Motor stator wire guiding device and wire guiding method thereof

Abstract

The embodiment of the invention provides a motor stator wire guiding device and a wire guiding method thereof, a visual mechanism collects a wire end position image of a motor stator and then transmits collected data information to a control unit, and the control unit outputs a first control signal according to the received data information and controls a driving mechanism to drive a wire guiding mechanism. And then the control unit outputs a second control signal and controls the driving mechanism to drive the wire guiding mechanism to move according to a preset path, so that the wire guiding sleeve guides the wire end to be guided into a corresponding wire slot of the motor from the preset position, and automatic bending of the wire end is realized. The defects that manual wire end bending is difficult, fingers are prone to being scratched, and time and labor are wasted are overcome, in addition, motor stators exceeding the processing capacity of the wire guiding device can be automatically screened out, and the first control signal is output only when it is determined that the motor stators are within the processing capacity range of the wire guiding device so as to adapt to the fast-paced production takt.

Description

Technical Field

[0001] This application relates to the field of motor processing technology, and in particular to a motor stator conductor device and a conductor method thereof. Background Technology

[0002] The stator is the main component of the motor. The stator includes the iron core and the winding. The winding refers to the coil installed on the iron core. The wire ends of the coil need to be electrically connected to the control board. In order to facilitate the electrical connection, some solutions use pins to realize the electrical connection between the PCB board and the winding. This requires the wire ends of the winding to be combed and the ends to be limited to the corresponding wire slots in the motor housing.

[0003] Currently, the wire bending and straightening is mostly done manually. On the one hand, it is time-consuming and inefficient. On the other hand, the copper wires used in the stator of the water pump motor have a large diameter and high hardness, making manual bending difficult and easy to scratch fingers, which is time-consuming and laborious. Summary of the Invention

[0004] To address the drawbacks of manually bending motor stator wire ends, such as difficulty, risk of finger injuries, and time and effort, this application provides a motor stator wire guide device and a wire guiding method for the motor stator wire guide device.

[0005] The specific plan is as follows:

[0006] A motor stator wire guide device includes a control unit, a vision mechanism, a wire guide mechanism, and a drive mechanism. The vision mechanism and the drive mechanism are electrically connected to the control unit. The drive mechanism is capable of driving the wire guide mechanism and / or the motor stator to move. The wire guide mechanism includes a wire sleeve.

[0007] The vision mechanism can acquire images of the position of the wire ends on the motor stator and transmit the acquired data to the control unit;

[0008] The control unit can output a first control signal based on the received data information to control the drive mechanism to drive the wire mechanism, so that the wire sleeve can be sleeved on the free end of the wire end of the motor stator and guide the wire end to a preset position.

[0009] The control unit can output a second control signal to control the drive mechanism to drive the wire mechanism to move along a preset path, so that the wire sleeve can guide the wire end from the preset position into the corresponding wire slot of the motor.

[0010] When the aforementioned motor stator wire guide device is working, the vision mechanism pre-captures an image of the wire end position of the motor stator, and then transmits the acquired data information to the control unit. The control unit controls the drive mechanism to drive the wire guide mechanism based on the received data information, so that the wire sleeve is placed on the free end of the wire end of the motor stator and guides the wire end to a preset position. Then, the control unit controls the drive mechanism to drive the wire guide mechanism to move along a preset path, so that the wire sleeve guides the wire end from the preset position into the corresponding wire slot of the motor. This realizes the automatic bending of the motor stator wire end, avoiding the disadvantages of manual bending of motor stator wire ends, such as difficulty, easy to scratch fingers, and time and effort.

[0011] The wiring method for the motor stator conductor device includes:

[0012] Acquire images showing the positions of the wire ends on the motor stator;

[0013] Based on the collected data, it can be determined in advance whether the motor stator is a processable motor stator;

[0014] If the motor stator is determined to be a processable motor stator, the wire end is guided to the preset position based on the collected data information;

[0015] The guide wire ends are guided from a preset position and along a preset path into the corresponding wire slot of the motor.

[0016] The above-mentioned wire guiding method can automatically filter out motor stators that exceed the processing capacity of the wire guiding device. Only when it is determined that the motor stator is within the processing capacity of the wire guiding device will the first control signal be output to control the drive mechanism to drive the wire guiding mechanism to guide the wire. This avoids wasting time on motor stators that exceed the processing capacity of the wire guiding device and can adapt to fast-paced production rhythms. Attached Figure Description

[0017] Figure 1 A perspective view of one embodiment of the wire device provided in this application;

[0018] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0019] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0020] Figure 4 for Figure 3 A sectional view.

[0021] The annotations in the attached figures are explained as follows: 11-Light source, 12-Light source driver, 13-Mounting plate, 14-Cover; 21-Wire sleeve, 22-Straightening part, 221-Clamping arm, 222-Straightening hole, c-Variable diameter hole section, d-Equal diameter hole section; 31-Z-axis drive component, 32-first connecting seat, 321-upper connecting hole, 322-lower connecting hole, 33-clamping drive component, 34-in / out drive component, 35-second connecting seat, 36-third connecting seat; 41-Positioning part, 42-Slide table; 51-Platform, 52-Longitudinal beam, 53-Crossbeam, 54-Slide rail; 01-Motor stator, 011-Housing, 012-Wire groove, 013-Wire end. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution of this application, the technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] One end of the motor stator has a wire end and a wire groove, and the wire end needs to be bent into the corresponding wire groove. This application provides a motor stator wire guide device for guiding the wire end of the motor stator into the corresponding wire groove.

[0024] The motor stator wire guide device provided in this application includes at least a control unit, a vision mechanism, a wire guide mechanism, and a drive mechanism.

[0025] The vision mechanism and drive mechanism are connected to the telecommunications control unit. The telecommunications connection method is not limited, as long as data and signal transmission can be achieved, such as wired or wireless connection.

[0026] The drive mechanism can drive the conductor mechanism and / or the motor stator to move. The conductor mechanism includes a conductor sleeve 21. The inner hole of the conductor sleeve 21 can be a countersunk hole or a through hole. In the illustrated embodiment, the inner hole of the conductor sleeve 21 is a through hole.

[0027] The vision mechanism acquires images of the positions of the wire ends on the motor stator and transmits the acquired data to the control unit. The vision mechanism includes at least a camera. In the illustrated embodiment, the vision mechanism also includes a light source 11, a light source driver 12, a mounting plate 13, and a housing 14. The output terminal of the light source driver 12 is connected to the light source 11. The light source driver 12 can drive the light source 11 closer to or further away from the motor stator. More specifically, from the illustrated perspective, the motor stator is located below the light source 11. The light source driver 12 drives the light source 11 downwards to move it closer to the motor stator, and the light source driver 12 drives the light source 11 upwards to move it away from the motor stator. The light source driver 12 and the camera are fixed to the mounting plate 13. The housing 14 is fixed to the mounting plate 13. The housing 14 covers the light source driver 12 and the camera, providing protection for them.

[0028] The control unit can output a first control signal based on the received data information to control the drive mechanism to drive the wire mechanism, so that the wire sleeve can be fitted onto the free end of the wire head of the motor stator and guide the wire head to a preset position.

[0029] The control unit can output a second control signal to control the drive mechanism to drive the wire mechanism to move along a preset path, so that the wire sleeve 21 can guide the wire end from the preset position into the corresponding wire slot of the motor.

[0030] When the above-mentioned motor stator wire guide device is working, the vision mechanism pre-captures the image of the wire end position of the motor stator, and then transmits the acquired data information to the control unit. The control unit controls the drive mechanism to drive the wire guide mechanism according to the received data information, so that the wire sleeve 21 is fitted onto the free end of the wire end of the motor stator and guides the wire end to the preset position. Then, the control unit controls the drive mechanism to drive the wire guide mechanism to move along the preset path, so that the wire sleeve 21 guides the wire end from the preset position into the corresponding wire slot of the motor. This realizes the automatic bending of the motor stator wire end, avoiding the disadvantages of manual bending of motor stator wire ends, such as difficulty, easy to scratch fingers, time and labor.

[0031] In some embodiments, the motor stator wire guide device further includes a recycling mechanism, which is electrically connected to a control unit. The control unit can output a third control signal based on received data information to control the recycling mechanism to remove the motor stator from the workstation. Specifically, the recycling mechanism can remove processed motor stators and motor stators exceeding the processing capacity of the wire guide device from the workstation.

[0032] In some embodiments, the control unit includes a signal receiving module, a signal processing module, and a signal output module. The signal receiving module receives data information, including the coordinates of the free end and the fixed end of the wire. The signal processing module calculates the angle α between the line connecting the free and fixed ends of the wire and the vertical direction based on the coordinates of the free and fixed ends. The signal processing module determines whether the angle α is less than a first preset value α1. When the angle α is less than the first preset value α1, the signal output module outputs a first control signal. This design automatically filters out motor stators exceeding the handling capacity of the wire guide device. Motor stators exceeding the handling capacity of the wire guide device can be manually removed from the workstation or automatically removed from the workstation by a recovery mechanism controlled by the control unit.

[0033] In some embodiments, the data information also includes the coordinates of the stator outer ring. The signal processing module can also determine whether the free end of the wire is located within the stator outer ring. When the included angle α is less than the first preset value α1 and the free end of the wire is located within the stator outer ring, the signal output module outputs the first control signal. This design can more accurately filter out motor stators that exceed the handling capacity of the wire guide device. Moreover, the first control signal is only output to control the drive mechanism to drive the wire guide mechanism when the motor stator is determined to be within the handling capacity of the wire guide device. This avoids wasting time on motor stators that exceed the handling capacity of the wire guide device and can adapt to fast-paced production rhythms.

[0034] In some embodiments, the motor stator conductor assembly includes a support mechanism capable of supporting the motor stator. The drive mechanism includes an x-axis drive member, a y-axis drive member, and a z-axis drive member 31. The z-axis is the axial direction of the conductor sleeve 21, and the x, y, and z axes are mutually perpendicular. The output end of the z-axis drive member 31 is connected to the conductor sleeve 21, and the z-axis drive member 31 can drive the conductor sleeve 21 to move along the z-axis. The output end of the y-axis drive member is connected to the base of the z-axis drive member 31, and the y-axis drive member can drive both the z-axis drive member 31 and the conductor sleeve 21 to move along the y-axis. The output end of the x-axis drive member is connected to the support mechanism, and the x-axis drive member can drive the motor stator to move along the x-axis.

[0035] During operation, the y-axis drive unit drives the wire sleeve 21 to move along the y-axis, and the x-axis drive unit drives the motor stator to move along the x-axis, so that the inner hole of the wire sleeve 21 is aligned with the free end of the wire head of the motor stator. Then, the z-axis drive unit 31 drives the wire sleeve 21 to move along the z-axis closer to the free end of the wire head, so that the wire sleeve 21 is fitted onto the free end of the wire head.

[0036] Alternatively, the output end of the x-axis drive can be connected to the base of the y-axis drive. The x-axis drive can drive the wire sleeve 21 to move along the x-axis. In this way, during operation, the motor stator remains stationary, while the wire sleeve 21 moves along the x, y, and z axes.

[0037] Specifically, in the figure, the y-axis drive component is located inside the crossbeam 53, and both ends of the crossbeam 53 are fixed to the tops of the two longitudinal beams 52. The crossbeam 53 has a slot extending along the y-axis, and the output end of the y-axis drive component passes through the slot and connects to the base of the z-axis drive component 31. The output end of the z-axis drive component 31 is inserted into the upper connecting hole 321 of the first connecting seat 32, and the wire sleeve 21 is inserted into the lower connecting hole 322 of the first connecting seat 32, so that the output end of the z-axis drive component 31 and the wire sleeve 21 are connected through the first connecting seat 32. The x-axis drive unit is located inside the platform 51. The bottom ends of the two longitudinal beams 52 are fixed to both sides of the platform 51. A slide rail 54 extending along the x-axis is fixed on the platform 51. The bearing mechanism includes a slide table 42 and a positioning part 41. The positioning part 41 is fixed on the slide table 42. The slide table 42 is slidably connected to the slide rail 54. The positioning mechanism is fixed on the slide table 42. The x-axis drive unit drives the slide table 42 to slide along the slide rail 54. When the slide table 42 slides, the positioning mechanism and the motor stator positioned on the positioning mechanism slide together.

[0038] In some embodiments, as shown in the figure, the wire guiding device has a processing station and a loading station. The motor stator is loaded onto the loading station and then moved from the loading station to the processing station. The wire guiding mechanism guides the wire end of the motor stator at the processing station. When the output end of the x-axis drive is connected to the motor stator, the processing station and the loading station can be arranged sequentially in the x-axis direction. The control mechanism can drive the x-axis drive to switch the carrying mechanism of the motor stator back and forth between the processing station and the loading station. In this way, the x-axis drive is responsible for aligning the inner hole of the wire sleeve 21 with the free end of the wire end and also for switching stations, serving multiple purposes and facilitating a simplified structure.

[0039] In some embodiments, as shown in the figure, the output end of the y-axis drive is connected not only to the base of the z-axis drive 31 but also to the vision mechanism. In this way, the y-axis drive can drive the vision mechanism and the wire sleeve 21 to move along the y-axis, allowing them to alternately face the motor stator. When acquiring images of the position of the wire ends on the motor stator, the vision mechanism faces the wire ends; when guiding the wire ends, the wire sleeve 21 faces the motor stator. Thus, the y-axis drive is responsible for both aligning the inner hole of the wire sleeve 21 with the free end of the wire end and for alternately facing the vision mechanism and the wire sleeve 21 towards the motor stator, serving multiple purposes and facilitating a simplified structure.

[0040] In some embodiments, the driving mechanism includes not only the aforementioned x-axis, y-axis, and z-axis driving members 31, but also a rotary driving member. The output end of the z-axis driving member 31 is connected to the base of the rotary driving member, and the output end of the rotary driving member is connected to the wire sleeve 21. The rotary driving member can drive the wire sleeve 21 to rotate around its own central axis. Thus, during operation, the wire sleeve 21 can move along the z-axis towards the free end of the wire while rotating around its own central axis, making it easier for the wire sleeve 21 to be fitted onto the free end of the wire.

[0041] In some embodiments, as shown in the figure, the conductor mechanism further includes a straightening mechanism, which includes a straightening part 22 and a straightening drive part.

[0042] The straightening part 22 includes two clamping arms 221, which can be engaged or disengaged from each other. Each clamping arm 221 has a clamping groove, and the clamping grooves of the two clamping arms 221 can be engaged to form a straightening hole 222.

[0043] The straightening drive unit includes a clamping drive member 33 and an in-and-out drive member 34. The output end of the clamping drive member 33 is connected to the clamping arms 221, and the clamping drive member 33 can drive the two clamping arms 221 to engage or disengage with each other. The output end of the in-and-out drive member 34 is connected to the base of the clamping drive member 33. In the figure, the output end of the in-and-out drive member 34 is connected to the third connecting seat 36, and the base of the clamping drive member 33 is fixed to the third connecting seat 36. The in-and-out drive member 34 can drive the straightening part 22 to move closer to or away from the wire sleeve 21. In the figure, the in-and-out drive member 34 drives the straightening part 22 to move along the x-direction, so that the straightening part 22 moves closer to or away from the wire sleeve 21.

[0044] When the in-and-out drive member 34 and the clamping drive member 33 are provided, the output end of the aforementioned z-axis drive member 31 is connected not only to the wire sleeve 21, but also to the base of the in-and-out drive member 34, so that the straightening part 22 can move synchronously with the wire sleeve 21 along the z and y directions. In the figure, the output end of the z-axis drive member 31 is connected to the first connecting seat 32, the first connecting seat 32 is connected to the second connecting seat 35, and the base of the in-and-out drive member 34 is fixed to the second connecting seat 35.

[0045] When a straightening mechanism is provided, the signal processing module of the control unit calculates the angle α between the line connecting the free end and the fixed end of the wire and the vertical direction based on the coordinates of the free end and the fixed end of the wire transmitted by the signal receiving module. When the signal processing module of the control unit determines that the angle α is less than the second preset value α2, the signal output module of the control unit outputs a fourth control signal to control the movement of the infeed drive 34 and the clamping drive 33, so that the two clamping arms 221 of the straightening part 22 approach the wire sleeve 21 (the straightening part 22 reaches...). Figure 4(As shown by the dashed line), and they align with each other to form a centering hole 222 that is aligned with the inner hole of the wire sleeve 21. During the process of the two clamping arms 221 aligning with each other, the free end of the wire is aligned into the centering hole 222, making it easier for the wire sleeve 21 to be fitted onto the free end of the wire.

[0046] After the free end of the wire sleeve 21 is fitted onto the free end of the wire head, the signal output module of the control unit further outputs a fifth control signal to control the movement of the in-and-out drive 34 and the clamping drive 33, so that the two clamping arms 221 of the straightening part 22 separate from each other and move away from the wire sleeve 21, so as to avoid the straightening part 22 interfering with the subsequent movement of the wire sleeve 21 to guide the wire head according to the preset path.

[0047] In some embodiments, the straightening hole 222 includes a variable diameter section c, the diameter of which gradually decreases from the end closer to the motor stator (the end indicated by b in the figure) to the end closer to the wire sleeve 21 (the end indicated by a in the figure). This makes it easier to straighten the free end of the wire into the straightening hole 222, and also allows the free end of some wires whose connection between the free and fixed ends makes a large angle with the vertical direction to be straightened into the straightening hole 222.

[0048] In some embodiments, the straightening hole 222 includes not only the aforementioned variable diameter hole section c, but also the equal diameter hole section d. The equal diameter hole section d is located at the small diameter end of the variable diameter hole section c, and the diameter of the equal diameter hole section d is not greater than the minimum diameter of the variable diameter hole section c. In this way, the wire end is not easily cut by the small diameter end of the variable diameter hole section c.

[0049] In addition, this application also provides a method for wiring a motor stator conductor device, comprising:

[0050] Acquire images showing the positions of the wire ends on the motor stator;

[0051] Based on the collected data, it can be determined in advance whether the motor stator is a processable motor stator;

[0052] If the motor stator is determined to be a processable motor stator, the wire end is guided to the preset position based on the collected data information;

[0053] The guide wire ends are guided from a preset position and along a preset path into the corresponding wire slot of the motor.

[0054] The above-mentioned wire guiding method can screen out motor stators that exceed the processing capacity of the wire guiding device. Only when the motor stator is determined to be within the processing capacity of the wire guiding device will the first control signal be output to control the drive mechanism to drive the wire guiding mechanism to guide the wire. This avoids wasting time on motor stators that exceed the processing capacity of the wire guiding device and can adapt to fast-paced production rhythms.

[0055] In some embodiments, the data information includes the coordinates of the free end of the wire, the coordinates of the fixed end of the wire, and the coordinates of the outer ring of the stator. The step of pre-determining whether the motor stator is a processable motor stator based on the collected data information includes: calculating the angle α between the line connecting the free end and the fixed end of the wire and the vertical direction based on the coordinates of the free end and the fixed end of the wire; determining whether the angle α is less than a first preset value α1 and whether the free end of the wire is located within the outer ring of the stator; when the angle α is less than the first preset value α1 and / or the free end of the wire is located within the outer ring of the stator, it is determined to be a processable motor stator.

[0056] The above examples illustrate the principles and implementation methods of this application. The descriptions of the embodiments are merely for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A motor stator conductor device, characterized in that, The motor stator wire guide device includes a control unit, a vision mechanism, a wire guide mechanism, and a drive mechanism. The vision mechanism and the drive mechanism are electrically connected to the control unit. The drive mechanism is capable of driving the wire guide mechanism and / or the motor stator to move. The wire guide mechanism includes a wire sleeve. The vision mechanism can acquire images of the position of the wire ends on the motor stator and transmit the acquired data to the control unit; The control unit can output a first control signal based on the received data information to control the drive mechanism to drive the wire mechanism, so that the wire sleeve can be sleeved on the free end of the wire end of the motor stator and guide the wire end to a preset position. The control unit can output a second control signal to control the drive mechanism to drive the wire mechanism to move along a preset path, so that the wire sleeve can guide the wire end from the preset position into the corresponding wire slot of the motor.

2. The motor stator conductor device according to claim 1, characterized in that, The motor stator wire device includes a recycling mechanism, which is electrically connected to the control unit. The control unit can output a third control signal based on the received data information to control the recycling mechanism to move the motor stator out of the work station.

3. The motor stator conductor device according to claim 1 or 2, characterized in that, The control unit includes a signal receiving module, a signal processing module, and a signal output module. The signal receiving module is capable of receiving the data information, which includes the coordinates of the free end of the wire and the coordinates of the fixed end of the wire. The signal processing module can calculate the angle α between the line connecting the free end and the fixed end of the wire and the vertical direction based on the coordinates of the free end and the fixed end of the wire. The signal processing module can determine whether the angle α is less than a first preset value α1. When the angle α is less than the first preset value α1, the signal output module can output the first control signal.

4. The motor stator conductor device according to claim 3, characterized in that, The data information also includes the coordinates of the outer ring of the stator. The signal processing module can determine whether the free end of the wire is located inside the outer ring of the stator. When the included angle α is less than the first preset value α1 and the free end of the wire is located inside the outer ring of the stator, the signal output module outputs the first control signal.

5. The motor stator conductor device according to claim 4, characterized in that, The motor stator conductor assembly includes a support mechanism capable of supporting the motor stator. The drive mechanism includes an x-axis drive member, a y-axis drive member, and a z-axis drive member. The output end of the z-axis drive member is connected to the conductor sleeve, and the z-axis drive member can drive the conductor sleeve to move along the z-axis. The output end of the y-axis drive member is connected to the base of the z-axis drive member, and the y-axis drive member can drive both the z-axis drive member and the conductor sleeve to move along the y-axis. The output end of the x-axis drive member is connected to the support mechanism or the base of the y-axis drive member, and the x-axis drive member can drive the motor stator to move along the x-axis or drive the conductor sleeve to move along the x-axis. Here, the z-axis is the axial direction of the conductor sleeve, and the x, y, and z-axis are perpendicular to each other.

6. The wire device according to claim 5, characterized in that, The driving mechanism includes a rotary driving component, the output end of which is connected to the base of the rotary driving component, and the output end of which is connected to the wire sleeve. The rotary driving component can drive the wire sleeve to rotate around its own central axis.

7. The wire device according to claim 6, characterized in that, The output end of the y-axis drive is also connected to the vision mechanism. The y-axis drive can drive the vision mechanism and the wire sleeve to move along the y-axis, so that the vision mechanism and the wire sleeve can alternately face the motor stator.

8. The wire-conducting device according to any one of claims 1 to 7, characterized in that, The conductor mechanism includes a straightening mechanism, which includes a straightening part and a straightening drive part. The straightening part includes two clamping arms that can engage or disengage with each other. The two clamping arms have clamping grooves that can engage to form a straightening hole. The straightening drive unit includes a clamping drive and an in-and-out drive. The output end of the clamping drive is connected to the clamping arm, and the clamping drive can drive the two clamping arms to engage or disengage with each other. The output end of the in-and-out drive is connected to the base of the clamping drive, and the in-and-out drive can drive the straightening unit to move closer to or further away from the wire sleeve.

9. The wire device according to claim 8, characterized in that, The straightening hole includes a variable diameter section, the diameter of which gradually decreases from the end closer to the motor stator to the end closer to the conductor sleeve.

10. The wire device according to claim 8, characterized in that, The control unit includes a signal receiving module, a signal processing module, and a signal output module. The signal receiving module is capable of receiving the data information, which includes the coordinates of the free end of the wire and the coordinates of the fixed end of the wire. The signal processing module can calculate the angle α between the line connecting the free end and the fixed end of the wire and the vertical direction based on the coordinates of the free end and the fixed end of the wire. The signal processing module can determine whether the angle α is less than a second preset value α2. When the angle α is less than the second preset value α2, the signal output module outputs a fourth control signal to control the movement of the infeed drive and the clamping drive, so that the two clamping arms of the straightening part can approach the wire sleeve and align with each other to form the straightening hole aligned with the inner hole of the wire sleeve.

11. A method for wiring a motor stator conductor device, characterized in that, The wire method includes: Acquire images showing the positions of the wire ends on the motor stator; Based on the collected data, it can be determined in advance whether the motor stator is a processable motor stator; If the motor stator is determined to be a processable motor stator, the wire end is guided to the preset position based on the collected data information; The guide wire ends are guided from a preset position and along a preset path into the corresponding wire slot of the motor.

12. The wire-laying method according to claim 11, characterized in that, The data information includes the coordinates of the free end of the wire, the coordinates of the fixed end of the wire, and the coordinates of the outer ring of the stator; The step of determining in advance whether the motor stator is a processable motor stator based on the collected data information includes: Calculate the angle α between the line connecting the free end and the fixed end of the wire and the vertical direction based on the coordinates of the free end and the fixed end of the wire. Determine whether the angle α is less than a first preset value α1 and whether the free end of the wire is located inside the outer ring of the stator. When the angle α is less than the first preset value α1 and / or the free end of the wire is located inside the outer ring of the stator, it is determined to be a processable motor stator.

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