Hairpin wire 3D cross-layer forming feeding device and feeding method

Abstract

The application discloses a hairpin wire 3D cross-layer forming feeding device and a feeding method. The device comprises a feeding mechanism and a receiving mechanism. The feeding mechanism clamps a left leg of the hairpin wire in the thickness direction through a feeding clamp jaw module, cooperates with a limiting jaw to realize limiting in the width direction, and ensures the posture stability in the carrying process. The receiving mechanism clamps the right leg through a receiving hook jaw module, and swings the left leg from a receiving angle to a feeding angle through the linkage of a swing arm. In the swinging process, the feeding clamp jaw module releases the left leg, and the limiting jaw temporarily supports the left shoulder to avoid shaking. The application solves the problems of difficult control of the feeding angle of the hairpin wire and easy damage of the insulating paint in the prior art, has the advantages of accurate positioning, protection of the insulating performance and high feeding efficiency, and is suitable for the feeding and positioning requirements in the hairpin wire 3D cross-layer forming.

Description

TECHNICAL FIELD

[0001] The application relates to hairpin wire processing technology, in particular to a hairpin wire feeding device and a feeding method suitable for a 3D cross-layer forming process, and is especially suitable for accurate feeding positioning before split-drawing forming. BACKGROUND

[0002] As the core power component of electric vehicles, the performance and cost control of the motor directly determine the market competitiveness of the whole vehicle. The hairpin wire winding of the flat motor has become the mainstream configuration in the industry due to its high slot fill rate, excellent heat dissipation performance and compact structure advantages. As a key core technology with high technical content in the manufacturing of flat motors, the forming precision and efficiency of the hairpin wire 3D forming directly affect the final performance and production economy of the motor.

[0003] In the current market mainstream 3D forming production scheme, a single die stamping forming process is mostly used: the hairpin wire 3D forming is completed by one-time stamping, and relying on the die library mode, a dedicated die is provided for each specification of hairpin wire to realize batch manufacturing of different types of hairpin wire. However, this technical solution has significant limitations: in order to cover the full series of hairpin wire products of the same stator, a complete die library must be built, all dedicated dies must be integrated and installed in the equipment, and the die switching must be completed through a servo system. This not only greatly increases the initial investment cost of the equipment, but also occupies a large amount of production space, limiting the flexibility of the space layout of the production line, and the die switching process is complicated, affecting the production continuity.

[0004] Based on the above industry pain points, the applicant innovatively proposes a cross-layer forming technology: through the modular die design of the cross-layer forming mechanism, different hairpin wires with different angles and different S-bend sizes can be quickly adapted; the matching split-drawing forming mechanism realizes accurate forming of different top arc radii through multi-axis linkage trajectory control. This technical solution greatly reduces the number of special dies, significantly reduces the die purchase and later repair costs, is time-saving and convenient to operate, and greatly improves the production flexibility.

[0005] However, the industrial application of the cross-layer forming technology faces a key technical difficulty: the cross-layer forming needs to be fed multiple times at multiple forming stations, and in order to ensure the consistency of batch production products, the accuracy of the feeding angle is extremely high; at the same time, two core requirements need to be met during split-drawing forming: first, one leg of the hairpin wire needs to be fixed, and the other leg needs to be twisted to realize forming, so the fixed end needs to be stable and the movable end needs to have sufficient swinging space; second, the feeding needs to be arranged at a uniform angle to ensure forming accuracy and avoid damaging the insulating paint on the surface of the hairpin wire.

[0006] Currently, there are two main ways of hairpin wire feeding in the industry, both of which have obvious defects:

[0007] (1) Directly feeding according to the feeding angle: the hairpin wire is moved to the target station along the preset angle by the carrying mechanism. However, during the feeding process, the start-stop impact of the carrying mechanism and the unbalanced effect of the gravity of the hairpin wire itself can easily cause the hairpin wire to shake and deviate, making it difficult to stably maintain the preset angle, thereby causing feeding positioning deviation, affecting the forming size precision, and ultimately leading to a decrease in product qualification rate;

[0008] (2) Adjusting the angle after feeding: the hairpin wire is placed randomly in the station, and the angle is corrected by the additional clamping jaw or auxiliary mold clamping the hairpin wire. In this way, the angle adjustment process can cause direct friction and extrusion between the clamping jaw, the mold and the insulating paint on the surface of the hairpin wire, which can easily cause damage to the insulating paint and damage to the insulating performance of the hairpin wire, thereby shortening its service life. At the same time, the additional angle adjustment process prolongs the feeding cycle of a single hairpin wire, reduces the overall production efficiency, and is difficult to meet the needs of large-scale continuous production.

[0009] Therefore, it is urgent to develop a feeding device and method capable of precisely controlling the feeding angle and effectively protecting the insulating paint, thereby improving the hairpin wire forming quality and production efficiency and promoting the large-scale application of cross-layer forming technology. SUMMARY

[0010] In view of the deficiencies of the prior art, the purpose of the present application is to provide a hairpin wire 3D cross-layer forming feeding device and method, which solves the technical problems of large angle deviation and easy damage to the insulating paint in the existing feeding method, and realizes precise, non-destructive and efficient feeding positioning.

[0011] To achieve the above-mentioned purposes and other related purposes, the technical solution provided by the present application is: a hairpin wire 3D cross-layer forming feeding device for feeding hairpin wire, the hairpin wire has an n-shaped structure and includes a left leg, a left shoulder, a right shoulder and a right leg connected in sequence, comprising:

[0012] A feeding mechanism, the feeding mechanism includes a carrying module, a feeding clamp jaw module and a limiting claw, the carrying module is in transmission connection with the feeding clamp jaw module, and is used for controlling the feeding clamp jaw module to drive the hairpin wire to be sent to a receiving station along a preset direction; the feeding clamp jaw module is used for clamping or releasing the left leg in the thickness direction; the limiting claw is linked with the feeding clamp jaw module, and is used for, when the feeding clamp jaw module clamps the left leg, inserting into a part of the left leg close to the left shoulder and limiting the width direction of the left leg, and when the feeding clamp jaw module releases the left leg, first supporting the left shoulder and allowing the left leg to rotate, and then separating from the left leg;

[0013] The material receiving mechanism is arranged in the material receiving station and includes a material receiving hook claw module and a swing arm. The material receiving hook claw module is used for clamping or releasing the right leg. The swing arm is linked with the material receiving hook claw module and is used for swinging the left leg from a material receiving angle to a feeding angle when the material receiving hook claw module clamps the right leg, and the swing arm is reset when the material receiving hook claw module releases the right leg.

[0014] Preferably, the feeding mechanism further includes a slide, a stopper and two groups of proximity sensors. The slide is arranged along the preset direction. The slide is provided with a hook at a feeding end of the slide for hanging the left shoulder and the right shoulder. The stopper is vertically arranged at the feeding side of the slide. The two groups of proximity sensors are fixedly arranged on one side of the stopper close to the slide and are respectively used for detecting the in-place conditions of the left leg and the right leg.

[0015] Preferably, the feeding clamp jaw module includes a clamp jaw cylinder, a first feeding clamp jaw and a second feeding clamp jaw. The clamp jaw cylinder is used for controlling the first feeding clamp jaw and the second feeding clamp jaw to synchronously move towards each other to clamp the left leg or synchronously move in reverse to release the left leg.

[0016] Preferably, the limiting claw is in an F shape and includes a connecting part and a limiting part. The connecting part is fixedly connected with the first feeding clamp jaw. The limiting part is arranged towards the second feeding clamp jaw and corresponds to the left leg.

[0017] Preferably, the carrying module includes a lifting cylinder and a horizontal moving cylinder. The lifting cylinder is fixedly arranged and is used for controlling the horizontal moving cylinder to lift and lower. The horizontal moving cylinder is used for controlling the clamp jaw cylinder to move along the preset direction.

[0018] The preferred technical scheme is as follows: the material receiving hook claw module comprises a mounting seat, a sliding block, a first material receiving hook claw, a second material receiving hook claw, a first connecting rod, a second connecting rod, a spring, a top rod, a telescopic cylinder and a top block; the mounting seat is provided with a mounting cavity, the sliding block is slidably arranged in the mounting cavity, the top rod is arranged along the sliding direction of the sliding block, one end of the top rod is fixedly connected with the sliding block, and the other end of the top rod extends out of the mounting cavity; the spring is arranged in the mounting cavity along the sliding direction of the sliding block, one end of the spring is abutted against the sliding block, and the other end of the spring is abutted against the mounting cavity; the middle section of the first material receiving hook claw is rotatably arranged in the mounting cavity through a first rotating shaft, and the middle section of the second material receiving hook claw is rotatably arranged in the mounting cavity through a second rotating shaft; one end of the first connecting rod is hingedly connected with the sliding block, the other end of the first connecting rod is hingedly connected with the tail section of the first material receiving hook claw, one end of the second connecting rod is hingedly connected with the sliding block, and the other end of the second connecting rod is hingedly connected with the tail section of the second material receiving hook claw; the hook claw sections of the first material receiving hook claw and the second material receiving hook claw extend out of the mounting cavity and are oppositely arranged, and form a structure for clamping the right leg with the side wall of the mounting seat; the telescopic cylinder is fixedly arranged and used for controlling the movement of the top block along the sliding direction of the sliding block, and the top block is oppositely arranged with the end of the top rod extending out of the mounting cavity.

[0019] The preferred technical scheme is as follows: the first rotating shaft and the second rotating shaft are both rotatably connected with the mounting seat through bearings, and the bottom end of the first rotating shaft extends out of the bottom side of the mounting seat, and one end of the swing arm is fixedly connected with the bottom end of the first rotating shaft.

[0020] A feeding method based on the above-mentioned hairpin wire 3D cross-layer forming feeding device, comprising the following steps:

[0021] Step 1: the feeding clamp jaw module clamps the left leg from the thickness direction of the left leg, and the limiting claw is inserted into the part of the left leg close to the left shoulder to limit the width direction of the left leg with the clamping action of the feeding clamp jaw module;

[0022] Step 2: the conveying module controls the feeding clamp jaw module to send the hairpin wire to the material receiving station, so that the right leg enters the clamping area of the material receiving hook claw module, and the left leg is abutted on the swing arm at the material receiving angle;

[0023] Step 3: the material receiving hook claw module clamps the right leg, and the swing arm pushes the left leg to swing from the material receiving angle to the feeding angle with the clamping action of the material receiving hook claw module; synchronously, the feeding clamp jaw module releases the left leg to provide space for the left leg to swing to the feeding angle, and the limiting claw first supports the left shoulder and allows the left leg to rotate with the releasing action of the feeding clamp jaw module, and then is separated from the left leg after the left leg swings to the feeding angle;

[0024] Step 4: the conveying module controls the feeding jaw module to reset, and the feeding is completed.

[0025] Due to the above technical solution, the application has the following advantages:

[0026] Precise control of feeding angle: through the dual positioning design of "feeding jaw thickness clamping + limit jaw width limiting", the shaking deviation of the hairpin wire during conveying is avoided; the subsequent angle adjustment is realized through the linkage of the swing arm and the receiving hook jaw module, the swing trajectory is fixed and the action is stable, solving the problem of large angle deviation in the prior art, the feeding angle precision error is small, and the molding precision is guaranteed.

[0027] Effectively protect the insulating paint: during angle adjustment, the swing arm pushes the left leg to swing around the right leg from the receiving angle to the feeding angle, the limit jaw supports the left shoulder of the hairpin wire and allows the left leg to rotate, and the receiving hook jaw module clamps and fixes the right leg only after the angle adjustment is completed, reducing the problem that the insulating paint is easily damaged during the adjustment of the hairpin wire angle, and ensuring the insulation performance and service life of the hairpin wire.

[0028] High feeding efficiency: the angle adjustment action and the receiving clamping action are performed synchronously, without additional angle adjustment process, which shortens the feeding cycle of a single hairpin wire; each module is driven by a cylinder, the response speed is fast, and continuous circulation feeding can be realized, meeting the large-scale production demand, and compared with the traditional feeding method, the production efficiency is improved.

[0029] Stable and reliable structure: mature components such as cylinders, connecting rods and springs are used to build the transmission structure, the action is coherent and the failure rate is low; the setting of the proximity sensor realizes the automatic triggering of the feeding process, reduces the manual intervention, and further improves the production stability.

[0030] In summary, through the targeted structure design and process optimization, the application effectively solves the core technical problems in the existing hairpin wire feeding process, taking into account the positioning accuracy, insulation protection and production efficiency, and has important practical application value. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a plan view of the receiving hook jaw module of the feeding device in the released state.

[0032] Figure 2 It is a plan view of the receiving hook jaw module of the feeding device in the clamped state.

[0033] Figure 3 It is a structural schematic view of the feeding mechanism.

[0034] Figure 4 It is Figure 3 The enlarged view of A.

[0035] Figure 5 Structure diagram of the material receiving mechanism involved in the present application.

[0036] Figure 6 Structure diagram of the hairpin wire involved in the present application.

[0037] Figure 7 Flow chart of the material feeding method involved in the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application will be described in detail by the specific embodiments, and other advantages and effects of the present application can be easily understood by those skilled in the art from the content disclosed in the specification.

[0039] Please refer to Figures 1-7 . It should be noted that in the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description and cannot be understood as indicating or implying relative importance. The terms "horizontal", "vertical", "overhanging" and the like do not mean that the parts must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0040] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] Embodiment:

[0042] As Figures 1-2 shown, according to one general technical concept of the present application, a hairpin wire 3D cross-layer forming material feeding device is provided.

[0043] The device mainly consists of a material feeding mechanism and a material receiving mechanism, and each mechanism works cooperatively to realize the hairpin wire 100Figure 6 ) accurate feeding, the hairpin wire 100 is in an n-shaped structure and includes a left leg 110, a left shoulder 120, a right shoulder 130 and a right leg 140 connected in sequence.

[0044] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , the core function of the feeding mechanism is to smoothly transport the hairpin wire 100 from the feeding position to the receiving station and ensure stable posture, including a transport module 11, a feeding clamp jaw module 12 and a limiting jaw 13.

[0045] The transport module 11 is composed of a lifting cylinder 111 and a horizontal moving cylinder 112, which realizes the lifting and horizontal movement of the feeding clamp jaw module 12 along the preset direction, and provides power for the spatial transport of the hairpin wire 100; it should be noted that the lifting cylinder 111 is used to drive the feeding clamp jaw module 12 in the released state to be inserted through the top of the left shoulder 120 to the left leg 110 on both sides, or to drive the feeding clamp jaw module 12 in the released state to extend through the top of the left shoulder 120.

[0046] The feeding clamp jaw module 12 includes a clamp jaw cylinder 121, a first feeding clamp jaw 122 and a second feeding clamp jaw 123, which are driven by the clamp jaw cylinder 121 to clamp or release along the thickness direction of the left leg 110 of the hairpin wire 100.

[0047] As shown in Figure 4 , the limiting jaw 13 is in an F shape and has a connecting part 131 and a limiting part 132, the connecting part 131 is fixedly connected with the first feeding clamp jaw 122, and the limiting part 132 is arranged towards the second feeding clamp jaw 123 and corresponds to the left leg 110, and is inserted into the part of the left leg 110 close to the left shoulder 120 with the clamping action of the feeding clamp jaw module 12, thereby limiting the width direction of the left leg 110 to prevent the hairpin wire 100 from deviating in the width direction during transport; when released, the left shoulder 120 is first supported to avoid the hairpin wire 100 from falling or shaking, and at the same time, the left leg 110 is allowed to rotate to adjust the angle.

[0048] In addition, the feeding mechanism also includes a slide 14, a stop block 15 and a proximity sensor 16: the slide 14 is used to transport the hairpin wire 100, the hook 141 at the discharge end holds the connection between the left shoulder 120 and the right shoulder 130 of the hairpin wire 100, the stop block 15 is used to limit the in-place position of the left leg 110 and the right leg 140 to achieve preliminary positioning; the proximity sensor 16 detects the in-place condition of the left leg 110 and the right leg 140 to provide a signal trigger for the subsequent clamping action.

[0049] As shown in Figure 1 , Figure 2 and Figure 5As shown, the receiving mechanism is located at the receiving station and is used to adjust and fix the feeding angle of the card issuing line 100. It includes a receiving hook module and a swing arm 22.

[0050] The receiving hook module includes a mounting base 211, a slider 212, a first receiving hook 213, a second receiving hook 214, a first connecting rod 215, a second connecting rod (not shown), a spring 216, a push rod 217, a telescopic cylinder 218, and a top block 219. The mounting base 211 has a mounting cavity, in which the slider 212 slides. The push rod 217 is positioned along the sliding direction of the slider, with one end fixedly connected to the slider 212 and the other end extending out of the mounting cavity. The spring 216 is positioned in the mounting cavity along the sliding direction of the slider 212, with one end abutting against the slider 212 and the other end abutting against the mounting cavity. The middle section of the first receiving hook 213 is connected to a first rotating shaft 2110. The middle section of the second receiving hook 214 is rotated into the mounting cavity via the second rotating shaft 2111; one end of the first connecting rod 215 is hinged to the slider 212, and the other end is hinged to the tail section of the first receiving hook 213; one end of the second connecting rod is hinged to the slider 212, and the other end is hinged to the tail section of the second receiving hook 214; the hook sections of the first receiving hook 213 and the second receiving hook extend out of the mounting cavity and are arranged opposite to each other, forming a structure for clamping the right support leg 140 with the side wall of the mounting base 211; the telescopic cylinder 218 is fixedly installed and used to control the top block 219 to move along the sliding direction of the slider 212, and the top block 219 and the end of the top rod 217 extending out of the mounting cavity are arranged opposite to each other.

[0051] The telescopic cylinder 218 drives the top block 219 to push the top rod 217, which in turn drives the slider 212 to compress the spring 216 and slide. Then, the first connecting rod 215 and the second connecting rod control the synchronous opening and closing of the first receiving hook 213 and the second receiving hook 214 to achieve stable clamping or release of the right support leg 140. The spring 216 enables the first receiving hook 213 and the second receiving hook 214 to automatically return to the open state after the telescopic cylinder 218 is reset.

[0052] Swing arm 22: Fixedly connected to the first rotating shaft 2110 corresponding to the first receiving hook 213. When the receiving hook module clamps the right support leg 140, the first rotating shaft 2110 rotates synchronously to drive the swing arm 22 to swing, pushing the left support leg 110 to rotate smoothly from the receiving angle (initial contact angle) to the feeding angle (the angle required for forming and feeding), so as to achieve precise angle adjustment.

[0053] like Figure 7 As shown, based on the above-described apparatus, the feeding method of the present invention includes the following steps, each step working together to achieve precise and non-destructive feeding:

[0054] Preliminary positioning and clamping: the feeding clamp jaw module 12 clamps the left leg 110 along the thickness direction of the left leg 110 to avoid extrusion of the insulating paint along the width direction; at the same time, the F-shaped limiting jaw 13 is inserted into the part of the left leg 110 close to the left shoulder 120 with the clamping action to form a limit in the width direction of the left leg 110, realizing "thickness + width" two-way positioning, and ensuring the posture of the pin-shaped wire 100 stable without shaking and deviation during the conveying process.

[0055] Conveying to the receiving station: the lifting cylinder 111 and the horizontal moving cylinder 112 of the conveying module 11 act in coordination to control the feeding clamp jaw module 12 to move the pin-shaped wire 100 along the preset direction to the receiving station; at this time, the right leg 140 enters the clamping area of the receiving hook jaw module, and the left leg 110 is abutted on the swing arm 22 at the receiving angle to complete the station docking.

[0056] Angle adjustment and fixation: the telescopic cylinder 218 drives the top block 219 to push the top rod 217, drives the sliding block 212 to slide, and makes the first receiving hook jaw 213 and the second receiving hook jaw 214 move towards each other through the first connecting rod 215 and the second connecting rod to clamp the right leg 140; at the same time, the first rotating shaft 2110 rotates to drive the swing arm 22 to swing and push the left leg 110 to rotate stably from the receiving angle to the feeding angle; in this process, the feeding clamp jaw module 12 synchronously releases the left leg 110 to provide space for the swing of the left leg 110, and the limiting jaw 13 temporarily supports the left shoulder 120 to avoid the pin-shaped wire 100 shaking or falling and additional friction with the insulating paint; after the left leg 110 swings to the feeding angle, the limiting jaw 13 is separated from the left leg 110, at this time, the right leg 140 is fixed by the receiving hook jaw module, and the left leg 110 is at the preset feeding angle, meeting the positioning requirements of the subsequent forming process.

[0057] Cyclic reset: after the feeding is completed, the conveying module 11 controls the feeding clamp jaw module 12 to reset to the initial position to complete the feeding.

[0058] The present application solves the problems of difficult control of the pin-shaped wire feeding angle and damage to the insulating paint in the prior art, has the "cooperative effect of two-way positioning" and the "technical advantage of synchronous angle adjustment", and is suitable for feeding in each forming process in the 3D cross-layer forming of the pin-shaped wire.

[0059] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A hairpin wire 3D cross-layer forming feeding device for feeding a hairpin wire, the hairpin wire being in an n-shaped structure and comprising a left leg, a left shoulder, a right shoulder and a right leg connected in sequence, characterized in that, The utility model relates to a left shoulder and right shoulder connecting device of a left and right shoulder connecting type hairpin, which comprises a feeding mechanism, a receiving mechanism and a left and right shoulder connecting device. The feeding mechanism comprises a carrying module, a feeding clamp jaw module and a limiting claw. The carrying module is in transmission connection with the feeding clamp jaw module and is used to control the feeding clamp jaw module to drive the hairpin to be sent to a receiving station along a preset direction. The feeding clamp jaw module is used to clamp or release the left supporting leg along the thickness direction. The limiting claw is linked with the feeding clamp jaw module and is used to be inserted into the part of the left supporting leg close to the left shoulder and to limit the width direction of the left supporting leg when the feeding clamp jaw module clamps the left supporting leg.

2. The device according to claim 1, characterized in that: When the feeding clamp jaw module releases the left supporting leg, the left shoulder is supported first and the left supporting leg is allowed to rotate, and then the left supporting leg is separated. The receiving mechanism is arranged in the receiving station and comprises a receiving hook jaw module and a swing arm. The receiving hook jaw module is used to clamp or release the right supporting leg. The swing arm is linked with the receiving hook jaw module and is used to swing the left supporting leg from a receiving angle to a feeding angle when the receiving hook jaw module clamps the right supporting leg. When the receiving hook jaw module releases the right supporting leg, the swing arm is reset. The receiving hook jaw module comprises a mounting seat, a sliding block, a first receiving hook jaw, a second receiving hook jaw, a first connecting rod, a second connecting rod, a spring, a jacking rod, a telescopic cylinder and a top block. The mounting seat is provided with a mounting cavity. The sliding block is slidably arranged in the mounting cavity. The jacking rod is arranged along the sliding direction of the sliding block. One end of the jacking rod is fixedly connected with the sliding block, and the other end of the jacking rod extends out of the mounting cavity. The spring is arranged in the mounting cavity along the sliding direction of the sliding block. One end of the spring is abutted with the sliding block, and the other end of the spring is abutted with the mounting cavity. The middle section of the first receiving hook jaw is pivotally arranged in the mounting cavity through a first pivot. The middle section of the second receiving hook jaw is pivotally arranged in the mounting cavity through a second pivot. One end of the first connecting rod is hingedly connected with the sliding block, and the other end of the first connecting rod is hingedly connected with the tail section of the first receiving hook jaw. One end of the second connecting rod is hingedly connected with the sliding block, and the other end of the second connecting rod is hingedly connected with the tail section of the second receiving hook jaw. The hook jaw sections of the first receiving hook jaw and the second receiving hook jaw extend out of the mounting cavity and are oppositely arranged to form a structure for clamping the right supporting leg with the side wall of the mounting seat. The telescopic cylinder is fixedly arranged and is used to control the movement of the top block along the sliding direction of the sliding block. The top block is oppositely arranged with the end of the jacking rod extending out of the mounting cavity. The first pivot and the second pivot are rotatably connected with the mounting seat through bearings. One end of the swing arm is fixedly connected with the bottom end of the first pivot. The feeding mechanism further comprises a slide, a stop block and two groups of proximity sensors. The slide is arranged along the preset direction. The slide is provided with a hook for hanging the connecting part of the left shoulder and the right shoulder at the discharging end of the slide. The stop block is vertically arranged at the discharging side of the slide. The two groups of proximity sensors are fixedly arranged on the side of the stop block close to the slide and are respectively used to detect the in-place conditions of the left supporting leg and the right supporting leg.

3. The device according to claim 1, wherein: The feeding jaw module comprises a jaw cylinder, a first feeding jaw and a second feeding jaw, the jaw cylinder is used to control the first feeding jaw and the second feeding jaw to move synchronously towards each other to clamp the left leg or move synchronously reversely to release the left leg.

4. The device according to claim 3, characterized in that: The limiting claw is in F shape, comprising a connecting part and a limiting part, the connecting part is fixedly connected with the first feeding jaw, and the limiting part is arranged towards the second feeding jaw and corresponds to the left leg.

5. The device according to claim 3, wherein: The carrying module comprises a lifting cylinder and a horizontal moving cylinder, the lifting cylinder is fixedly arranged and used to control the horizontal moving cylinder to lift, and the horizontal moving cylinder is used to control the jaw cylinder to move along the preset direction.

6. A feeding method based on the feeding device for 3D cross-layer forming of hairpins according to any one of claims 1-5, characterized in that, The method comprises the following steps: Step 1: the feeding jaw module clamps the left leg from the thickness direction of the left leg, and the limiting claw is inserted into the part of the left leg close to the left shoulder to limit the width direction of the left leg with the clamping action of the feeding jaw module; Step 2: the carrying module controls the feeding jaw module to send the hairpin wire to the material receiving station, so that the right leg enters the clamping area of the material receiving hook claw module, and the left leg abuts against the swing arm at the material receiving angle; Step 3: the material receiving hook claw module clamps the right leg, the swing arm pushes the left leg to swing from the material receiving angle to the feeding angle with the clamping action of the material receiving hook claw module, and synchronously, the feeding jaw module releases the left leg to provide space for the left leg to swing to the feeding angle, the limiting claw supports the left shoulder first and allows the left leg to rotate with the releasing action of the feeding jaw module, and then is separated from the left leg when the left leg swings to the feeding angle; Step 4: the carrying module controls the feeding jaw module to reset, and the feeding is completed.

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