, and each flat copper wire is cyclically transposed from one layer to another layer with the same interval to realize the reduction of loss when the stator coil transmits large current.

[0004] In order to reduce the internal loss of the stator coil during the operation of the generator, the stator coil is designed to have a transposition structure, and each flat copper wire in the upper and lower layers of the single stator coil is transposed and pressed into an S bend during production. The current transposition and bending are completed by manual operation, the S bend tool is used to press and bend each flat copper wire, and then each flat copper wire that has been pressed into an S bend is alternately transposed between the upper and lower layers by manual operation. The overall upper and lower flat copper wires of the stator coil are alternately transposed. Manual transposition can cause damage to the surface insulation of the flat copper wire, reduce the insulation performance between adjacent two flat copper wires, and the transposition position has poor consistency in shape and uncontrollable size, and the efficiency is low. Therefore, it is one of the urgent problems to be solved for the transposition forming of the stator coil to realize automatic transposition and S bend of the stator coil, improve the efficiency, and ensure the consistency of the shape and size of the transposition bend of the stator coil.

[0005] Therefore, the present application proposes a stator coil automatic transposition forming device and a transposition forming method to solve the above problems. SUMMARY

[0006] The research and development purpose of the present application is to solve the problems that manual transposition of the stator coil can cause damage to the surface insulation of the flat copper wire, reduce the insulation performance between adjacent two flat copper wires, and manual transposition forming has low efficiency. In the following, a brief summary of the present application is given to provide a basic understanding of some aspects of the present application. It should be understood that this summary is not an exhaustive summary of the present application. It is not intended to determine the key or important parts of the present application, nor to limit the scope of the present application.

[0007] The technical scheme of the present application is as follows:

[0008] Scheme one: a kind of stator coil automatic transposition forming device, including feeding device, forming device and transposition device, transposition device, forming device and feeding device are sequentially arranged on worktable according to the feeding direction of stator coil, the stator coil consisting of two layers of flat copper wire is transposed in horizontal direction and vertical direction by transposition device, the single flat copper wire of stator coil is pressed into S bend type by forming device, and the stator coil is clamped by feeding device and moved cyclically at fixed transposition pitch distance.

[0009] Further, two roller support tables are installed on the worktable, the two roller support tables are arranged on the two sides of the forming device, a roller support table is installed with the feeding device, and the other roller support table is installed with the transposition device, a vertical moving roller way module and a telescopic cylinder are respectively installed on each roller support table, the telescopic end of the telescopic cylinder is connected with the vertical moving roller way module, and the vertical moving roller way module is driven to press the stator coil.

[0010] Further, the feeding device includes a horizontal and vertical cylinder module, a first screw slide rail module, a first servo motor, a centering clamping module, a first horizontal roller mechanism and a second servo motor, the horizontal and vertical cylinder module is installed on the slide block assembly of the first screw slide rail module, the first screw slide rail module is installed on the roller support table, the first servo motor installed on the worktable is coaxially connected with the first screw slide rail module through the first coupling, the first horizontal roller mechanism is installed on the roller support table, the second servo motor is installed on the first horizontal roller mechanism, and the execution end of the second servo motor is connected with the centering clamping module.

[0011] Further, the transposition device includes a horizontal transposition device and a vertical transposition device, the horizontal transposition device and the vertical transposition device are integrated on the roller support table, the horizontal transposition device includes a left side horizontal transposition device and a right side horizontal transposition device, the left side horizontal transposition device and the right side horizontal transposition device are arranged on the two sides of the stator coil.

[0012] The left side horizontal transposition device includes a coil upper layer horizontal transposition push block, a left support base, a servo motor reducer module and a crank slider device, the servo motor reducer module is installed on the left support base, the servo motor reducer module is connected with the crank slider device, and the coil upper layer horizontal transposition push block is connected with the servo motor reducer module through the crank slider device.

[0013] The right side horizontal transposition device includes a coil lower layer horizontal transposition push block, a right support base, a servo motor reducer module and a crank slider device, the servo motor reducer module is installed on the right support base, the servo motor reducer module is connected with the crank slider device, and the coil lower layer horizontal transposition push block is connected with the servo motor reducer module through the crank slider device.

[0014] The coil upper layer horizontal transposition push block is used for horizontal moving transposition of the upper layer flat copper wire of the stator coil, and the coil lower layer horizontal transposition push block is used for horizontal moving transposition of the lower layer flat copper wire of the stator coil.

[0015] Further, the vertical transposition device comprises a left vertical transposition device and a right vertical transposition device, the left vertical transposition device is integrated with the left horizontal transposition device on the left side of the stator coil, and the right vertical transposition device is integrated with the right horizontal transposition device on the right side of the stator coil.

[0016] The right vertical transposition device comprises a third servo motor, a rotating crank, a connecting rod, a coil upper layer vertical downward transposition sliding block and a first sliding block guide rail module, the third servo motor is arranged on the right support base, the rotating crank is rotatably arranged on the right support base, the third servo motor is connected with the rotating crank, the rotating crank is connected with the coil upper layer vertical downward transposition sliding block through the connecting rod, the coil upper layer vertical downward transposition sliding block is slidably connected with the right support base through the first sliding block guide rail module, and the coil upper layer vertical downward transposition sliding block is arranged above the coil lower layer horizontal transposition push block.

[0017] The left vertical transposition device comprises a third servo motor, a rotating crank, a connecting rod, a coil lower layer vertical upward transposition sliding block and a first sliding block guide rail module, the third servo motor is arranged on the left support base, the rotating crank is rotatably arranged on the left support base, the third servo motor is connected with the rotating crank, the rotating crank is connected with the coil lower layer vertical upward transposition sliding block through the connecting rod, the coil lower layer vertical upward transposition sliding block is slidably connected with the left support base through the first sliding block guide rail module, and the coil lower layer vertical upward transposition sliding block is arranged below the coil upper layer horizontal transposition push block.

[0018] The coil upper layer vertical downward transposition sliding block is used for vertical moving transposition of the upper layer flat copper wire of the stator coil, and the coil lower layer vertical upward transposition sliding block is used for vertical moving transposition of the lower layer flat copper wire of the stator coil.

[0019] Further, the bottom of the right support base is connected with a first right-rotation transmission nut through a second sliding block guide rail module, the left support base is connected with a second left-rotation transmission nut through a third sliding block guide rail module, the first right-rotation transmission nut and the second left-rotation transmission nut are jointly arranged on a first lead screw transmission device, the first lead screw transmission device is connected with the second horizontal roller mechanism, a fourth servo motor is connected with the first lead screw transmission device through a second coupling, and the inner sides of the right support base and the left support base are respectively provided with elastic buffering positioning modules.

[0020] Further, the forming device comprises left forming devices and right forming devices, and the left forming devices and the right forming devices are arranged on the two sides of the stator coil.

[0021] The right side forming device includes a fifth servo motor, a first gear reducer, a first rotating plate, a sixth servo motor, a first slider plate, a first linear slide module, a first transmission rack, a first transmission gear, a first forming pressure roller, a first S-shaped positioning block, an elastic buffer positioning module and an eighth servo motor. The elastic buffer positioning module is connected with the first connecting base plate. The fifth servo motor is connected with the base seat through the first connecting base plate. The first rotating plate is connected with the fifth servo motor through the first gear reducer. The first rotating plate is connected with the slide rail assembly of the first linear slide module. The first slider plate is connected with the slider assembly of the first linear slide module. The first slider plate is connected with the first transmission rack. The first transmission rack is engaged with the first transmission gear. The first transmission gear is rotatably installed on the first rotating plate. The first transmission gear is coaxially connected with the sixth servo motor. The first pressure roller plate is installed on the first slider plate. The first pressure roller plate is rotatably installed with the first forming pressure roller. The first S-shaped positioning block is screw transmission connected with the second lead screw slide rail module. The second lead screw slide rail module is coaxially connected with the driven end of the first synchronous belt transmission device. The driving end of the first synchronous belt transmission device is coaxially connected with the eighth servo motor. The first forming pressure roller and the first S-shaped positioning block are respectively arranged at the upper and lower ends of the stator coil. The thirteenth servo motor is fixed on the base plate. The seventh slider guide rail module is connected with the base seat. The thirteenth servo motor drives the fifth lead screw transmission device to rotate, thereby relatively moving the base seat and the base plate through the seventh slider guide rail module.

[0022] The left forming device comprises a ninth servo motor, a second gear reducer, a second rotating plate, a second linear slide rail module, a tenth servo motor, a second slider plate, a second pressure roller plate, a second forming pressure roller, a second S-shaped positioning block and an assembly plate. The ninth servo motor is connected with the second rotating plate through the second gear reducer. The second rotating plate is connected with the slide rail assembly of the second linear slide rail module. The second slider plate is connected with the slider assembly of the second linear slide rail module. The second slider plate is connected with the second transmission rack. The second transmission rack is engaged with the second transmission gear. The second transmission gear is coaxially connected with the tenth servo motor. The tenth servo motor is installed on the second rotating plate. The second pressure roller plate is installed on the second slider plate. The second forming pressure roller is rotatably installed on the second pressure roller plate. The second S-shaped positioning block is connected with the slider assembly of the sixth slider guide rail module. The sixth slider guide rail module is connected with the assembly plate. The assembly plate is connected with the elastic buffer positioning module. The assembly plate is connected with the second connecting base plate through the fifth slider guide rail module. The eleventh servo motor drives the third screw transmission device to rotate through the third synchronous belt transmission device. The assembly plate moves up and down along the second connecting base plate through the fifth slider guide rail module. The twelfth servo motor is coaxially connected with the driving end of the third synchronous belt transmission device. The driven end of the third synchronous belt transmission device is coaxially connected with the fourth screw transmission device. The fourth screw transmission device is connected with the second S-shaped positioning block. The second S-shaped positioning block and the second forming pressure roller are arranged at the upper and lower ends of the stator coil respectively. The seventh slider guide rail module is connected with the second connecting base plate. The thirteenth servo motor drives the fifth screw transmission device to rotate. The second connecting base plate moves relative to the base plate through the seventh slider guide rail module.

[0023] The fourteenth servo motor is fixed at the bottom of the support platform. The fourteenth servo motor is coaxially connected with the driving wheel of the fourth synchronous belt transmission device. The driven wheel of the fourth synchronous belt transmission device is coaxially connected with the right screw transmission device. The right screw transmission device is coaxially connected with the left screw transmission device through the third shaft coupling. The nut in the right screw transmission device is fixedly connected with the second connecting base plate in the left forming device. The nut in the left screw transmission device is connected with the base seat in the right forming device.

[0024] Further, the second screw transmission device and the screw nut are arranged between the base seat and the first connecting base plate. The second screw transmission device is connected with the base seat. The screw nut on the second screw transmission device is connected with the first connecting base plate. The fourth slider guide rail module is installed on the first connecting base plate. The slide rail matched with the fourth slider guide rail module is connected with the base seat. The driving wheel of the belt transmission reducer is coaxially connected with the execution end of the seventh servo motor. The driven wheel of the belt transmission reducer is connected with the shaft end of the second screw transmission device.

[0025] Scheme two: a kind of stator coil automatic transposition forming method, which is realized by the stator coil automatic transposition forming device of scheme one, comprising the following steps:

[0026] Preparation stage: prepare the stator coil, a stator coil is composed of multiple flat copper wires, divided into upper and lower layers, the stator coil is sent into the transposition device and penetrated until the starting end of the stator coil is sent to the feeding position;

[0027] Horizontal transposition stage: the servo motor reducer module of the left horizontal transposition device drives the crank slider device to drive the upper layer horizontal transposition push block of the coil to move horizontally to the center of the stator coil, moving the upper layer flat copper wire of the stator coil horizontally to the center of the stator coil; the servo motor reducer module of the right horizontal transposition device drives the crank slider device to drive the lower layer horizontal transposition push block of the coil to move horizontally to the center of the stator coil, moving the lower layer flat copper wire of the stator coil horizontally to the center of the stator coil, through the left horizontal transposition device and the right horizontal transposition device, the upper layer and lower layer flat copper wires of the stator coil are pushed horizontally to the center direction, so that the moved upper layer flat copper wire protrudes the thickness of the lower layer flat copper wire on the same side along the moving direction, and the moved lower layer flat copper wire protrudes the thickness of the upper layer flat copper wire on the same side along the moving direction;

[0028] Vertical transposition stage: after horizontal transposition, the protruding flat copper wires of the upper and lower layers of the stator coil are vertically transposed, the fourth servo motor drives the first lead screw transmission device to drive the first right-handed transmission nut and the second left-handed transmission nut to move towards each other, so that the left vertical transposition device and the right vertical transposition device move towards each other, the elastic buffer positioning module in the inner side of the right support base and the left support base is in contact with the two side surfaces of the stator coil to adapt to the width size of the stator coil, the third servo motor of the left vertical transposition device drives the rotating crank to rotate, drives the connecting rod to push and pull the lower layer vertical up-lifting transposition slider of the coil, drives the lower layer vertical up-lifting transposition slider of the coil to move upwards along the first slider guide rail module, lifts the flat copper wire of the lower layer of the stator coil after horizontal transposition to the upper layer of the stator coil, and completes the vertical transposition of the lower layer flat copper wire;

[0029] The third servo motor of the right vertical transposition device drives the rotating crank to rotate, drives the connecting rod to push and pull the upper layer vertical down-pressing transposition slider of the coil to move downwards along the first slider guide rail module, presses the flat copper wire of the upper layer of the stator coil after horizontal transposition to the lower layer of the stator coil, and completes the vertical transposition of the upper layer flat copper wire;

[0030] The flat copper wire of the stator coil after horizontal and vertical transposition is automatically S-bent, the fifth servo motor drives the first gear reducer to drive the first rotating plate to rotate, the sixth servo motor drives the first transmission gear to rotate, and the first transmission rack drives the first sliding block plate to make reciprocating linear motion along the first rotating plate, the first forming pressure roller and the first pressure roller plate installed on the first sliding block plate make reciprocating linear motion along the first rotating plate, the single flat copper wire of the stator coil is pressed by the first forming pressure roller to cooperate with the rotating motion of the first rotating plate, and a section of arc motion track of the single flat copper wire of the stator coil is formed, the eighth servo motor drives the first synchronous belt transmission device to rotate to drive the lead screw in the second lead screw slide rail module to rotate, and then the first S-bend positioning block is horizontally extended to the direction of the stator coil to support and position the lower end of the single flat copper wire of the stator coil pressed by the first forming pressure roller, so that the arc track motion of the S-bent single flat copper wire is supported and positioned and blocked when the first S-bend positioning block is reached, another arc segment of the S-bend is formed, and the flat copper wire vertically transposed to the lower layer of the stator coil is automatically formed into an S-bend.

[0031] The ninth servo motor drives the second gear reducer to drive the second rotating plate to rotate, the tenth servo motor drives the second transmission gear to rotate, the second transmission rack and the second sliding block plate make reciprocating linear motion along the second rotating plate, the second forming pressure roller presses the single flat copper wire of the stator coil to cooperate with the rotating motion of the second rotating plate to form an arc motion track, the twelfth servo motor drives the third synchronous belt transmission device to drive the lead screw of the fourth lead screw transmission device to rotate, and the second S-bend positioning block is horizontally extended to the center direction of the stator coil to support and position the upper end of the single flat copper wire of the stator coil positioned by the second forming pressure roller, so that the arc track motion of the S-bent single flat copper wire is supported and positioned and blocked when the second S-bend positioning block is reached, another arc segment of the S-bend is formed, and the flat copper wire vertically transposed to the upper layer of the stator coil is automatically formed into an inverse S-bend.

[0032] The upper and lower layers of the stator coil after transposition and forming are moved by the feeding device by a fixed transposition pitch distance, and the horizontal transposition stage, the vertical transposition stage and the forming stage are cycled again until the stator coil is formed to the total length.

[0033] Further, the specific steps of the cycle stage are:

[0034] The second servo motor of the feeding device drives the centering and clamping module to center and clamp the stator coil, the telescopic cylinder drives the vertical reciprocating roller module to vertically reciprocate, the stator coil can be pressed tightly upward and downward during feeding motion, the first servo motor drives the first lead screw slide rail module to drive the horizontal and vertical cylinder module to make linear reciprocating motion, and the stator coil is moved by a fixed transposition pitch distance.

[0035] The present application has the following beneficial effects:

[0036] The stator coil automatic transposition forming device has the advantages that the stator coil automatic transposition forming is realized, the problem that the traditional manual operation cannot stably and efficiently complete the stator coil transposition forming is solved, the stator coil automatic transposition forming is realized, the efficiency is high, the forming quality consistency is good, different size specifications of the stator coil manufacturing can be compatible, the device is easy to popularize and has strong universality. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a top view of a stator coil automatic transposition forming device;

[0038] Figure 2 It is an axonometric view of a stator coil automatic transposition forming device;

[0039] Figure 3 It is a schematic view of a feeding device;

[0040] Figure 4 It is a schematic view of a right side mechanism of a transposition device;

[0041] Figure 5 It is a schematic view of a left side mechanism of a transposition device;

[0042] Figure 6 It is a right side mechanism schematic view of a forming device;

[0043] Figure 7 It is a left side mechanism schematic view of a forming device;

[0044] Figure 8 It is Figure 1 a sectional view in the direction of C-C;

[0045] Figure 9 It is a schematic view of left and right side mechanisms of a transposition device;

[0046] Figure 10 It is Figure 1 a schematic view of a transposition device in the direction of B;

[0047] Figure 11 It is Figure 1 a schematic view of a forming device in the direction of B;

[0048] Figure 12 It is Figure 1 a schematic view of a forming device in the direction of D;

[0049] Figure 13 It is Figure 1 a schematic view of a right side forming device of a forming device in the direction of C;

[0050] Figure 14 It is Figure 1Cross-sectional view of the right side of the forming device in the middle forming device (BB direction);

[0051] Figure 15 yes Figure 1 A sectional view of the left side of the forming device in the middle forming device along direction AA;

[0052] Figure 16 yes Figure 1 A schematic diagram of the left side of the forming device in the middle forming device, facing direction A;

[0053] Figure 17 This is a top view of the molding device;

[0054] Figure 18 This is an initial schematic diagram of the upper and lower layers of the stator coils;

[0055] Figure 19 This is a schematic diagram of the horizontal cross-positioning of the upper and lower layers of stator coils;

[0056] Figure 20 This is a schematic diagram of the vertical cross-positioning of the upper and lower layers of stator coils;

[0057] Figure 21 This is a schematic diagram of the S-bend shape of the upper and lower layers of the stator coil;

[0058] Figure 22 This is a top view of the stator coils after automatic repositioning and forming;

[0059] Figure 23 This is a side view of the stator coil after automatic repositioning and forming.

[0060] In the figure: 1 - horizontal and vertical cylinder module; 2 - first screw slide rail module; 3 - first servo motor; 4 - first coupling; 5 - roller support table; 6 - centering and clamping module; 7 - first horizontal roller mechanism; 8 - second servo motor; 9 - vertical moving roller module; 10 - telescopic electric cylinder; 11 - third servo motor; 12 - rotating crank; 13 - connecting rod; 14 - coil upper layer vertical downward pressing transposition slider; 15 - coil lower layer vertical upward pressing transposition slider; 16 - coil lower layer horizontal transposition pushing block; 17 - coil upper layer horizontal transposition pushing block; 18 - first slider guide rail module; 19 - right support base; 20 - left support base; 21 - servo motor reducer module; 22 - fourth servo motor; 23 - second coupling; 24 - first screw transmission device; 25 - first right-handed transmission nut; 26 - second left-handed transmission nut; 27 - second slider guide rail module; 28 - third slider guide rail module; 29 - crank slider device; 30 - second horizontal roller mechanism; 31 - fifth servo motor; 32 - first gear reducer; 33 - first rotating plate; 34 - sixth servo motor; 35 - first slider plate; 36 - first linear slide rail module; 37 - first transmission rack; 38 - first transmission gear; 39 - first pressing wheel plate; 40 - first forming pressing wheel; 41 - first S-shaped positioning block; 42 - elastic buffer positioning module; 43 - seventh servo motor; 44 - belt transmission reducer; 45 - second screw transmission device; 46 - fourth slider guide rail module; 47 - first connecting base plate; 48 - eighth servo motor; 49 - first synchronous belt transmission device; 50 - second screw slide rail module; 51 - ninth servo motor; 52 - second gear reducer; 53 - second rotating plate; 54 - second linear slide rail module; 55 - tenth servo motor; 56 - second transmission rack; 57 - second transmission gear; 58 - second slider plate; 59 - second pressing wheel plate; 60 - second forming pressing wheel; 61 - second S-shaped positioning block; 62 - second connecting base plate; 63 - eleventh servo motor; 64 - second synchronous belt transmission device; 65 - third screw transmission device; 66 - fifth slider guide rail module; 67 - twelfth servo motor; 68 - third synchronous belt transmission device; 69 - fourth screw transmission device; 70 - sixth slider guide rail module; 71 - stator coil; 72 - base seat; 73 - assembly plate; 74 - thirteenth servo motor; 75 - fifth screw transmission device; 76 - seventh slider guide rail module; 77 - fourteenth servo motor; 78 - fourth synchronous belt transmission device; 79 - third coupling; 80 - right-handed screw transmission device; 81 - left-handed screw transmission device; 82 - support platform; 83 - base plate; 100 - feeding device; 101 - forming device; 102 - transposition device. DETAILED DESCRIPTION

[0061] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described below in detail through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of the known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0062] The connection mentioned in the present application is divided into fixed connection and detachable connection, the fixed connection (i.e. non-detachable connection) includes but is not limited to conventional fixed connection modes such as flange connection, rivet connection, adhesive connection and welding connection, the detachable connection includes but is not limited to conventional detachable modes such as threaded connection, buckle connection, pin connection and hinge connection, when the specific connection mode is not specifically limited, at least one connection mode can be found in the existing connection mode to realize the function, and the person skilled in the art can select it according to the needs. For example: the fixed connection selects the welding connection, and the detachable connection selects the hinge connection.

[0063] Embodiment 1, combination Figure 1 , Figures 18-23 This embodiment is a kind of stator coil automatic transposition forming device, including feeding device 100, forming device 101 and transposition device 102, transposition device 102, forming device 101 and feeding device 100 are sequentially arranged on workbench according to the feeding direction of stator coil 71, the transposition of stator coil 71 in horizontal direction and vertical direction is completed by transposition device 102, the S-shaped bending of stator coil 71 single flat copper wire is completed by forming device 101, and stator coil 71 is clamped and moved circularly at fixed transposition pitch distance by feeding device 100.

[0064] As shown in Figure 18 , a stator coil 71 is composed of a plurality of flat copper wires and divided into upper and lower two layers, in the initial state, the upper and lower two layers of flat copper wires of stator coil 71 are longitudinally aligned, as shown in Figure 19 , the upper and lower two layers of stator coil 71 are moved horizontally by a distance of a flat copper wire through the horizontal transposition device of transposition device 102, as shown in Figure 20 , then the excess flat copper wires in the upper and lower layers are transposed by the vertical transposition device of transposition device 102, the flat copper wire a of the lower layer is moved to the upper layer by the vertical transposition device, the flat copper wire A of the upper layer is moved to the lower layer by the vertical transposition device, as shown in Figures 21-23 , finally, the upper layer flat copper wire A is pressed into reverse S-shaped bending, and the lower layer flat copper wire is automatically pressed into S-shaped bending by forming device 101, after one transposition and pressing, stator coil 71 is circularly moved at fixed transposition pitch distance by feeding device 100, and the transposition and pressing are repeated until the overall forming length of stator coil 71 is reached.

[0065] Embodiment 2, in combination Figures 1-5 To illustrate the embodiment, the stator coil automatic transposition forming device of the embodiment is provided with two roller support tables 5 installed on the workbench, which are arranged on the front and rear sides of the forming device 101 respectively. One roller support table 5 is used for installing the feeding device 100, and the other roller support table 5 is used for installing the transposition device 102. The two roller support tables 5 are respectively provided with vertical moving roller modules 9, which are driven by the telescopic ends of telescopic electric cylinders 10 to move vertically and reciprocally. The vertical moving roller modules 9 can press the stator coil 71 tightly up and down when feeding the stator coil 71.

[0066] The horizontal and vertical cylinder module 1 of the feeding device 100 is installed on the slider assembly of the lead screw linear slide module 2. The horizontal and vertical cylinder module 1 moves linearly and reciprocally along the lead screw linear slide module 2. The first servo motor 3 is coaxially connected to the first lead screw slide module 2 through the first coupling 4. The lead screw linear slide module 2 is driven by the first servo motor 3 to drive the horizontal and vertical cylinder module 1 to move linearly and reciprocally. The lead screw linear slide module 2 is installed on the roller support table 5. The roller support table 5 is also provided with the first horizontal roller mechanism 7. The cylinder part of the second servo motor 8 is installed on the outside of the first horizontal roller mechanism 7. The inside of the first horizontal roller mechanism 7 is provided with the centering and clamping module 6, which is coaxially connected to the execution end of the second servo motor 8. The centering and clamping module 6 is driven by the second servo motor 8 to clamp the stator coil 71 centrally. The stator coil 71 is connected to the horizontal and vertical cylinder module 1. The stator coil 71 is moved circularly at a fixed transposition pitch distance by the driving of the first servo motor 3.

[0067] Embodiment 3, in combination Figures 1-5 , Figures 8-10 As shown in the figure, the stator coil automatic transposition forming device of the embodiment includes horizontal transposition devices and vertical transposition devices, which are integrated on the roller support table 5. The horizontal transposition devices include left and right horizontal transposition devices, which are arranged on the two sides of the stator coil 71. The left horizontal transposition device and the left vertical transposition device are integrated on the left support base 20. The right horizontal transposition device and the right vertical transposition device are integrated on the right support base 19.

[0068] The servo motor reducer module 21 of the left horizontal transposition device is coaxially connected to the crank wheel of the crank slider device 29. The upper layer coil horizontal transposition push block 17 is connected to the slider of the crank slider device 29. The crank slider device 29 is driven by the servo motor reducer module 21 to drive the upper layer coil horizontal transposition push block 17 to move horizontally and reciprocally, so as to realize the horizontal movement transposition of the upper layer flat copper wire A of the stator coil 71.

[0069] The servo motor reducer module 21 of the right horizontal transposition device is coaxially connected with the crank wheel in the crank slider device 29, the lower coil horizontal transposition push block 16 is fixedly connected with the slider of the crank slider device 29, the crank slider device 29 drives the lower coil horizontal transposition push block 16 to make horizontal reciprocating motion under the drive of the servo motor reducer module 21, thereby realizing horizontal movement transposition of the lower layer flat copper wire a of the stator coil 71.

[0070] The vertical transposition device includes a left vertical transposition device and a right vertical transposition device, the third servo motor 11 of the right vertical transposition is connected with the right support base 19, the third servo motor 11 is coaxially connected with the rotating crank 12, the rotating crank 12 is movably hinged with one end of the connecting rod 13, the other end of the connecting rod 13 is movably hinged with the upper coil vertical downward transposition slider 14, the upper coil vertical downward transposition slider 14 is slidably connected with the right support base 19 through the first slider guide rail module 18, under the drive of the third servo motor 11, the connecting rod 13 is driven by the rotating crank 12 to make the upper coil vertical downward transposition slider 14 vertically reciprocate along the first slider guide rail module 18, after the horizontal transposition of the upper layer of the stator coil 71 is completed, the flat copper wire A is vertically downward pressed to the lower layer of the stator coil 71.

[0071] The third servo motor 11 of the left vertical transposition device is connected with the left support base 20, the third servo motor 11 is coaxially connected with the rotating crank 12, the rotating crank 12 is movably hinged with one end of the connecting rod 13, the other end of the connecting rod 13 is movably hinged with the lower coil vertical upward transposition slider 15, the lower coil vertical upward transposition slider 15 is slidably connected with the left support base 20 through the first slider guide rail module 18, under the drive of the third servo motor 11, the connecting rod 13 is driven by the rotating crank 12 to make the lower coil vertical upward transposition slider 15 vertically reciprocate along the first slider guide rail module 18, after the horizontal transposition of the lower layer of the stator coil 71 is completed, the flat copper wire a is vertically upward lifted to the upper layer of the stator coil 71.

[0072] The bottom of the right support base 19 is connected with the first right rotation transmission nut 25 through the second sliding block guide rail module 27, the left support base 20 is connected with the second left rotation transmission nut 26 through the third sliding block guide rail module 28, the first lead screw transmission device 24 is coaxially and screw-connected with the first right rotation transmission nut 25 and the second left rotation transmission nut 26, the first lead screw transmission device 24 is installed on the roller support table 5 through the second horizontal roller table mechanism 30, the fourth servo motor 22 is connected with the first lead screw transmission device 24 through the second coupling 23, the first right rotation transmission nut 25 and the second left rotation transmission nut 26 are driven by the first lead screw transmission device 24 driven by the fourth servo motor 22 to realize the motion of approaching or moving away from each other, and then the right support base 19 and the left support base 20 realize the motion of approaching or moving away from each other, realizing the horizontal and vertical cross transposition of the upper and lower layer flat copper wires of the stator coil 71 of different specifications.

[0073] Embodiment 4, in combination Figures 1-2 、 Figures 6-7 、 Figures 11-17 This embodiment is described, and the stator coil automatic transposition forming device of this embodiment comprises a left forming device and a right forming device, and the left forming device and the right forming device are arranged on the left and right sides of the stator coil 71 respectively.

[0074] The fifth servo motor 31 of the right forming device is connected with the first connecting base plate 47, the fourth sliding block guide rail module 46 is installed on the first connecting base plate 47, the sliding rail matched with the fourth sliding block guide rail module 46 is connected with the base 72 in a matched mode, the elastic buffering and positioning module 42 is connected with the first connecting base plate 47, the fifth servo motor 31 is coaxially linked with the high-speed end of the first gear reducer 32, the low-speed end of the first gear reducer 32 is coaxially connected with the first rotating plate 33, the first gear reducer 32 is driven by the fifth servo motor 31 to drive the first rotating plate 33 to perform reciprocating main rotation, the sixth servo motor 34 is installed on the first rotating plate 33, the first rotating plate 33 is connected with the sliding rail assembly of the first linear sliding rail module 36, the first sliding block plate 35 is connected with the sliding block assembly in the first linear sliding rail module 36, the first sliding block plate 35 is driven by the first linear sliding rail module 36 to perform reciprocating linear sliding along the first rotating plate 33, the first sliding block plate 35 is connected with the first transmission rack 37, the first transmission rack 71 is engaged with the first transmission gear 38, the first transmission gear 38 is coaxially connected with the sixth servo motor 34, the first transmission gear 38 is driven by the sixth servo motor 34 to drive the first transmission rack 37 and the first sliding block plate 35 to perform reciprocating linear motion along the first rotating plate 33; the first pressing wheel plate 39 is connected with the first sliding block plate 35, the first forming pressing wheel 40 moves along the first rotating plate 33 together with the first pressing wheel plate 39 and the first sliding block plate 35 to perform reciprocating linear motion, so that the first forming pressing wheel 40 presses the single flat copper wire of the stator coil 71 to perform linear motion on the first rotating plate 33 while adding the rotating motion of the first rotating plate 33, and the two motions are linked to realize S-bending of the single flat copper wire of the stator coil 71; the thirteenth servo motor 74 is fixed on the base plate 83, the thirteenth servo motor 74 is coaxially connected with the fifth lead screw transmission device 75, the seventh sliding block guide rail module 76 is fixed on the base plate 83, the seventh sliding block guide rail module 76 is connected with the base 72, the thirteenth servo motor 74 drives the fifth lead screw transmission device 75 to rotate, and then drives the base 72 to relatively move with the base plate 83 through the seventh sliding block guide rail module 76, so as to realize repeated movement of the right forming device as a whole along the feeding direction on the base plate 83;

[0075] The first S-bend positioning block 41 is connected with the second lead screw sliding rail module 50 in a screw transmission mode, the second lead screw sliding rail module 50 is coaxially connected with the driven wheel end in the first synchronous belt transmission device 49, the driving wheel end in the first synchronous belt transmission device 49 is connected with the eighth servo motor 48, the first synchronous belt transmission device 49 is driven by the eighth servo motor 48 to rotate to drive the lead screw in the second lead screw sliding rail module 50 to rotate, the lead screw drives the first S-bend positioning block 41 to perform reciprocating horizontal extension and retraction motion through screw transmission, so as to realize that the first S-bend positioning block 41 can support and position the lower end of the single flat copper wire of the stator coil 71 pressed by the first forming pressing wheel 40, and realize S-bending of the single flat copper wire A in the lower layer of the stator coil 71.

[0076] The ninth servo motor 51 of the left forming device is coaxially connected with the high-speed end of the second gear reducer 52, the low-speed end of the second gear reducer 52 is coaxially connected with the second rotating plate 53, so that the second rotating plate 53 is driven by the ninth servo motor 51 to realize reciprocating rotation movement, the tenth servo motor 55 is connected with the second rotating plate 53, the second rotating plate 53 is connected with the slide rail assembly in the second linear slide rail module 54, the second slide block plate 58 is connected with the slide block assembly in the second linear slide rail module 54, the second slide block plate 58 slides along the second rotating plate 53 through the second linear slide rail module 54, the second slide block plate 58 is connected with the second transmission rack 56, the second transmission rack 56 is connected with the second transmission gear 57, the second transmission gear 57 is coaxially connected with the tenth servo motor 55, the second transmission gear 57 drives the second transmission rack 56 and the second slide block plate 58 to move reciprocatingly along the second rotating plate 53 through the tenth servo motor 55, the second slide block plate 58 is connected with the second pressure wheel plate 59, the second forming pressure wheel 60 is rotatably installed on the second pressure wheel plate 59, the second forming pressure wheel 60 moves reciprocatingly along the second rotating plate 53 together with the second pressure wheel plate 59 and the second slide block plate 58, the second forming pressure wheel 60 presses the single flat copper wire of the stator coil 71 to move linearly on the second rotating plate 53 while adding the rotating movement of the second rotating plate 53, and the two movements are linked to realize S-bending of the single flat copper wire of the stator coil 71, the sixth slide block guide rail module 70 is connected with the assembly plate 73, the assembly plate 73 is connected with the elastic buffer positioning module 42, the assembly plate 73 is connected with the second connecting base plate 62 through the fifth slide block guide rail module 66, the eleventh servo motor 63 drives the third screw transmission device 65 through the second synchronous belt transmission device 64 to rotate, drives the assembly plate 73 to move up and down along the second connecting base plate 62 through the fifth slide block guide rail module 66, the twelfth servo motor 67 is coaxially connected with the driving end of the third synchronous belt transmission device 68, the driven end of the third synchronous belt transmission device 68 is coaxially connected with the fourth screw transmission device 69, so that the twelfth servo motor 67 drives the fourth screw transmission device 69 to rotate through the third synchronous belt transmission device 68, the screw drives the second S-bend positioning block 61 to move reciprocatingly through the screw transmission, and the second S-bend positioning block 61 can support and position the upper end of the single flat copper wire of the stator coil 71 pressed by the second forming pressure wheel 60, so that the flat copper wire of the stator coil 71 is automatically pressed into an inverted S-bend.

[0077] The second screw transmission device 45 is connected between the first connecting base plate 47 and the base 72, and a matched screw nut is connected with the second screw transmission device 45 and the first connecting base plate 47. The fourth sliding block guide rail module 46 is matched with the sliding block assembly connected with the first connecting base plate 47, and the guide rail assembly matched with the fourth sliding block guide rail module 46 is connected with the base 72, so that the first connecting base plate 47 can slide on the base 72. The driving wheel in the belt transmission speed reducer 44 is connected with the seventh servo motor 43, and the driven wheel in the belt transmission speed reducer 44 is connected with the shaft end of the second screw transmission device 45. The seventh servo motor 43 drives the belt transmission speed reducer 44 to rotate, and then drives the first connecting base plate 47 to move up and down as a whole, so that the rotating plate 33, the sliding block plate 35, the pressure wheel plate 39 and the shaped pressure wheel 40 move up and down together, and the flat copper wire pressing S-bending type of the stator coil 71 with different thicknesses is compatible.

[0078] The seventh sliding block guide rail module 76 in the left forming device is connected with the second connecting base plate 62, the thirteenth servo motor 74 drives the fifth screw transmission device 75 to rotate, and then drives the second connecting base plate 62 to move relative to the base plate 83 through the seventh sliding block guide rail module 76, so that the left forming device moves reciprocatingly on the base plate 83 along the feeding direction.

[0079] The fourteenth servo motor 77 is fixed at the bottom of the support platform 82, the fourteenth servo motor 77 is coaxially connected with the driving wheel of the fourth synchronous belt transmission device 78, the driven wheel of the fourth synchronous belt transmission device 78 is coaxially connected with the right-handed screw transmission device 80, the right-handed screw transmission device 80 is coaxially connected with the left-handed screw transmission device 81 through the shaft coupling 79, the nut in the right-handed screw transmission device 80 is fixedly connected with the base plate 83 in the left forming device, and the left-handed screw transmission device 81 is fixedly connected with the base plate 83 in the right forming device. The fourteenth servo motor 77 drives the fourth synchronous belt transmission device 78 to rotate, and then drives the right-handed screw transmission device 80 and the left-handed screw transmission device 81 to rotate together, so as to drive the left forming device and the right forming device to move towards each other or away from each other, so as to be compatible with the forming of the stator coil 71 with different widths.

[0080] Embodiment 5, in combination Figures 1-22 It is illustrated that the stator coil automatic transposition forming method of the embodiment includes the following steps:

[0081] Preparation stage: prepare the stator coil 71, one stator coil 71 is composed of a plurality of flat copper wires, and is divided into upper and lower two layers. The stator coil 71 is sent into the transposition device 102 and is inserted until the starting end of the stator coil 71 is sent into the feeding device 100;

[0082] Horizontal transposition stage: the servo motor reducer module 21 of the left horizontal transposition device drives the crank slider device 29 to drive the upper horizontal transposition push block 17 of the coil to move horizontally and linearly to the center of the stator coil 71, so as to move the upper flat copper wire of the stator coil 71 horizontally to the center of the stator coil 71; the servo motor reducer module 21 of the right horizontal transposition device drives the crank slider device 29 to drive the lower horizontal transposition push block 16 of the coil to move horizontally and linearly to the center of the stator coil 71, so as to move the lower flat copper wire of the stator coil 71 horizontally to the center of the stator coil 71; through the left horizontal transposition device and the right horizontal transposition device, the upper and lower flat copper wires of the stator coil 71 are simultaneously horizontally pushed to the center direction and cross each other, so that the moved upper flat copper wire is protruded by the thickness of one flat copper wire on the same side in the moving direction, and the moved lower flat copper wire is protruded by the thickness of one flat copper wire on the same side in the moving direction;

[0083] Vertical transposition stage: after the horizontal cross transposition of the stator coil 71, the protruded flat copper wires of the upper and lower layers of the stator coil 71 are vertically and automatically cross transposed in the vertical direction between the layers; the fourth servo motor 22 drives the first screw transmission device 24 to drive the first right-handed transmission nut 25 and the second left-handed transmission nut 26 to move towards each other, so that the left vertical transposition device and the right vertical transposition device move towards each other; the third servo motor 11 of the left vertical transposition device drives the rotating crank 12 to rotate, drives the connecting rod 13 to push and pull the lower vertical up transposition slider 15 of the coil, drives the lower vertical up transposition slider 15 of the coil to move upwards along the first slider guide rail module 18, lifts the flat copper wire of the lower layer of the stator coil 71 after horizontal transposition vertically upwards to the upper layer of the stator coil 71, and completes the vertical transposition of the lower flat copper wire;

[0084] The third servo motor 11 of the right vertical transposition device drives the rotating crank 12 to rotate, drives the connecting rod 13 to push and pull the upper vertical down transposition slider 14 of the coil to move downwards along the first slider guide rail module 18, and drives the upper vertical down transposition slider 14 of the coil to press downwards the flat copper wire of the upper layer of the stator coil 71 after horizontal transposition to the lower layer of the stator coil 71, so as to complete the vertical transposition of the upper flat copper wire;

[0085] The forming stage: the completed horizontal, vertical transposition after the stator coil 71 flat copper line automatic pressure S bending forming, the fifth servo motor 31 drive the first gear reducer 32 drive the first rotating plate 33 rotation, the sixth servo motor 34 drive the first transmission gear 38 rotation, make the first transmission rack 37 drive the first slider plate 35 along the first rotating plate 33 do reciprocating linear motion, install on the first slider plate 35 on the first forming pressure wheel 40 and the first pressure wheel plate 39 along the first rotating plate 33 do reciprocating linear motion, through the first forming pressure wheel 40 pressure stator coil 71 single flat copper line cooperate the rotation of the first rotating plate 33, form stator coil 71 single flat copper line pressure S bending type one section arc movement track, through the eighth servo motor 48 drive the first synchronous belt transmission device 49 rotation drive the screw rotation in the second screw slide rail module 50, further drive the first S bending positioning block horizontal to the stator coil 71 direction stretch out, support positioning in the first forming pressure wheel 40 pressure stator coil 71 single flat copper line lower end, make stator coil 71 single flat copper line pressure S bending type arc track motion to the first S bending positioning block 41 when being supported positioning block, form S bending type another arc segment, complete vertical transposition to the lower layer of stator coil 71 flat copper line automatic pressure type S bending;

[0086] Through the ninth servo motor 51 drive the second gear reducer 52 drive the second rotating plate 53 rotation, by the tenth servo motor 55 drive the second transmission gear 57 rotation, drive the second transmission rack 56 and the second slider plate 58 along the second rotating plate 53 do reciprocating linear motion, make the second forming pressure wheel 60 pressure stator coil 71 single flat copper line cooperate the rotation of the second rotating plate 53 form arc movement track, the twelfth servo motor 67 drive the third synchronous belt transmission device 68 drive the screw rotation of the fourth screw transmission device 69, drive the second S bending positioning block 61 horizontal to the center of stator coil 71 direction stretch out, support positioning in the second forming pressure wheel 60 of stator coil 71 single flat copper line upper end, make stator coil 71 single flat copper line pressure S bending forming arc track motion to the second S bending positioning block 61 when being supported positioning block, form S bending type another arc segment, complete vertical transposition to the upper layer of stator coil 71 flat copper line automatic pressure type S bending;

[0087] Circulation stage: the stator coil 71 after the completion of the transposition pressure type, the upper and lower layers of the whole horizontal movement of a fixed transposition pitch distance, the second servo motor 8 of the feeding device 100 drive the centering clamping module 6 of the stator coil 71 centering clamping, telescopic cylinder 10 drive vertical moving roller module 9 vertical reciprocating motion, when the stator coil 71 feeding movement can be up and down compression stator coil 71, through the first servo motor 3 drive the first screw slide rail module 2 with horizontal vertical cylinder module 1 linear reciprocating motion, complete the stator coil 71 according to the fixed transposition pitch distance circulation movement, again circulation horizontal transposition stage, vertical transposition stage and forming stage, circulation to the stator coil 71 whole forming total length after stop.

[0088] The embodiment is only an exemplary description of the present application, and does not limit the protection scope thereof, and the skilled in the art can also change it locally, as long as it does not exceed the spirit and essence of the present application, and is within the protection scope of the present application.

Claims

1. A device for automatically transposing a stator coil, characterized in that: The application relates to a stator coil feeding device, which comprises a feeding device (100), a forming device (101) and a transposition device (102), the transposition device (102), the forming device (101) and the feeding device (100) are sequentially arranged on a workbench in the feeding direction of the stator coil (71), the stator coil (71) composed of two layers of flat copper wires is transposed in the horizontal direction and the vertical direction by the transposition device (102), the single flat copper wire of the stator coil (71) is pressed into an S-shaped bend by the forming device (101), and the stator coil (71) is clamped and circularly moved at a fixed transposition pitch distance by the feeding device (100).

2. The automatic transposition forming device for stator coils according to claim 1, characterized in that: Two roller support tables (5) are installed on the workbench, the two roller support tables (5) are arranged on the two sides of the forming device (101), the feeding device (100) is installed on one roller support table (5), the transposition device (102) is installed on the other roller support table (5), a vertical moving roller module (9) and a telescopic electric cylinder (10) are respectively installed on each roller support table (5), the telescopic end of the telescopic electric cylinder (10) is connected with the vertical moving roller module (9), and the vertical moving roller module (9) is driven to press the stator coil (71).

3. The automatic transposition forming device for stator coils according to claim 2, characterized in that: The feeding device (100) comprises a horizontal and vertical cylinder module (1), a first screw sliding rail module (2), a first servo motor (3), a centering clamping module (6), a first horizontal roller mechanism (7) and a second servo motor (8), the horizontal and vertical cylinder module (1) is installed on the sliding block assembly of the first screw sliding rail module (2), the first screw sliding rail module (2) is installed on the roller support table (5), the first servo motor (3) installed on the workbench is coaxially connected with the first screw sliding rail module (2) through a first shaft coupling (4), the first horizontal roller mechanism (7) is installed on the roller support table (5), the second servo motor (8) is installed on the first horizontal roller mechanism (7), and the execution end of the second servo motor (8) is connected with the centering clamping module (6).

4. The automatic transposition forming device for stator coils according to claim 3, characterized in that: The transposition device (102) comprises horizontal transposition devices and vertical transposition devices, the horizontal transposition devices and the vertical transposition devices are integrated on the roller support table (5), the horizontal transposition devices comprise left and right horizontal transposition devices, and the left and right horizontal transposition devices are arranged on the two sides of the stator coil (71); The left horizontal transposition device comprises a coil upper layer horizontal transposition push block (17), a left support base (20), a servo motor reducer module (21) and a crank slider device (29), the servo motor reducer module (21) is installed on the left support base (20), the servo motor reducer module (21) is connected with the crank slider device (29), and the coil upper layer horizontal transposition push block (17) is connected with the servo motor reducer module (21) through the crank slider device (29). The right horizontal transposition device comprises a coil lower layer horizontal transposition push block (16), a right support base (19), a servo motor reducer module (21) and a crank slider device (29). The servo motor reducer module (21) is installed on the right support base (19), and the servo motor reducer module (21) is connected with the crank slider device (29). The coil lower layer horizontal transposition push block (16) is connected with the servo motor reducer module (21) through the crank slider device (29). The coil lower layer horizontal transposition push block (16) is used for horizontal moving transposition of the lower layer flat copper wire of the stator coil (71).

5. The automatic transposition forming device for stator coils according to claim 4, characterized in that: The vertical transposition device comprises a left vertical transposition device and a right vertical transposition device. The left vertical transposition device is integrated with the left horizontal transposition device on the left side of the stator coil (71), and the right vertical transposition device is integrated with the right horizontal transposition device on the right side of the stator coil (71). The right vertical transposition device comprises a third servo motor (11), a rotating crank (12), a connecting rod (13), a coil upper layer vertical downward pressing transposition slider (14) and a first slider guide rail module (18). The third servo motor (11) is arranged on the right support base (19). The rotating crank (12) is rotatably installed on the right support base (19). The execution end of the third servo motor (11) is connected with the rotating crank (12). The rotating crank (12) is connected with the coil upper layer vertical downward pressing transposition slider (14) through the connecting rod (13). The coil upper layer vertical downward pressing transposition slider (14) is slidably connected with the right support base (19) through the first slider guide rail module (18). The coil upper layer vertical downward pressing transposition slider (14) is arranged above the coil lower layer horizontal transposition push block (16). The left vertical transposition device comprises a third servo motor (11), a rotating crank (12), a connecting rod (13), a coil lower layer vertical upward pressing transposition slider (15) and a first slider guide rail module (18). The third servo motor (11) is arranged on the left support base (20). The rotating crank (12) is rotatably installed on the left support base (20). The execution end of the third servo motor (11) is connected with the rotating crank (12). The rotating crank (12) is connected with the coil lower layer vertical upward pressing transposition slider (15) through the connecting rod (13). The coil lower layer vertical upward pressing transposition slider (15) is slidably connected with the left support base (20) through the first slider guide rail module (18). The coil lower layer vertical upward pressing transposition slider (15) is arranged below the coil upper layer horizontal transposition push block (17). The coil upper layer vertical downward pressing transposition slider (14) is used for vertical moving transposition of the upper layer flat copper wire of the stator coil (71). The coil lower layer vertical upward pressing transposition slider (15) is used for vertical moving transposition of the lower layer flat copper wire of the stator coil (71).

6. The automatic transposition forming device for stator coils according to claim 5, characterized in that: The bottom of the right support base (19) is connected with the first right rotation transmission nut (25) through the second sliding block guide rail module (27), the left support base (20) is connected with the second left rotation transmission nut (26) through the third sliding block guide rail module (28), the first right rotation transmission nut (25) and the second left rotation transmission nut (26) are jointly installed on the first lead screw transmission device (24), the first lead screw transmission device (24) is connected with the second horizontal roller way mechanism (30), the fourth servo motor (22) is connected with the first lead screw transmission device (24) through the second coupling (23), and the inner sides of the right support base (19) and the left support base (20) are respectively provided with elastic buffering positioning modules (42).

7. The automatic transposition forming device for stator coils according to claim 6, characterized in that: The forming device (101) comprises left and right forming devices, and the left and right forming devices are arranged on the two sides of the stator coil (71) respectively. The right side forming device includes a fifth servo motor (31), a first gear reducer (32), a first rotating plate (33), a sixth servo motor (34), a first slider plate (35), a first linear slide module (36), a first transmission rack (37), a first transmission gear (38), a first forming pressure roller (40), a first S-shaped positioning block (41), an elastic buffer positioning module (42), and an eighth servo motor (48). The elastic buffer positioning module (42) is connected with the first connecting base plate (47), the fifth servo motor (31) is connected with the base seat (72) through the first connecting base plate (47), the first rotating plate (33) is connected with the fifth servo motor (31) through the first gear reducer (32), the first rotating plate (33) is connected with the slide rail assembly of the first linear slide module (36), the first slider plate (35) is connected with the slider assembly of the first linear slide module (36), the first slider plate (35) is connected with the first transmission rack (37), the first transmission rack (37) is engaged with the first transmission gear (38), the first transmission gear (38) is rotatably installed on the first rotating plate (33), the first transmission gear (38) is coaxially connected with the sixth servo motor (34), the first pressure roller plate (39) is installed on the first slider plate (35), and the first forming pressure roller (40) is rotatably installed on the first pressure roller plate (39); the first S-shaped positioning block (41) is screw transmission connected with the second lead screw slide rail module (50), the second lead screw slide rail module (50) is coaxially connected with the driven wheel end of the first synchronous belt transmission device (49), the driving wheel end of the first synchronous belt transmission device (49) is coaxially connected with the eighth servo motor (48), and the first forming pressure roller (40) and the first S-shaped positioning block (41) are arranged at the upper and lower ends of the stator coil (71) respectively. The thirteenth servo motor (74) is fixed on the base plate (83), the seventh slider guide rail module (76) is connected with the base seat (72), the thirteenth servo motor (74) drives the fifth lead screw transmission device (75) to rotate, and then drives the base seat (72) to relatively move with the base plate (83) through the seventh slider guide rail module (76). The left forming device comprises a ninth servo motor (51), a second gear reducer (52), a second rotating plate (53), a second linear slide rail module (54), a tenth servo motor (55), a second slider plate (58), a second pressure roller plate (59), a second forming pressure roller (60), a second S-shaped positioning block (61) and an assembly plate (73). The ninth servo motor (51) is connected with the second rotating plate (53) through the second gear reducer (52). The second rotating plate (53) is connected with the slide rail assembly of the second linear slide rail module (54). The second slider plate (58) is connected with the slider assembly of the second linear slide rail module (54). The second slider plate (58) is connected with the second transmission rack (56). The second transmission rack (56) is engaged with the second transmission gear (57). The second transmission gear (57) is coaxially connected with the tenth servo motor (55). The tenth servo motor (55) is installed on the second rotating plate (53). The second pressure roller plate (59) is installed on the second slider plate (58). The second forming pressure roller (60) is rotatably installed on the second pressure roller plate (59). The second S-shaped positioning block (61) is connected with the slider assembly of the sixth slider guide rail module (70). The sixth slider guide rail module (70) is connected with the assembly plate (73). The assembly plate (73) is connected with the elastic buffering positioning module (42). The assembly plate (73) is connected with the second connecting base plate (62) through the fifth slider guide rail module (66). The eleventh servo motor (63) drives the third screw transmission device (65) to rotate through the second synchronous belt transmission device (64), so as to drive the assembly plate (73) to move up and down along the second connecting base plate (62) through the fifth slider guide rail module (66). The twelfth servo motor (67) is coaxially connected with the driving end of the third synchronous belt transmission device (68). The driven end of the third synchronous belt transmission device (68) is coaxially connected with the fourth screw transmission device (69). The fourth screw transmission device (69) is connected with the second S-shaped positioning block (61). The second S-shaped positioning block (61) and the second forming pressure roller (60) are arranged at the upper and lower ends of the stator coil (71) respectively. The seventh slider guide rail module (76) is connected with the second connecting base plate (62). The thirteenth servo motor (74) drives the fifth screw transmission device (75) to rotate, so as to drive the second connecting base plate (62) to relatively move with the base plate (83) through the seventh slider guide rail module (76). The fourteenth servo motor (77) is fixed at the bottom of the support platform (82), the fourteenth servo motor (77) is coaxially connected with the driving wheel of the fourth synchronous belt transmission device (78), the driven wheel of the fourth synchronous belt transmission device (78) is coaxially connected with the right-hand screw transmission device (80), the right-hand screw transmission device (80) is coaxially connected with the left-hand screw transmission device (81) through the third coupling (79), the nut in the right-hand screw transmission device (80) is fixedly connected with the second connecting base plate (62) in the left forming device, and the nut in the left-hand screw transmission device (81) is connected with the base (72) in the right forming device.

8. The automatic transposition forming device for stator coils according to claim 7, characterized in that: The second screw transmission device (45) and the nut are arranged between the base (72) and the first connecting base plate (47), the second screw transmission device (45) is connected with the base (72), the nut on the second screw transmission device (45) is connected with the first connecting base plate (47), the fourth sliding block guide rail module (46) is installed on the first connecting base plate (47), the sliding rail matched with the fourth sliding block guide rail module (46) is connected with the base (72), the driving wheel of the belt transmission speed reducer (44) is coaxially connected with the executing end of the seventh servo motor (43), and the driven wheel of the belt transmission speed reducer (44) is connected with the shaft end of the second screw transmission device (45).

9. A method for automatically transposing a stator coil, which is implemented by means of the stator coil automatic transposing device according to claim 8, characterized in that, The method comprises the following steps: The preparation stage: preparing the stator coil (71), one stator coil (71) is composed of a plurality of flat copper wires, and is divided into upper and lower two layers, the stator coil (71) is sent into the transposition device (102) and is penetrated until the starting end of the stator coil (71) is sent to the feeding position (100); The horizontal transposition stage: the servo motor reducer module (21) of the left horizontal transposition device drives the crank slider device (29) to drive the horizontal transposition push block (17) of the upper layer of the coil to move horizontally to the center direction of the stator coil (71), so that the flat copper wire of the upper layer of the stator coil (71) is moved horizontally to the center direction of the stator coil (71); the servo motor reducer module (21) of the right horizontal transposition device drives the crank slider device (29) to drive the horizontal transposition push block (16) of the lower layer of the coil to move horizontally to the center direction of the stator coil (71), so that the flat copper wire of the lower layer of the stator coil (71) is moved horizontally to the center direction of the stator coil (71); the upper layer and the lower layer of the flat copper wire of the stator coil (71) are simultaneously horizontally pushed to the center direction by the left horizontal transposition device and the right horizontal transposition device, so that the moved upper layer of the flat copper wire protrudes the thickness of one flat copper wire on the same side in the moving direction, and the moved lower layer of the flat copper wire protrudes the thickness of one flat copper wire on the same side in the moving direction; Vertical transposition stage: after the horizontal cross transposition of the stator coil (71), the protruding flat copper wires on the upper and lower layers of the stator coil (71) are automatically vertically transposed in the vertical direction between the layers, the fourth servo motor (22) drives the first screw rod transmission device (24) to drive the first right-handed transmission nut (25) and the second left-handed transmission nut (26) to move towards each other, so that the left vertical transposition device and the right vertical transposition device move towards each other, the elastic buffer positioning module (42) inside the right support base (19) and the left support base (20) is placed on both sides of the stator coil (71) to adapt to the width size of the stator coil (71), the third servo motor (11) of the left vertical transposition device drives the rotating crank (12) to rotate, drives the connecting rod (13) to push and pull the coil lower vertical up transposition slider (15), drives the coil lower vertical up transposition slider (15) to move upwards along the first slider guide rail module (18), vertically lifts the flat copper wires after the horizontal transposition of the lower layer of the stator coil (71) to the upper layer of the stator coil (71), and completes the vertical transposition of the lower layer of the flat copper wires; The third servo motor (11) in the right vertical transposition device drives the rotating crank (12) to rotate, drives the connecting rod (13) to push and pull the coil upper vertical down transposition slider (14) to move downwards along the first slider guide rail module (18), and presses the flat copper wires after the horizontal transposition of the upper layer of the stator coil (71) to the lower layer of the stator coil (71), thereby completing the vertical transposition of the upper layer of the flat copper wires; Molding stage: the flat copper wires of the stator coil (71) after horizontal and vertical transposition are automatically S-bent, the fifth servo motor (31) drives the first gear reducer (32) to drive the first rotating plate (33) to rotate, the sixth servo motor (34) drives the first transmission gear (38) to rotate, the first transmission rack (37) drives the first slider plate (35) to move along the first rotating plate (33) in a reciprocating straight line, the first molding press wheel (40) and the first press wheel plate (39) installed on the first slider plate (35) move along the first rotating plate (33) in a reciprocating straight line, the single flat copper wire of the stator coil (71) is pressed by the first molding press wheel (40) to cooperate with the rotating movement of the first rotating plate (33), and a section of arc-shaped movement track of the single flat copper wire of the stator coil (71) is formed, the eighth servo motor (48) drives the first synchronous belt transmission device (49) to rotate to drive the lead screw in the second lead screw slide rail module (50) to rotate, and then drives the first S-bend positioning block to extend horizontally towards the direction of the stator coil (71), supports and positions the lower end of the single flat copper wire of the stator coil (71) pressed by the first molding press wheel (40), so that when the arc-shaped track movement of the single flat copper wire of the stator coil (71) reaches the first S-bend positioning block (41), it is supported and positioned to be blocked, forming another arc-shaped section of S-bend, and the flat copper wire vertically transposed to the lower layer of the stator coil (71) is automatically molded into S-bend; The second gear reducer (52) is driven by the ninth servo motor (51) to rotate the second rotating plate (53), the second transmission gear (57) is driven by the tenth servo motor (55) to rotate, the second transmission rack (56) and the second slider plate (58) are driven to make reciprocating linear motion along the second rotating plate (53), the second forming pressure wheel (60) is pressed against the single flat copper wire of the stator coil (71) to form an arc-shaped motion track in cooperation with the rotating motion of the second rotating plate (53), the twelfth servo motor (67) drives the third synchronous belt transmission device (68) to rotate the lead screw of the fourth lead screw transmission device (69), the second S-shaped positioning block (61) is extended horizontally to the center direction of the stator coil (71), the single flat copper wire of the stator coil (71) is supported and positioned on the upper end of the second forming pressure wheel (60), the single flat copper wire of the stator coil (71) is pressed into an S-shaped arc-shaped track, and when the S-shaped positioning block (61) is supported and positioned, the S-shaped arc-shaped track is blocked to form another S-shaped arc-shaped segment, and the vertical transposition of the flat copper wire on the upper layer of the stator coil (71) is completed to form an inverted S-shaped bend; The circulating stage: the upper and lower layers of the stator coil (71) after transposition and forming are moved horizontally by the feeding device (100) by a fixed transposition pitch distance, and the horizontal transposition stage, the vertical transposition stage and the forming stage are cycled again, and the cycle is stopped after the whole stator coil (71) is formed to the total length.

10. The method of claim 9, wherein, The specific steps of the circulating stage are: The second servo motor (8) of the feeding device (100) drives the centering and clamping module (6) to clamp the stator coil (71), the telescopic cylinder (10) drives the vertical reciprocating motion of the vertical moving roller module (9), and the stator coil (71) can be pressed tightly when the stator coil (71) is fed, the first servo motor (3) drives the first lead screw slide rail module (2) to drive the linear reciprocating motion of the horizontal vertical cylinder module (1), and the stator coil (71) is moved circularly by a fixed transposition pitch distance.

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